CN109850519A - A kind of coal mine conveyer abnormal detector and method based on sound positioning - Google Patents
A kind of coal mine conveyer abnormal detector and method based on sound positioning Download PDFInfo
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Abstract
A kind of coal mine conveyer abnormal detector and method based on sound positioning of the present invention, belongs to test technique automatic field；Provide the abnormal coal mine conveyer abnormal detector and method based on sound positioning of promptly and accurately discovery coal mine conveyer；Technical solution are as follows: the present apparatus includes host, host is provided with metal shell, data processing module, data memory module, control module, image capture module, image pre-processing module and sound card module are equipped in metal shell, data processing module is connected with data memory module, sound card module, image pre-processing module and control module respectively, and image capture module is connected with image pre-processing module；This method differentiates abnormal sound using frame difference method, and carries out abnormal sound positioning using Time Delay Estimation Algorithms.
Description
Technical field
A kind of coal mine conveyer abnormal detector and method based on sound positioning of the present invention, belongs to automatic detection skill
Art field.
Background technique
Mine conveyer be Modern coal mines production important component, be widely used in coal acquisition, transport it is each
Link is a kind of machinery with friction-driven transported material in a continuous manner, mainly by rack, conveyer belt, carrying roller, roller,
The tight composition such as device and transmission device.
Coal mine conveyer most common failure has: conveying belt wear, conveyer band discerption, the exposure of steel cable core conveying belt wirerope,
Carrying roller mechanical damage, carrying roller fall off, abnormal card resistance and belt deviation cause material unrestrained etc..These abnormal failures occur
When, can all generate unexpected abnormal sound, at this time if patrol officer or conveyer belt driver just at the scene if be easy to find the problem, but
It is easy to cause the deterioration of conveyer failure if scene is without staff, huge economic losses even personnel is caused to hurt
Evil.
Summary of the invention
The present invention it is a kind of based on sound positioning coal mine conveyer abnormal detector, overcome it is of the existing technology not
Foot, provide can promptly and accurately find coal mine conveyer abnormal detector based on sound positioning that coal mine conveyer is abnormal and
Method.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: a kind of coal mine based on sound positioning is defeated
Machine abnormal detector, including host are sent, host is provided with metal shell, is equipped with data processing module, data in metal shell
Memory module, control module, image capture module, image pre-processing module and sound card module, data processing module respectively with number
It is connected according to memory module, sound card module, image pre-processing module with control module, image capture module and image pre-processing module
It is connected；Image in image capture module collection of coal mine tunnel, image pre-processing module be used for image information carry out denoising,
Median filtering and image segmentation；Sound card module is used for the sound to several microphone arrays acquisition being arranged in coal mine roadway
Amplification, denoises and voice signal is converted to electric signal filtering；Data processing module is used for voice signal and picture signal
It analyzes and determines, completes the transmission of coal mine conveyer abnormal signal based on the analysis results.
Further, the microphone array includes microphone array A, microphone array B and microphone array D, microphone
Array A and microphone array B is separately mounted in the wall of coal mine roadway two sides, and microphone array D is arranged outside the metal
On the side of shell, microphone array A, microphone array B pass through the Audio interface block being arranged on the metal shell and institute
Host is stated to be connected.
Further, the host further includes power module and signal and power supply interface module, power module and signal with
And power supply interface module is connected, power module is used for the host supplying power, and signal and power supply interface module are used for external electricity
Source, the cascade of multiple hosts and information output.
Further, the front end of described image acquisition module is equipped with Image Acquisition window.
Further, the first fixed bracket and the second fixed bracket are provided at the top of the metal shell.
