CN107886543A - A kind of mine personnel localization method and device - Google Patents
A kind of mine personnel localization method and device Download PDFInfo
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- CN107886543A CN107886543A CN201711084604.9A CN201711084604A CN107886543A CN 107886543 A CN107886543 A CN 107886543A CN 201711084604 A CN201711084604 A CN 201711084604A CN 107886543 A CN107886543 A CN 107886543A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/77—Determining position or orientation of objects or cameras using statistical methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
Abstract
The embodiment of the invention discloses a kind of mine personnel localization method and device, this method to include：Gather the visible light signal image of mine lamp；According to visible light signal image, it is determined that the coding information with the mine personnel of mine lamp binding；Decoding process is carried out to coding information, obtains the numbering of mine personnel；According to numbering, from preset knowledge storehouse, it is determined that with numbering the identity information associated and height information；According to visible light signal image and height information, the positional information of mine personnel is determined；According to positional information, Location of Mine personnel.Based on the above method and device, solves mine personnel positioning system complexity height, easily by the technical problem of the complicated electromagnetic environmental impact in underground, relative to existing mine personnel location technology, realize the identity information recognition accuracy for improving mine personnel, and improve the technique effect of position positioning precision and efficiency, the development of underground high-efficient rate rescue work efficiency is ensure that, there is accurate, economy, safety, the advantage of energy-conservation.
Description
Technical field
The present embodiments relate to coal mine safety monitoring and communication technical field, more particularly to a kind of positioning of mine personnel
Method and device.
Background technology
In recent years, the utilization of coal resources in China shows the trend to increase substantially, the yield in colliery and exploitation
Scale also becomes increasing, and this causes Coal Industry to develop into the key industry to concern the life-blood of the national economy.And with coal
Ore deposit exploitation work is goed deep into, and increasing unsafe factor threatens the safety of life and property of the people, therefore at different levels
Government is devoted to work of constantly strengthening safety in production of adopting a series of measures.
Because coal mine underground operators mobility is big, have a very wide distribution, ground staff is difficult to grasp personnel in the pit in time
Distribution and operation progress situation, once the accident such as permeable, fire occurs for mine, do not knowing about subsurface environment, and device for underground man car
In the case that member gives an oral account accurate location that is unclear or can not detecting buried person person accurate in time, automatically, disaster relief work is faced with pole
Big difficulty.Therefore, realize and effective personnel positioning of underground operators and communication are very important.
At present, mine personnel positioning system is greatly as the safety of coal mines six that national security supervisory department compulsive requirement is built
One of system, its positioning function possessed is entering well operations personnel's daily management, especially timely and accurately group in the state of accident
Have the function that in terms of knitting search and rescue particularly important.Existing mine personnel positioning system is mainly with REID (RFID)
The transmission of information is realized with super-broadband tech (UWB).RFID full accuracies reach 2-3m, and shortcoming is that stability is poor, and signal has
Omit and transmission range be short, and UWB full accuracy can reach half meter, but its there is also complexity is high and cost is high lacks
Point.Consider the complicated electromagnetic environment of underground coal mine, and RFID technique the shortcomings that being respectively present with UWB technology is to mine
Personnel location system influence caused by terms of the positioning of personnel in the pit, existing mine personnel positioning system can not still solve multiple
The problem of miscellaneous degree is high, positioning precision is low, is unfavorable for the timely development of rescue work.
The content of the invention
The present invention provides a kind of mine personnel localization method and device, with solve mine personnel positioning system complexity it is high,
The problem of positioning precision is low.
To reach this purpose, the present invention uses following technical scheme：
In a first aspect, the embodiments of the invention provide a kind of mine personnel localization method, methods described includes：
Gather the visible light signal image of mine lamp；
According to the visible light signal image, it is determined that the coding information with the mine personnel of mine lamp binding；
Decoding process is carried out to the coding information, obtains the numbering of the mine personnel；
According to the numbering, from preset knowledge storehouse, it is determined that numbering the identity information associated and height information with described；
According to the visible light signal image and the height information, the positional information of the mine personnel is determined；
According to the positional information, the mine personnel is positioned.
Further, in the above method, the visible light signal image of the collection mine lamp, including：
According to default acquisition rate, the visible light signal image of mine lamp is gathered, obtains multiple visible light signal images；
According to the time sequencing of collection, multiple visible light signal images are ranked up.
Further, it is described according to the visible light signal image in the above method, it is determined that the ore deposit with mine lamp binding
The coding information of well personnel, including：
According to predetermined threshold value, binary conversion treatment is carried out to multiple visible light signal images, obtains multiple binary pictures
Picture, each binary image include multiple connected regions；
In each binary image, each connected region is demarcated, obtains calibration matrix；
According to the calibration matrix, it is determined that the position of the central pixel point of each connected region and the middle imago
The gray value of vegetarian refreshments；
According to the position of the central pixel point of each connected region in each binary image and it is described in
The gray value of imago vegetarian refreshments, it is determined that the coding information with the mine personnel of mine lamp binding.
Further, it is described according to the visible light signal image and the height information in the above method, it is determined that described
The positional information of mine personnel, including：
On the visible light signal image, the first rectangular coordinate system for establishing in units of pixel, and with meter Wei Dan
Second rectangular coordinate system of position, the origin of coordinates of second rectangular coordinate system are the center pixel of first rectangular coordinate system
The coordinate of point；
The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：
X=(u-uo) dX, Y=(v-vo)·dY
Wherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal
The size of image；
In mine laneway, using the upright projection point of video camera as origin, the three-dimensional system of coordinate established in units of rice；
By below equation, the positional information of the mine personnel is determined.
Wherein, H be video camera apart from tunnel ground height, h represent described in
The height information of mine personnel, f represent the focal length of video camera.
