CN110262384A - A kind of underground crusher autocontrol method and system based on image recognition - Google Patents

A kind of underground crusher autocontrol method and system based on image recognition Download PDF

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Publication number
CN110262384A
CN110262384A CN201910668622.4A CN201910668622A CN110262384A CN 110262384 A CN110262384 A CN 110262384A CN 201910668622 A CN201910668622 A CN 201910668622A CN 110262384 A CN110262384 A CN 110262384A
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China
Prior art keywords
controller
crusher
signal
module
starting
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CN201910668622.4A
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Chinese (zh)
Inventor
吴喆峰
张琨
曹凌基
王子印
赵海鹏
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Jingying Digital Technology Co Ltd
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Jingying Digital Technology Co Ltd
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Priority to CN201910668622.4A priority Critical patent/CN110262384A/en
Publication of CN110262384A publication Critical patent/CN110262384A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/11Plc I-O input output
    • G05B2219/1103Special, intelligent I-O processor, also plc can only access via processor

Abstract

The embodiment of the invention discloses a kind of underground crusher autocontrol method and system based on image recognition, is related to technical field of mine safety.Method includes: the real time video image for acquiring monitored space, is identified to the monitoring objective in real time video image;Wherein, monitoring objective includes first object, the second target and third target;Enabling signal is generated according to first object, and enabling signal is sent to controller, controller controls crusher starting;The amount of storage of material in second target is determined, if the amount of storage of material is less than preset value, generates stop signal, and send stop signal to controller, controller, which controls crusher, to be stopped;Wherein, if any time detects third target and/or the second target memory in foreign matter, emergent stop signal is generated, and emergent stop signal is sent to controller, controller control crusher stops immediately.The embodiment of the present invention is able to solve the problem of control job dependence manual operation of the equipment such as underground crusher.