A kind of coal mine conveyer abnormal detector based on sound positioning, based on above-mentioned a kind of based on sound positioning
Coal mine conveyer abnormal detector is completed, comprising the following steps:
S1., host is fixed on to the top of the coal mine roadway where coal mine conveyer, microphone array D, microphone array A and wheat
Gram wind array B arrangement is in alignment, and the straight line is parallel with the ground of coal mine roadway, and microphone array acquires sound；
S2. sound card module amplifies the sound of acquisition, filtering, denoises and voice signal is converted to electric signal, by the number of conversion
Word voice signal carries out preemphasis, adding window sub-frame processing, detects whether the abnormal sound for generating coal mine conveyer；
S3. it is conveyed using microphone array A, the coordinate of microphone array B and microphone array D and microphone array to coal mine
The distance of the abnormal sound sound source of machine, solution obtain the coordinate of abnormal sound sound source；
S4. the image in image capture module collection of coal mine tunnel, image pre-processing module carry out denoising, intermediate value to image information
Filtering and image segmentation, obtain square net；
S5. the coordinate of abnormal sound sound source is marked on square net, according to movement of the abnormal sound sound source on square net
State, data processing module judgement is abnormal to be occurred in conveyer belt or conveyer belt frame；When anomaly occurring in conveyer belt, transmission report
Alert signal is to control centre, and when anomaly occurring in conveyer belt frame, data memory module stores image.
Further, in the step S2, the step of the adding window sub-frame processing are as follows: be divided into each section of voice signal more
A signal message frame sets frame difference threshold value, by comparing continuous signal frame, when two frame voice signal difference of front and back is more than frame difference threshold
When value, it can be determined with abnormal sound, extract the frame difference signal feature of front and back signal frame.
Further, the size of the square net in the step S4, single square net is less than 1cm*1cm.
The present invention has the advantages that compared with prior art.
1, the method for the present invention uses the detection method positioned based on sound, can effectively detect coal mine conveyer unusual condition
Occur, while avoiding the interference of non-conveyor region abnormal sound；
2, the method for the present invention differentiates abnormal sound using frame difference method, and carries out abnormal sound positioning, inspection using Time Delay Estimation Algorithms
It is high to survey accuracy, it is highly reliable；
3, the achievable twenty four hours real-time monitoring of the present invention notes abnormalities and issues alarm signal in time, avoid manually failing and
When cyclic in-position measuring and cause the deterioration of conveyer unusual condition；
4, apparatus of the present invention can be used as single machine use, can also be used by signal transmission interface and multiple same device cascades.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the device of that embodiment of the invention；
Fig. 2 is the circuit diagram of control module in the device of that embodiment of the invention；
Fig. 3 is the scheme of installation of the device of that embodiment of the invention；
Fig. 4 is the flow chart of present invention method；
Fig. 5 is the two-dimensional coordinate plane that founding mathematical models are used to calculate sound source coordinate in present invention method.
In figure, the fixed bracket of 1- first, the fixed bracket of 2- second, 3- metal shell, 4- data processing module, 5- data are deposited
Module is stored up, 6- control module, 7- power module, 8- signal and power supply interface module, 9- image capture module, 10- image are adopted
Collect window, 11- image pre-processing module, 12- microphone array D, 13- sound card module, 14- Audio interface block, 15- coal mine lane
Road, the first audio connecting cord of 16-, 17- microphone array A, 18- coal mine conveyer, 19- people walking along the street face, 20- microphone array B,
The second audio connecting cord of 21-, 22- host.
Specific embodiment
Following further describes the present invention with reference to the drawings.