Further, in the above method, described before the visible light signal image of collection mine lamp, methods described is also wrapped
Include：
Obtain numbering, identity information and the height information of mine personnel, and by the numbering associate the identity information and
Height information, store in preset knowledge storehouse；
According to pre-arranged code rule, coded treatment is carried out to the numbering, obtains coding information；
The coding information is loaded into the control circuit of mine lamp, to cause the control circuit control visible light signal to pass
Pass the coding information.
Second aspect, the embodiments of the invention provide a kind of mine personnel positioning device, described device includes：
Image capture module, for gathering the visible light signal image of mine lamp；
Determining module is encoded, for according to the visible light signal image, it is determined that the mine personnel with mine lamp binding
Coding information；
Coding and decoding module, for carrying out decoding process to the coding information, obtain the numbering of the mine personnel；
Information determination module, for according to the numbering, from preset knowledge storehouse, it is determined that numbering the identity associated with described
Information and height information；
Position determination module, for according to the visible light signal image and the height information, determining the mine people
The positional information of member；
Personnel positioning module, for according to the positional information, positioning the mine personnel.
Further, in said apparatus, described image acquisition module includes：
Image acquisition units, for according to default acquisition rate, gathering the visible light signal image of mine lamp, obtain it is multiple can
See optical signal image；
Image sequencing unit, for the time sequencing according to collection, multiple visible light signal images are ranked up.
Further, in said apparatus, the coding determining module includes：
Graphics processing unit, for according to predetermined threshold value, binary conversion treatments to be carried out to multiple visible light signal images,
Multiple binary images are obtained, each binary image includes multiple UNICOM regions；
Region labeling unit, in each binary image, demarcating, obtaining to each connected region
To calibration matrix；
Center determining unit, for according to the calibration matrix, it is determined that the central pixel point of each connected region
Position and the gray value of the central pixel point；
Determining unit is encoded, for the central pixel point according to each UNICOM region in each binary image
Position and the central pixel point gray value, it is determined that with the mine lamp binding mine personnel coding information.
Further, in said apparatus, the position determination module includes：
Coordinate establishes unit, for being sat at the visible light signal image, the first right angle established in units of pixel
Mark system, and the second rectangular coordinate system in units of rice, the origin of coordinates of second rectangular coordinate system are straight for described first
The coordinate of the central pixel point of angular coordinate system；
The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：
X=(u-uo) dX, Y=(v-vo)·dY
Wherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal
The size of image；
It is additionally operable in mine laneway, using the upright projection point of video camera as origin, the three-dimensional established in units of rice is sat
Mark system；
Position calculation unit, for by below equation, determining the positional information of the mine personnel.
Wherein, H be video camera apart from tunnel ground height, h represent described in
The height information of mine personnel, f represent the focal length of video camera.
Further, described device also includes：
Data obtaining module, for before the visible light signal image of collection mine lamp, obtaining numbering, the body of mine personnel
Part information and height information, and the numbering is associated into the identity information and height information, store in preset knowledge storehouse；
Information coding module, for according to pre-arranged code rule, carrying out coded treatment to the numbering, obtaining coding letter
Breath；
Load-on module is encoded, for the coding information to be loaded into the control circuit of mine lamp, to cause the control electricity
Road control visible light signal transmits the coding information.
A kind of the mine personnel localization method and device that the embodiment of the present invention is provided, take first pass through collection mine lamp can
See optical signal image, it is determined that the identity information of mine personnel and the first technological means of height information with mine lamp binding,
Relative to prior art, the acquisition methods of mine personnel information are optimized, then again by according to visible light signal image and ore deposit
The height information of well personnel, the positional information of mine personnel is determined, with the second technological means positioned to mine personnel, phase
For prior art, the positioning precision of mine personnel is improved.Visible light signal image i.e. by gathering mine lamp；According to described
Visible light signal image, it is determined that the coding information with the mine personnel of mine lamp binding；The coding information is decoded
Processing, obtains the numbering of the mine personnel；According to the numbering, from preset knowledge storehouse, it is determined that numbering what is associated with described
Identity information and height information；According to the visible light signal image and the height information, the position of the mine personnel is determined
Confidence ceases；According to the positional information, the technical scheme of the mine personnel is positioned, solves mine personnel positioning system complexity
Degree is high, and is easily positioned by the technical problem of the complicated electromagnetic environmental impact of underground coal mine relative to existing mine personnel
Technology, the identity information recognition accuracy for improving Underground well personnel is realized, and improve position positioning precision and efficiency
Technique effect, so as to contribute to administrative staff to grasp distribution and the motion rail of Underground well personnel in time and exactly
Mark, and more reasonably can be scheduled and manage.Once there is security incident, administrative staff can be according to existing coal
Video monitoring system and mine lamp are as identification terminal under mine, by data such as the identity information of Underground well personnel and positional informations
And graphic documentation is supplied to rescue personnel so that rescue personnel can accurately grasp the particular location of Underground well personnel,
One time took the measure of rescuing, and so as to ensure being greatly improved for downhole rescuing operating efficiency, had accurate, economy, safety, energy-conservation
Advantage.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet for mine personnel localization method that the embodiment of the present invention one provides；
Fig. 2 is the numbering decoding process schematic diagram that the embodiment of the present invention one provides；
Fig. 3 is a kind of schematic flow sheet for mine personnel localization method that the embodiment of the present invention two provides；
Fig. 4 is a kind of schematic flow sheet for mine personnel localization method that the embodiment of the present invention three provides；
Fig. 5 is a kind of schematic flow sheet for mine personnel localization method that the embodiment of the present invention four provides；
Fig. 6 is the schematic diagram for two kinds of rectangular coordinate systems that the embodiment of the present invention four provides；
Fig. 7 is the schematic diagram for three kinds of rectangular coordinate systems that the embodiment of the present invention four provides；
Fig. 8 is a kind of schematic flow sheet for mine personnel localization method that the embodiment of the present invention five provides；
Fig. 9 is the numbering cataloged procedure schematic diagram that the embodiment of the present invention five provides；
Figure 10 is a kind of structural representation for mine personnel localization method that the embodiment of the present invention six provides.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Accompanying drawing 1 is referred to, is a kind of schematic flow sheet of mine personnel localization method disclosed in the embodiment of the present invention one, should
Method is applied to the scene confirmed to information such as the identity of Underground well personnel and positions, and this method can be by mine
Personnel positioning apparatus performs, and the device can be realized by software and/or hardware, be integrated in coal mine underground operators management system
System is internal.This method specifically comprises the following steps：
S101, the visible light signal image for gathering mine lamp.
It should be noted that visible optical communication (Visible Light Communications, VLC) refers to using visible
The light of optical band is as information carrier, and without using the transmission medium of the wire message way such as optical fiber, and direct transmission light is believed in atmosphere
Number a kind of wireless communication technique, be specifically invisible to the naked eye using what the object such as fluorescent lamp or light emitting diode (LED) was sent
High speed light and shade flash signal realize information transfer.The frequency of visible ray is between 400THz (wavelength 780nm) to 800THz (ripples
Long 375nm) between.When visible light signal combination solid state illumination technology in use, such as substituting tradition using high-brightness LED light source
Lamp bead is as illuminator, the LED mine lamp for coordinating lithium ion battery to produce, and its transmittability can reach 500Mbit/s, transmit
Distance can then reach 1-2 kilometers.
Mine lamp be each mine personnel must configure, the special illuminator in mine, common mine lamp type
Including wear-type and portable.
Specifically, mine personnel, in coal mine operation, mine lamp sends visible ray as the emission source of visible light signal
Signal, the receiver of visible light signal is used as by the CCTV camera in existing underground coal mine video monitoring system, will be supervised
The mine lamp with video camera sensing mine personnel is controlled, the mine lamp is fallen within the image pickup scope of the CCTV camera, then adopts
Collection includes one group of consecutive image of mine lamp (emission source), is formed in this group of consecutive image comprising the visible light signal from mine lamp
Image and background image.
S102, according to the visible light signal image, it is determined that with the mine lamp binding mine personnel coding information.
Mine personnel identity is characterized it should be noted that being carried in one group of continuous visible light signal that mine lamp is sent
Coding information.The corresponding coding information of one mine lamp, the corresponding mine personnel of a coding information.Coding information represents
Each mine personnel is unique, even if the name of mine personnel is likely to occur repetition, but coding information is absolutely unique.Coding
Information is a string of data messages relevant with mine personnel identity before uncoded, because all calculating in computer are all adopted
Carried out with binary system, it is therefore desirable to the data message carry out binary coding, will the data message weave into it is binary
Number, or the data message is converted into defined binary system electric impulse signal, it is intended to it is at the data and reality in computer
Contact is established between the information of reason so that the data message can be readable by a computer and identify in encoded.
In one embodiment, it is preferred that the coding information is binary data, and binary data is by 0 and 1 liang of number
The composition of code represents that it can represent two states, i.e. on and off, this state can be realized by the height of current potential, right
Answer the light and dark two states of mine lamp in the present embodiment.In other words, we can be by can caused by the on off state of mine lamp
Change in optical signal is seen to transmit the data message relevant with mine personnel.
Specifically, from one group of continuous visible light signal image, visible light signal in visible light signal image is analyzed
Light and shade changes, and is converted into 1 and 0 binary message, and obtained binary data is the coding entrained by visible ray
Information.
S103, decoding process is carried out to the coding information, obtain the numbering of the mine personnel.
It should be noted that the numbering of mine personnel is the rules of arrangement according to formulation, such as according to the registration date before and after
Sequentially, a number of preparing, the number are usually to be represented with numeral, and what is described in S102 is relevant with mine personnel identity
Data message refer to the numbering of mine personnel, the corresponding mine personnel of a numbering.
Because coding information is binary data, thus the decoding process of coding information refer to binary data perform into
Conversion operation processed, a kind of numeral system (binary system) suitable for computer disposal is converted into a kind of numeral system that we commonly use, such as
The decimal system.
To sum up, it is exemplary, by taking the mine personnel Zhang San that numbering is No. 6 as an example, from the visible ray of initial collection mine lamp
Signal pattern is as shown in Figure 2 to the process that the numbering for obtaining mine personnel is decoded from visible images.
S104, according to the numbering, from preset knowledge storehouse, it is determined that numbering identity information associate and height letter with described
Breath.
It should be noted that the name of identity information including mine personnel, work post, post, department, ID card information and/
Or human face photo information etc..
In the present embodiment, numbering, identity information and the height information of mine personnel are stored in preset knowledge after association
Storehouse.
S105, according to the visible light signal image and the height information, determine the positional information of the mine personnel.
It should be noted that the positional information refers to mine personnel in the three-dimensional spatial information residing for underworkings.
Specifically, by image analysis method, algorithmic formula is set up from visible light signal image, and by mine personnel
Height information be nested into the algorithmic formula and carry out computing, calculate mine personnel current location to the reality of CCTV camera
Distance, so as to obtain three-dimensional spatial information of the mine personnel in underworkings.
S106, according to the positional information, position the mine personnel.
In one embodiment, it is preferred that visible light signal of the video camera except gathering mine lamp in underworkings, also
Gather the figure and features characteristic information of mine personnel.By way of the two of collection kind informix is compared, it can obtain more accurate
Mine personnel coding information, the identity information and height information of the personnel are then determined by coding information.