As shown in Figure 1 and Figure 2, a kind of coal mine conveyer abnormal detector based on sound positioning of the embodiment of the present invention, packet
Host 22 is included, the shell of host 22 is metal shell 3, and metal shell 3 is internally provided with data processing module 4, data storage mould
Block 5, control module 6, power module 7, image capture module 9, image pre-processing module 11 and sound card module 13, metal shell 3
Upside is provided with the fixed bracket 2 of the first fixation bracket 1, second and Audio interface block 14, side are provided with signal and power supply
Interface module 8, Image Acquisition window 10 and microphone array D12, the present apparatus are also connected with microphone array A17 and microphone
Array B20, Audio interface block 14 is for being connected to Mike by the first audio connecting cord 16, the second audio connecting cord 21 respectively
Wind array A17 and microphone array B20.Microphone array D12, microphone array A17 and microphone array B20 collection of coal mine lane
Road sound, and acquisition sound is passed into sound card module 13, sound card module 13 complete to the amplification of original sound signal, filtering,
It denoises and is converted by acoustic-electric and voice signal is converted into electric signal, electric signal is then passed into data processing module 4, image
Acquisition module 9 uses the industrial camera with wide-angle lens, by image in 10 collection of coal mine tunnel of Image Acquisition window, and will figure
Image relaying to image pre-processing module 11, image pre-processing module 11 be used to carry out image information denoising, median filtering with
And signal amplification, image information after processing is then passed into data processing module 4, data processing module 4 is completed to believe sound
Number and picture signal analytical judgment, while based on the analysis results complete alarm signal transmission and data storage, data
Memory module 5 is for saving analysis as a result, personnel convenient to use check at any time.It include two electromagnetism relays inside control module 6
Device is sent for alarm signal and multiple Wiring ports are for function such as multiple same present apparatus cascades and present apparatus debugging
The realization of energy.Power module 7 is mainly used to data processing module 4, data memory module 5, control module 6, Image Acquisition mould
Block 9, image pre-processing module 11, microphone array D12, sound card module 13, microphone array A17 and microphone array B20 into
Row power supply, signal and power supply interface module 8 are mainly used to external power supply, the cascade of multiple devices and information output.
As shown in figure 3, host 22 is fixed on the top of coal mine roadway 15, wheat by the first fixed bracket 1 and the second fixed bracket 2
Gram wind array A17 and microphone array B20 is separately mounted in 15 two sides wall of coal mine roadway, and microphone array D12,
Microphone array A17 and microphone array B20 arrangement is in alignment, and the straight line is parallel with the ground of coal mine roadway 15, Mike
Wind array A17 and microphone array B20 passes through the first audio connecting cord 16 respectively, the second audio connecting cord 21 is connected to host 22
The Audio interface block 14 of upside.
For data processing module 4 using the DSP module TMS320VC5441 cached with RAM, data memory module 5 is Flash
Memory module AT29C1024.Microphone array (12,17,20) uses Beamforming technology, and inside is linear comprising 16 microphones
The arrangement of array ovalisation, uses model XFM10621.
As shown in figure 4, the present invention also provides a kind of coal mine conveyer abnormal detectors based on sound positioning, based on upper
A kind of coal mine conveyer abnormal detector based on sound positioning stated is completed, comprising the following steps:
S1., host 22 is fixed on to the top of the coal mine roadway 15 where coal mine conveyer 18, microphone array D12, microphone
Array A17 and microphone array B20 arrangement is in alignment, and the straight line is parallel with the ground of coal mine roadway 15, microphone array
Acquire sound；
S2. the sound of 13 pairs of sound card module acquisitions amplifies, filtering, denoises and voice signal is converted to electric signal, by conversion
Digital audio signal carries out preemphasis, adding window sub-frame processing, detects whether the abnormal sound for generating coal mine conveyer 18；
Specifically, preemphasis, adding window, sub-frame processing are carried out to the digital audio signal converted through sound card module 13.In order to avoid
The noise jamming of voice signal eliminates low-frequency disturbance, promotes high frequency section, is handled using preemphasis voice signal, made
The overall spectrum of voice signal becomes flat.Each section of voice signal is divided by multiple signals by adding window sub-frame processing simultaneously
Information frame.Frame difference threshold value is set, by comparing continuous signal frame, when two frame voice signal difference of front and back is more than frame difference threshold value,
It can be determined with abnormal sound, extract the frame difference signal feature of front and back signal frame.Using double threshold end-point detection method by sound