A kind of the mine personnel localization method and device that the embodiment of the present invention is provided, take first pass through collection mine lamp can
See optical signal image, it is determined that the identity information of mine personnel and the first technological means of height information with mine lamp binding,
Relative to prior art, the acquisition methods of mine personnel information are optimized, then again by according to visible light signal image and ore deposit
The height information of well personnel, the positional information of mine personnel is determined, with the second technological means positioned to mine personnel, phase
For prior art, the positioning precision of mine personnel is improved.Visible light signal image i.e. by gathering mine lamp；According to described
Visible light signal image, it is determined that the coding information with the mine personnel of mine lamp binding；The coding information is decoded
Processing, obtains the numbering of the mine personnel；According to the numbering, from preset knowledge storehouse, it is determined that numbering what is associated with described
Identity information and height information；According to the visible light signal image and the height information, the position of the mine personnel is determined
Confidence ceases；According to the positional information, the technical scheme of the mine personnel is positioned, solves mine personnel positioning system complexity
Degree is high, and is easily positioned by the technical problem of the complicated electromagnetic environmental impact of underground coal mine relative to existing mine personnel
Technology, the identity information recognition accuracy for improving Underground well personnel is realized, and improve position positioning precision and efficiency
Technique effect, so as to contribute to administrative staff to grasp distribution and the motion rail of Underground well personnel in time and exactly
Mark, and more reasonably can be scheduled and manage.Once there is security incident, administrative staff can be according to existing coal
Video monitoring system and mine lamp are as identification terminal under mine, by data such as the identity information of Underground well personnel and positional informations
And graphic documentation is supplied to rescue personnel so that rescue personnel can accurately grasp the particular location of Underground well personnel,
One time took the measure of rescuing, and so as to ensure being greatly improved for downhole rescuing operating efficiency, had accurate, economy, safety, energy-conservation
Advantage.
Embodiment two
As shown in figure 3, a kind of mine personnel localization method that the embodiment of the present invention two provides, is provided in embodiment one
On the basis of technical scheme, the further optimization to step S101 " the visible light signal image of collection mine lamp ".With above-mentioned each reality
Apply that example is identical or the explanation of corresponding term will not be repeated here.I.e.：
According to default acquisition rate, the visible light signal image of mine lamp is gathered, obtains multiple visible light signal images；
According to the time sequencing of collection, multiple visible light signal images are ranked up.
Based on above-mentioned optimization, as shown in figure 3, a kind of mine personnel localization method that the present embodiment provides, can be included such as
Lower step：
S201, according to default acquisition rate, gather the visible light signal image of mine lamp, obtain multiple visible light signal figures
Picture.
It should be noted that the transmission rate of visible light signal is consistent with acquisition rate, the synchronization of data ensure that
Transmission, prevents to lose the phenomenon of data in transmitting procedure.Exemplary, the transmission rate that mine lamp is sent to visible light signal is set
It is set to 64 bps, the acquisition rate of optical signal can be again set at 64 frames/second by CCTV camera collection.
Specifically, by the consistent with the emission rate of visible light signal of acquisition rate setting, and according to the acquisition rate, control
CCTV camera processed gathers one group of consecutive image of the visible light signal,.
S202, the time sequencing according to collection, multiple visible light signal images are ranked up.
It should be noted that because the coding information for characterizing mine personnel identity is the visible light signal transmission by mine lamp
, therefore the light and shade situation of change of visible light signal is contained in this group of consecutive image of CCTV camera collection, in order to ensure
Entanglement does not occur in processing procedure for coding information, then needs first to be ranked up the continuous visible light signal image of the group, and
The foundation of sequence is the acquisition time of each visible light signal image.
Specifically, according to the time sequencing of collection, the 64 visible light signal images per second collected are ranked up, obtained
To Pj, j=1,2 ..., 64.
S203, according to the visible light signal image, it is determined that with the mine lamp binding mine personnel coding information.
Specifically, 64 visible light signal images after above-mentioned sequence are handled successively, by the way that this 64 are handled
As a result analysis is integrated, it may be determined that the coding information of mine personnel.
S204, decoding process is carried out to the coding information, obtain the numbering of the mine personnel.
S205, according to the numbering, from preset knowledge storehouse, it is determined that numbering identity information associate and height letter with described
Breath.
S206, according to the visible light signal image and the height information, determine the positional information of the mine personnel.
S207, according to the positional information, position the mine personnel.
A kind of the mine personnel localization method and device that the embodiment of the present invention is provided, first pass through the visible ray of collection mine lamp
Signal pattern, it is determined that identity information and height information with the mine personnel of mine lamp binding, then again by according to visible
The height information of optical signal image and mine personnel, the positional information of mine personnel is determined, solves mine personnel positioning system
Complexity is high, and easily by the technical problem of the complicated electromagnetic environmental impact of underground coal mine, relative to existing mine personnel
Location technology, the identity information recognition accuracy for improving Underground well personnel is realized, and improve position positioning precision and effect
The technique effect of rate, so as to contribute to administrative staff to grasp the distribution and motion of Underground well personnel in time and exactly
Track, and more reasonably can be scheduled and manage, there is accurate, economy, safety, the advantage of energy-conservation.
Embodiment three
As shown in figure 4, a kind of mine personnel localization method that the embodiment of the present invention three provides, is provided in embodiment two
On the basis of technical scheme, to step S203 " according to the visible light signal image, it is determined that the mine people with mine lamp binding
The further optimization of the coding information of member ".The explanation of identical with the various embodiments described above or corresponding term will not be repeated here.
I.e.：
According to predetermined threshold value, binary conversion treatment is carried out to multiple visible light signal images, obtains multiple binary pictures
Picture, each binary image include multiple connected regions；
In each binary image, each connected region is demarcated, obtains calibration matrix；
According to the calibration matrix, it is determined that the position of the central pixel point of each connected region and the middle imago
The gray value of vegetarian refreshments；
According to the position of the central pixel point of each connected region in each binary image and it is described in
The gray value of imago vegetarian refreshments, it is determined that the coding information with the mine personnel of mine lamp binding.
Based on above-mentioned optimization, as shown in figure 4, a kind of mine personnel localization method that the present embodiment provides, can be included such as
Lower step：
S301, according to default acquisition rate, gather the visible light signal image of mine lamp, obtain multiple visible light signal figures
Picture.
S302, the time sequencing according to collection, multiple visible light signal images are ranked up.
S303, according to predetermined threshold value, binary conversion treatments are carried out to multiple visible light signal images, obtain multiple two-values
Change image, each binary image includes multiple connected regions.
The binaryzation of image is to choose the gray level image of 256 brightness degrees by appropriate threshold value to obtain still may be used
To reflect that the gray value of image is overall and the binary image of local feature, on binary image point is 0 or 255, this is favourable
In the further processing of image, image is set to become simple, and data volume reduces, and can highlight the profile of target interested.
It should be noted that the average gray value without visible light signal image is set as to the threshold value of image binaryzation, so
Afterwards according to the threshold value, binary conversion treatment is carried out successively to all visible light signal images of collection.Wherein, in binary image
Gray value is more than or equal to the pixel regional determination of threshold value to belong to visible light signal image, is arranged to 1 (corresponding grey scale value
255), and gray value is less than the pixel regional determination of threshold value to belong to background image, be arranged to 0 (corresponding grey scale value 0).
Connected region refers to the region of the pixel value identical pixel group composition in binary image, the class of connected region
Type includes the connected region of visible light signal image and the connected region of background image, and the connected region of both collectively constitutes
Complete binary image.
S304, in each binary image, each connected region is demarcated, obtains calibration matrix.
It should be noted that demarcation refers to quantify all connected regions in binary image, to each connection
Region assign demarcation label, that is, refer to the numeral of arrangement, for example have 10 connected regions in binary image, then demarcation label according to
It is secondary to be：1st, 2,3 ... 10, demarcation number of tags is the number of connected region.Calibration matrix is expressed as the collection of these connected regions
Close.
S305, according to the calibration matrix, it is determined that the position of the central pixel point of each connected region and described
The gray value of central pixel point.
It should be noted that in each connected region the gray value of each pixel after binary conversion treatment it has been determined that
But the coordinate position of each pixel, which needs to calculate by graphical analysis and algorithm, just can determine that, specifically, passing through graphical analysis
The central pixel point of each connected region is first determined, then the coordinate position for determining the central pixel point is calculated by algorithm.
Specifically, according to the label order of calibration matrix, the central pixel point of each connected region determined successively
Coordinate position be expressed as (xk,yk, T), k=1,2 ..., num, T=0,1, wherein, num represents the number of connected region, 0 table
Show that gauge without light source irradiates at the central pixel point, 1 represents there is light source irradiation at the central pixel point.
The position of the central pixel point of each connected region and institute in each binary image of S306, basis
The gray value of central pixel point is stated, it is determined that the coding information with the mine personnel of mine lamp binding.
Specifically, 64 visible light signal image P are gathered respectivelyj, j=1,2 ..., the center of each connected region in 64
Pixel (xk,yk), and the T values of the central pixel point, obtain the central pixel point of each connected region of visible light signal image
(xk,yk) place ensemble P1(xk,yk, T), P2(xk,yk, T) ..., P64(xk,yk,T)；It is every according to the visible light signal image
Central pixel point (the x of individual connected regionk,yk) place ensemble P1(xk,yk, T), P2(xk,yk, T) ..., P64(xk,yk, T),
Extract the central pixel point (x of each connected region in whole visible light signal imagesk,yk) place's light source information coding information.
S307, decoding process is carried out to the coding information, obtain the numbering of the mine personnel.
S308, according to the numbering, from preset knowledge storehouse, it is determined that numbering identity information associate and height letter with described
Breath.
S309, according to the visible light signal image and the height information, determine the positional information of the mine personnel.
S310, according to the positional information, position the mine personnel.
A kind of the mine personnel localization method and device that the embodiment of the present invention is provided, first pass through the visible ray of collection mine lamp
Signal pattern, it is determined that identity information and height information with the mine personnel of mine lamp binding, then again by according to visible
The height information of optical signal image and mine personnel, the positional information of mine personnel is determined, solves mine personnel positioning system
Complexity is high, and easily by the technical problem of the complicated electromagnetic environmental impact of underground coal mine, relative to existing mine personnel
Location technology, the identity information recognition accuracy for improving Underground well personnel is realized, and improve position positioning precision and effect
The technique effect of rate, so as to contribute to administrative staff to grasp the distribution and motion of Underground well personnel in time and exactly
Track, and more reasonably can be scheduled and manage, there is accurate, economy, safety, the advantage of energy-conservation.
Example IV
As shown in figure 5, a kind of mine personnel localization method that the embodiment of the present invention four provides, is provided in embodiment one
On the basis of technical scheme, " according to the visible light signal image and the height information, the mine is determined to step S105
The further optimization of the positional information of personnel ".The explanation of identical with the various embodiments described above or corresponding term will not be repeated here.
I.e.：
On the visible light signal image, the first rectangular coordinate system for establishing in units of pixel, and with meter Wei Dan
Second rectangular coordinate system of position, the origin of coordinates of second rectangular coordinate system are the center pixel of first rectangular coordinate system
The coordinate of point；
The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：
X=(u-uo) dX, Y=(v-vo)·dY
Wherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal
The size of image；
In mine laneway, using the upright projection point of video camera as origin, the three-dimensional system of coordinate established in units of rice；
By below equation, the positional information of the mine personnel is determined.