Specific effective information section, that is, frame difference signal and ambient noise in sound signal separates, and extracts the effective information of frame difference signal
Section；
S3. microphone array A17, the coordinate of microphone array B20 and microphone array D12 and microphone array to coal are utilized
The distance of the abnormal sound sound source of mine conveyer 18, solution obtain the coordinate of abnormal sound sound source；
The specific method is as follows: microphone array A17, microphone array B20 are different with microphone array D12 installation site, then different
Chang Shengyin sound wave reaches that each microphone array time is different, time of signal is received between different microphone arrays there are difference,
Use the achievable abnormal sound auditory localization of Time Delay Estimation Algorithms.Microphone array A17, microphone array B20 and microphone array
Arrange D12 it is in alignment, add abnormal sound sound source, can founding mathematical models formation one two-dimensional coordinate plane, pass through meter
Two-dimensional coordinate plane each point relationship is calculated, abnormal sound sound source coordinate can be obtained.Founding mathematical models are illustrated in figure 5 to be formed
Two-dimensional coordinate plane, microphone array A, microphone array B and microphone array D are on same straight line, it is assumed that abnormal sound
Source address coordinate is S (a, b), and spread speed is sound in air, microphone array A and microphone array B
Receive abnormal sound time difference be, the time difference that microphone array A and microphone array D receive abnormal sound is,
Following equation then can be obtained by Fig. 5:
In addition, by the time differenceWithIt can be calculated:
It substitutes into formula (1.1), obtains
In above-mentioned equation group, the numerical value of DA, BA during installation can measure obtains, therefore equation group contain a, b, SA andFour
Unknown quantity, simultaneous, which calculates above-mentioned equation group, can obtain sound source address coordinate S (a, b)；
S4. the image in 9 collection of coal mine tunnel 15 of image capture module, image pre-processing module 11 denoise image information
Sound, median filtering and image segmentation, obtain square net；
Specifically, the collected coal mine roadway image of image capture module 9 be filtered, denoised, after the processing such as image segmentation,
Obtain two regions: conveyer region and the tunnel region Ren Hang.According to acquisition image range, by image gridding segmentation, with small
It is advisable in the square net of 1cm*1cm.Co-ordinate zero point is set in the picture simultaneously, and subsequent abnormal sound sound source is facilitated to demarcate；
S5. the coordinate of abnormal sound sound source is marked on square net, according to movement of the abnormal sound sound source on square net
State, data processing module 4 judge abnormal occur in conveyer belt or conveyer belt frame；When anomaly occurring in conveyer belt, transmission
Alarm signal is to control centre, and when anomaly occurring in conveyer belt frame, data memory module 5 stores image；
Specifically, simultaneous two-dimensional coordinate plane zero point and image coordinate zero point, when there is abnormal sound generation, by abnormal sound speech
Source coordinate is demarcated in image respective coordinates.When abnormal sound sound source is in conveyer region, if at abnormal sound sound source
In continuous motion state, then it can determine whether that this is anomaly occurred on conveyer belt, if abnormal sound sound source is in fixed state,
It then may determine that this is anomaly occurred in conveyer belt frame.
Although being particularly shown and describing the present invention, those skilled in the art referring to its exemplary embodiment
It should be understood that in the case where not departing from the spirit and scope of the present invention defined by claim form can be carried out to it
With the various changes in details.
Claims (8)
1. a kind of coal mine conveyer abnormal detector based on sound positioning, it is characterised in that: including host (22), host
(22) it is provided with metal shell (3), data processing module (4), data memory module (5), control mould is equipped in metal shell (3)
Block (6), image capture module (9), image pre-processing module (11) and sound card module (13), data processing module (4) respectively with
Data memory module (5), sound card module (13), image pre-processing module (11) are connected with control module (6), image capture module
(9) it is connected with image pre-processing module (11)；Image in image capture module (9) collection of coal mine tunnel, image preprocessing mould
Block (11) is used to carry out denoising, median filtering and image segmentation to image information；Sound card module (13) is used to exist to setting
The sound amplification of several microphone arrays acquisition in coal mine roadway, denoises and voice signal is converted to electric signal filtering；Number
According to processing module (4) for the analytical judgment to voice signal and picture signal, it is different that coal mine conveyer is completed based on the analysis results
The transmission of regular signal.