Wherein, H be video camera apart from tunnel ground height, h represent described in
The height information of mine personnel, f represent the focal length of video camera.
Based on above-mentioned optimization, as shown in figure 5, a kind of mine personnel localization method that the present embodiment provides, can be included such as
Lower step：
S401, the visible light signal image for gathering mine lamp.
S402, according to the visible light signal image, it is determined that with the mine lamp binding mine personnel coding information.
S403, decoding process is carried out to the coding information, obtain the numbering of the mine personnel.
S404, according to the numbering, from preset knowledge storehouse, it is determined that numbering identity information associate and height letter with described
Breath.
S405, on the visible light signal image, the first rectangular coordinate system for establishing in units of pixel, and with rice
For the second rectangular coordinate system of unit, the origin of coordinates of second rectangular coordinate system is the center of first rectangular coordinate system
The coordinate of pixel；
The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：
X=(u-uo) dX, Y=(v-vo)·dY
Wherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal
The size of image；
In mine laneway, using the upright projection point of video camera as origin, the three-dimensional system of coordinate established in units of rice.
In one embodiment, it is preferred that first, the established to each visible light signal image in units of pixel
One right angle image coordinate system u, v, wherein, first rectangular coordinate system is former by pixel coordinate of the upper left corner of visible light signal image
Point O, the coordinate (u, v) of each pixel is columns and line number of the pixel in array respectively；Then, to each visible ray
Second right angle image coordinate system X, Y that signal pattern is established in units of rice, wherein, second rectangular coordinate system is with the first right angle
Central pixel point (the u of coordinate system1,v1) it is image coordinate origin O1, (X, Y) represents the seat of the image coordinate system in units of rice
Mark, specifically, the opening relationships of the first rectangular coordinate system and the second rectangular coordinate system is as shown in Figure 6；Furthermore with hanging down for video camera
Straight subpoint is origin, the three-dimensional system of coordinate x, y, z established in units of rice, wherein, x-axis is expressed as hanging down in the three-dimensional system of coordinate
Directly the direction opposite with staff's direction of advance of going into the well, z-axis are expressed as in the direction of staff's direction of advance of going into the well, y-axis
The direction of upright projection point of the video camera on the ground of tunnel and video camera connecting line is expressed as, specifically, the first rectangular co-ordinate
The opening relationships of system, the second rectangular coordinate system and three-dimensional system of coordinate is as shown in Figure 7.
S406, by below equation, determine the positional information of the mine personnel.
Wherein, H be video camera apart from tunnel ground height, h represent described in
The height information of mine personnel, f represent the focal length of video camera.
Specifically, due to mine personnel both feet pick-up point and the video camera upright projection point in approximately the same plane, because
More specific location information of this mine personnel in the three-dimensional system of coordinate is expressed as (x, y, 0).
S407, according to the positional information, position the mine personnel.
A kind of the mine personnel localization method and device that the embodiment of the present invention is provided, take first pass through collection mine lamp can
See optical signal image, it is determined that the identity information of mine personnel and the first technological means of height information with mine lamp binding,
Relative to prior art, the acquisition methods of mine personnel information are optimized, then again by according to visible light signal image and ore deposit
The height information of well personnel, the positional information of mine personnel is determined, with the second technological means positioned to mine personnel, phase
For prior art, the positioning precision of mine personnel is improved.Visible light signal image i.e. by gathering mine lamp；According to described
Visible light signal image, it is determined that the coding information with the mine personnel of mine lamp binding；The coding information is decoded
Processing, obtains the numbering of the mine personnel；According to the numbering, from preset knowledge storehouse, it is determined that numbering what is associated with described
Identity information and height information；According to the visible light signal image and the height information, the position of the mine personnel is determined
Confidence ceases；According to the positional information, the technical scheme of the mine personnel is positioned, solves mine personnel positioning system complexity
Degree is high, and is easily positioned by the technical problem of the complicated electromagnetic environmental impact of underground coal mine relative to existing mine personnel
Technology, the identity information recognition accuracy for improving Underground well personnel is realized, and improve position positioning precision and efficiency
Technique effect, so as to contribute to administrative staff to grasp distribution and the motion rail of Underground well personnel in time and exactly
Mark, and more reasonably can be scheduled and manage.Once there is security incident, administrative staff can be according to existing coal
Video monitoring system and mine lamp are as identification terminal under mine, by data such as the identity information of Underground well personnel and positional informations
And graphic documentation is supplied to rescue personnel so that rescue personnel can accurately grasp the particular location of Underground well personnel,
One time took the measure of rescuing, and so as to ensure being greatly improved for downhole rescuing operating efficiency, had accurate, economy, safety, energy-conservation
Advantage.
Embodiment five
Fig. 8 is a kind of schematic flow sheet for mine personnel localization method that the embodiment of the present invention five provides, and the present embodiment exists
On the basis of embodiment one, before the visible light signal image of collection mine lamp, optimization is made to this method.With above-mentioned each implementation
Example is identical or the explanation of corresponding term will not be repeated here, and refer to Fig. 8, specifically, in the visible light signal of collection mine lamp
Before image, the method for the present embodiment may include steps of：
S501, numbering, identity information and the height information for obtaining mine personnel, and the numbering is associated into the identity and believed
Breath and height information, are stored in preset knowledge storehouse.
S502, according to pre-arranged code rule, to it is described numbering carry out coded treatment, obtain coding information.
It should be noted that the coded system that the numbering is combined using Table Header information with binary data is carried out at coding
Reason, wherein, Table Header information refers to the digital code of the frame information bag defined in communication protocol, for judging that the packet is
No is effective communication data.
Exemplary, by taking mine personnel Zhang San as an example, its numbering is No. 6, then specific cataloged procedure is as shown in Figure 9.
S503, the control circuit that the coding information is loaded into mine lamp, to cause the control circuit control visible ray
Signal transmits the coding information.
It should be noted that after the coding information is loaded into the control circuit of mine lamp, pass through the side of the height of controlling potential
Formula, realize that using visible light signal as communications carrier medium, the encoded signal is passed for mine lamp.
A kind of the mine personnel localization method and device that the embodiment of the present invention is provided, first pass through the visible ray of collection mine lamp
Signal pattern, it is determined that identity information and height information with the mine personnel of mine lamp binding, then again by according to visible
The height information of optical signal image and mine personnel, the positional information of mine personnel is determined, solves mine personnel positioning system
Complexity is high, and easily by the technical problem of the complicated electromagnetic environmental impact of underground coal mine, relative to existing mine personnel
Location technology, the identity information recognition accuracy for improving Underground well personnel is realized, and improve position positioning precision and effect
The technique effect of rate, so as to contribute to administrative staff to grasp the distribution and motion of Underground well personnel in time and exactly
Track, and more reasonably can be scheduled and manage, there is accurate, economy, safety, the advantage of energy-conservation.
Embodiment six
Accompanying drawing 10 is referred to, a kind of structural representation of the mine personnel positioning device provided for the embodiment of the present invention six,
The device is adapted for carrying out mine personnel localization method provided in an embodiment of the present invention.The device specifically includes following module：
Image capture module 61, for gathering the visible light signal image of mine lamp；
Determining module 62 is encoded, for according to the visible light signal image, it is determined that the mine people with mine lamp binding
The coding information of member；
Coding and decoding module 63, for carrying out decoding process to the coding information, obtain the numbering of the mine personnel；
Information determination module 64, for according to the numbering, from preset knowledge storehouse, it is determined that numbering the body associated with described
Part information and height information；
Position determination module 65, for according to the visible light signal image and the height information, determining the mine
The positional information of personnel；
Personnel positioning module 66, for according to the positional information, positioning the mine personnel.
Preferably, described image acquisition module includes：
Image acquisition units, for according to default acquisition rate, gathering the visible light signal image of mine lamp, obtain it is multiple can
See optical signal image；
Image sequencing unit, for the time sequencing according to collection, multiple visible light signal images are ranked up.
Preferably, the coding determining module includes：
Graphics processing unit, for according to predetermined threshold value, binary conversion treatments to be carried out to multiple visible light signal images,
Multiple binary images are obtained, each binary image includes multiple UNICOM regions；
Region labeling unit, in each binary image, demarcating, obtaining to each connected region
To calibration matrix；
Center determining unit, for according to the calibration matrix, it is determined that the central pixel point of each connected region
Position and the gray value of the central pixel point；
Determining unit is encoded, for the central pixel point according to each UNICOM region in each binary image
Position and the central pixel point gray value, it is determined that with the mine lamp binding mine personnel coding information.
Preferably, the position determination module includes：
Coordinate establishes unit, for being sat at the visible light signal image, the first right angle established in units of pixel
Mark system, and the second rectangular coordinate system in units of rice, the origin of coordinates of second rectangular coordinate system are straight for described first
The coordinate of the central pixel point of angular coordinate system；
The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：
X=(u-uo) dX, Y=(v-vo)·dY
Wherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal
The size of image；
It is additionally operable in mine laneway, using the upright projection point of video camera as origin, the three-dimensional established in units of rice is sat
Mark system；
Position calculation unit, for by below equation, determining the positional information of the mine personnel.
Wherein, H be video camera apart from tunnel ground height, h represent described in
The height information of mine personnel, f represent the focal length of video camera.
Preferably, described device also includes：
Data obtaining module, for before the visible light signal image of collection mine lamp, obtaining numbering, the body of mine personnel
Part information and height information, and the numbering is associated into the identity information and height information, store in preset knowledge storehouse；
Information coding module, for according to pre-arranged code rule, carrying out coded treatment to the numbering, obtaining coding letter
Breath；
Load-on module is encoded, for the coding information to be loaded into the control circuit of mine lamp, to cause the control electricity
Road control visible light signal transmits the coding information.
The embodiment of the present invention is by gathering the visible light signal image of mine lamp；According to the visible light signal image, it is determined that
With the coding information of the mine personnel of mine lamp binding；Decoding process is carried out to the coding information, obtains the mine people
The numbering of member；According to the numbering, from preset knowledge storehouse, it is determined that numbering the identity information associated and height information with described；
According to the visible light signal image and the height information, the positional information of the mine personnel is determined；According to the position
Information, position the mine personnel.Based on the above method and device, solves mine personnel positioning system complexity height, and hold
It is vulnerable to the technical problem of the complicated electromagnetic environmental impact of underground coal mine, relative to existing mine personnel location technology, realizes
The identity information recognition accuracy of Underground well personnel is improved, and improves the technique effect of position positioning precision and efficiency,
So as to contribute to administrative staff to grasp distribution and the movement locus of Underground well personnel in time and exactly, and can
More reasonably it is scheduled and manages.Once there is security incident, administrative staff can be according to existing underground coal mine video
Monitoring system and mine lamp are as identification terminal, by the data such as the identity information of Underground well personnel and positional information and graphic documentation
It is supplied to rescue personnel so that rescue personnel can accurately grasp the particular location of Underground well personnel, be taken in the very first time
Measure is rescued, so as to ensure being greatly improved for downhole rescuing operating efficiency, there is accurate, economy, safety, the advantage of energy-conservation.