2. a kind of coal mine conveyer abnormal detector based on sound positioning according to claim 1, it is characterised in that:
The microphone array includes microphone array A(17), microphone array B(20) and microphone array D(12), microphone array
A(17) and microphone array B(20) be separately mounted in the wall of coal mine roadway (15) two sides, microphone array D(12) setting
On the side of the metal shell (3), microphone array A(17), microphone array B(20) by being arranged outside the metal
Audio interface block (14) on shell (3) is connected with the host (22).
3. a kind of coal mine conveyer abnormal detector based on sound positioning according to claim 1, it is characterised in that:
The host (22) further includes power module (7) and signal and power supply interface module (8), power module (7) and signal and
Power supply interface module (8) is connected, and power module (7) is used to power to the host (22), signal and power supply interface module (8)
It is exported for external power supply, the cascade of multiple hosts (22) and information.
4. a kind of coal mine conveyer abnormal detector based on sound positioning according to claim 1, it is characterised in that:
Image Acquisition window (10) are equipped in the front end of described image acquisition module (9).
5. a kind of coal mine conveyer abnormal detector based on sound positioning according to claim 1, it is characterised in that:
First fixed bracket (1) and second fixed bracket (2) are provided at the top of the metal shell (3).
6. a kind of coal mine conveyer abnormal detector based on sound positioning, it is characterised in that any based on claim 1-5
A kind of coal mine conveyer abnormal detector based on sound positioning is completed, comprising the following steps:
S1., host (22) is fixed on to the top of the coal mine roadway (15) where coal mine conveyer (18), microphone array D
(12), microphone array A(17) and microphone array B(20) arrange in alignment, the ground of the straight line and coal mine roadway (15)
Face is parallel, and microphone array acquires sound；
S2. sound card module (13) amplifies the sound of acquisition, filtering, denoises and voice signal is converted to electric signal, will convert
Digital audio signal carry out preemphasis, adding window sub-frame processing, detect whether generate coal mine conveyer (18) abnormal sound；
S3. the coordinate and microphone array of microphone array A(17), microphone array B(20) and microphone array D(12) are utilized
The distance of the abnormal sound sound source of coal mine conveyer (18) is arranged, solution obtains the coordinate of abnormal sound sound source；
S4. the image in image capture module (9) collection of coal mine tunnel (15), image pre-processing module (11) carry out image information
Denoising, median filtering and image segmentation, obtain square net；
S5. the coordinate of abnormal sound sound source is marked on square net, according to movement of the abnormal sound sound source on square net
State, data processing module (4) judgement is abnormal to be occurred in conveyer belt or conveyer belt frame；When anomaly occurring in conveyer belt, pass
Send alarm signal to control centre, when anomaly occurring in conveyer belt frame, data memory module (5) deposits image
Storage.
7. a kind of coal mine conveyer method for detecting abnormality based on sound positioning according to claim 6, it is characterised in that:
In the step S2, the step of the adding window sub-frame processing are as follows: each section of voice signal is divided into multiple signal message frames, if
Framing difference threshold value, when two frame voice signal difference of front and back is more than frame difference threshold value, can be determined with by comparing continuous signal frame
Abnormal sound occurs, and extracts the frame difference signal feature of front and back signal frame.
8. a kind of coal mine conveyer method for detecting abnormality based on sound positioning according to claim 6, it is characterised in that:
The size of square net in the step S4, single square net is less than 1cm*1cm.
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| CN110239914A (en) * | 2019-06-19 | 2019-09-17 | 太原理工大学 | Infrared audiovisual frequency spectrum fusion conveyer belt longitudinal tear detection prior-warning device and method |
| CN110879534A (en) * | 2019-12-17 | 2020-03-13 | 义乌市深研智能科技有限公司 | Fuzzy control method for field sound signal in remote control of working machine |
| CN113405825A (en) * | 2021-06-11 | 2021-09-17 | 曲阜师范大学 | Belt conveyor fault diagnosis method based on sound signals |
| CN117622809A (en) * | 2024-01-25 | 2024-03-01 | 太仓武港码头有限公司 | Bucket wheel machine operation AI monitoring method and server |
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