Said apparatus can perform the method that any embodiment of the present invention is provided, and possess the corresponding functional module of execution method
And beneficial effect.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. mine personnel localization method, it is characterised in that including：Gather the visible light signal image of mine lamp；According to the visible light signal image, it is determined that the coding information with the mine personnel of mine lamp binding；Decoding process is carried out to the coding information, obtains the numbering of the mine personnel；According to the numbering, from preset knowledge storehouse, it is determined that numbering the identity information associated and height information with described；According to the visible light signal image and the height information, the positional information of the mine personnel is determined；According to the positional information, the mine personnel is positioned.
- 2. according to the method for claim 1, it is characterised in that the visible light signal image of the collection mine lamp, including：According to default acquisition rate, the visible light signal image of mine lamp is gathered, obtains multiple visible light signal images；According to the time sequencing of collection, multiple visible light signal images are ranked up.
- 3. according to the method for claim 2, it is characterised in that it is described according to the visible light signal image, it is determined that and institute The coding information of the mine personnel of mine lamp binding is stated, including：According to predetermined threshold value, binary conversion treatment is carried out to multiple visible light signal images, obtains multiple binary images, often The individual binary image includes multiple connected regions；In each binary image, each connected region is demarcated, obtains calibration matrix；According to the calibration matrix, it is determined that the position of the central pixel point of each connected region and the central pixel point Gray value；According to the position of the central pixel point of each connected region and the middle imago in each binary image The gray value of vegetarian refreshments, it is determined that the coding information with the mine personnel of mine lamp binding.
- 4. according to the method for claim 1, it is characterised in that described according to the visible light signal image and the height Information, the positional information of the mine personnel is determined, including：On the visible light signal image, the first rectangular coordinate system for establishing in units of pixel, and in units of rice Second rectangular coordinate system, the origin of coordinates of second rectangular coordinate system is the central pixel point of first rectangular coordinate system Coordinate；The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：X=(u-uo) dX, Y=(v-vo)·dYWherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal image Size；In mine laneway, using the upright projection point of video camera as origin, the three-dimensional system of coordinate established in units of rice；By below equation, the positional information of the mine personnel is determined.Wherein, H is height of the video camera apart from tunnel ground, and h represents the mine The height information of personnel, f represent the focal length of video camera.
- 5. according to the method for claim 1, it is characterised in that it is described before the visible light signal image of collection mine lamp, Methods described also includes：Numbering, identity information and the height information of mine personnel are obtained, and the numbering is associated into the identity information and height Information, store in preset knowledge storehouse；According to pre-arranged code rule, coded treatment is carried out to the numbering, obtains coding information；The coding information is loaded into the control circuit of mine lamp, to cause the control circuit control visible light signal to transmit institute State coding information.
- A kind of 6. mine personnel positioning device, it is characterised in that including：Image capture module, for gathering the visible light signal image of mine lamp；Determining module is encoded, for according to the visible light signal image, it is determined that the volume with the mine personnel of mine lamp binding Code information；Coding and decoding module, for carrying out decoding process to the coding information, obtain the numbering of the mine personnel；Information determination module, for according to the numbering, from preset knowledge storehouse, it is determined that numbering the identity information associated with described And height information；Position determination module, for according to the visible light signal image and the height information, determining the mine personnel Positional information；Personnel positioning module, for according to the positional information, positioning the mine personnel.
- 7. device according to claim 6, it is characterised in that described image acquisition module includes：Image acquisition units, for according to default acquisition rate, gathering the visible light signal image of mine lamp, obtaining multiple visible rays Signal pattern；Image sequencing unit, for the time sequencing according to collection, multiple visible light signal images are ranked up.
- 8. device according to claim 7, it is characterised in that the coding determining module includes：Graphics processing unit, for according to predetermined threshold value, carrying out binary conversion treatment to multiple visible light signal images, obtaining Multiple binary images, each binary image include multiple UNICOM regions；Region labeling unit, in each binary image, demarcating, being marked to each connected region Set matrix；Center determining unit, for according to the calibration matrix, it is determined that the position of the central pixel point of each connected region And the gray value of the central pixel point；Determining unit is encoded, for the position according to the central pixel point in each UNICOM region in each binary image Put and the gray value of the central pixel point, it is determined that the coding information with the mine personnel of mine lamp binding.
- 9. device according to claim 6, it is characterised in that the position determination module includes：Coordinate establishes unit, in the visible light signal image, the first rectangular coordinate system established in units of pixel, And the second rectangular coordinate system in units of rice, the origin of coordinates of second rectangular coordinate system is first rectangular co-ordinate The coordinate of the central pixel point of system；The transformational relation of first rectangular coordinate system and second rectangular coordinate system is：X=(u-uo) dX, Y=(v-vo)·dYWherein, dX=m/M, dY=n/N, M × N are the pixel size of visible light signal image, and n × m is visible light signal image Size；It is additionally operable in mine laneway, using the upright projection point of video camera as origin, the three-dimensional system of coordinate established in units of rice；Position calculation unit, for by below equation, determining the positional information of the mine personnel.Wherein, H is height of the video camera apart from tunnel ground, and h represents the mine The height information of personnel, f represent the focal length of video camera.
- 10. device according to claim 6, it is characterised in that described device also includes：Data obtaining module, for before the visible light signal image of collection mine lamp, obtaining numbering, the identity letter of mine personnel Breath and height information, and the numbering is associated into the identity information and height information, store in preset knowledge storehouse；Information coding module, for according to pre-arranged code rule, carrying out coded treatment to the numbering, obtaining coding information；Load-on module is encoded, for the coding information to be loaded into the control circuit of mine lamp, to cause the control circuit control Visible light signal processed transmits the coding information.
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Application publication date: 20180406 |