Description

A kind of underground crusher autocontrol method and system based on image recognition
Technical field
The present embodiments relate to technical field of mine safety, and in particular to a kind of underground crusher based on image recognition Autocontrol method and system.
Background technique
Safety is that coal mine manages eternal topic, is the cardinal task concerning collective property and worker's life.But coal mine Belong to underground mining, mining depth is big, and production environment is complicated, while by gas, coal dust, water, the prestige of the natural causes such as fire more The side of body causes colliery industry to become the high risk industries in national eye.But since technology is limited, downhole safety production at present is still to lean on Manual work operates machine, and index of keeping the safety in production, but manual operation are managed and examine by manual inspection, record and inspection There are the opaque factors of information, lead to the norm standard and examination information asymmetry of colliery industry, increase to business administration negative Load.
In addition, artificial underground work production environment is complicated, the incidence of peril will increase, when such as crusher work, Coal cinder can fly out feed well under biggish pressure, hurt the presence of staff etc. risk factor.And at present to underground equipment Control be all made of manual control, since taking into account for people is limited in scope, live complex environment cannot be judged rapidly, caused Operating efficiency is low;In addition to this, most mechanical equipments are all continuous works that a shift connects a shift on coal mine, then In addition coal mine working bad environments, working condition harshness continuously runs the failure and accident for leading to coal mine machinery equipment year in year out Generation, and existing manual control cannot carry out protection mechanism to equipment, to influence the production efficiency of coal mine, increase coal mine Production cost.
Summary of the invention
The embodiment of the present invention be designed to provide a kind of underground crusher autocontrol method based on image recognition and System, to solve the problems, such as the control job dependence manual operation of the equipment such as underground crusher.
To achieve the above object, the embodiment of the present invention mainly provides the following technical solutions:
In a first aspect, the embodiment of the invention provides a kind of underground crusher autocontrol method based on image recognition, The described method includes:
The real time video image for acquiring monitored space, identifies the monitoring objective in the real time video image;Wherein, The monitoring objective includes at least first object, the second target and third target;
Enabling signal is generated according to the first object, and the enabling signal is sent to controller, controller control Crusher starting;
The amount of storage of material in second target is determined, if the amount of storage of the material is less than preset value, Stop signal is generated, and the stop signal is sent to controller, controller, which controls crusher, to be stopped;
Wherein, if any time detects that third target and/or the second target memory in foreign matter, generate emergent stop signal, And the emergent stop signal is sent to controller, controller control crusher stops immediately.
Further, the monitoring objective in the real time video image is carried out knowing method for distinguishing including: to described real-time Video image carries out data prediction;Determine the identification region of pretreatment rear video image;The characteristics of image of identification region is extracted, Target detection is carried out to the monitoring objective in identification region.
Further, mechanism is cleared up the method includes clout, clout cleaning mechanism includes: that controller receives and stops After stop signal, starting clout clears up countdown, and after clout cleaning countdown terminates, controller control crusher stops immediately Only.
Further, the method also includes start-up study mechanism, the start-up study mechanism includes: that controller receives After enabling signal, starting countdown is carried out according to controller pre-set programs, starting countdown terminates, then controller controls crusher Starting, and start countdown do not complete before, controller forbid crusher execute stopping movement;The method also includes shutting down to be delayed Mechanism, shutting down delay strategy includes: after controller control crusher stops working, to be shut down down according to controller pre-set programs Timing, before shutdown countdown terminates, crusher No starting.
Further, the controller configured with manual operation module, the manual operation module for crusher into Row starting, stopping, reset and emergency stop operation, the controller configuration, which is also configured with, is automatically brought into operation module, the automatic control mould Block is for receiving starting, stopping and emergent stop signal, thus the control logic inside drive control device.
Further, after controller execution is automatically brought into operation the emergent stop signal that module receives, controller is in locking shape State, until manual control manual operation module executes and resets operation, then controller is unlocked, and is started to receive and execute starting, be stopped Only and emergent stop signal.
Further, it when the manual operation module is triggered, is automatically brought into operation module and is in the lock state;The automatic behaviour When being triggered as module, manual operation module is in the lock state.
Further, for the controller configured with interlocking antilogical, the interlocking antilogical, which includes: that controller is every, executes one A operation signal determines the inverted signal of the operation signal, when the output for determining the inverted signal is zero, then executes institute State operation signal.
Second aspect, the embodiment of the present invention provide a kind of underground crusher automatic control system based on image recognition, institute The system of stating includes: image collecting device, server, ring exchanger and controller, described image acquisition device and server into The transmission of row image data, the server are communicated by ring exchanger and controller, and described image acquisition device is used for Acquire the real time video image of monitored space;The server is raw for handling the real time video image of the monitored space It is communicated at starting, stopping and emergent stop signal, and by the automatic control module of ring exchanger and controller;The control Device is used to execute the trigger signal of manual operation module or is automatically brought into operation the operation signal of module, realization to the starting of crusher, Stopping, reset and emergency stop operation.
The third aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, the computer storage medium In comprising one or more program instructions, one or more of program instructions by a kind of underground based on image recognition for being broken Broken machine automatic control system executes a kind of method that the underground crusher based on image recognition automatically controls.
Technical solution provided in an embodiment of the present invention at least has the advantages that
The embodiment of the present invention carries out real-time monitoring to scene, by image recognition technology to underground work real time video image It carries out feature extraction and detects shuttle car in the case where detecting that foreign and detection zone are without staff in feed well Give PLC controller enabling signal when arrival, PLC controller starts crusher according to internal logic protective condition, when recognize into When the amount of storage of material in hopper is less than preset value, stop signal is issued to PLC controller, control crusher stops, being not required to Manual control is wanted, the automatic control of crusher is realized, can be improved production efficiency.And there are many protections for setting of the embodiment of the present invention Logic, it can be ensured that the safe operation of equipment.
Detailed description of the invention
Fig. 1 is a kind of letter for underground crusher autocontrol method based on image recognition that the embodiment of the present invention 1 provides Enable flow chart.
The step of Fig. 2 is a kind of underground crusher autocontrol method based on image recognition that inventive embodiments 1 provide Figure.
Fig. 3 is a kind of knot for underground crusher automatic control system based on image recognition that the embodiment of the present invention 2 provides Structure schematic diagram.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation Content disclosed by book is understood other advantages and efficacy of the present invention easily.
In being described below, for illustration and not for limitation, propose such as specific system structure, interface, technology it The detail of class, to understand thoroughly the present invention.However, it will be clear to one skilled in the art that there is no these specific The present invention also may be implemented in the other embodiments of details.In other situations, omit to well-known system, circuit and The detailed description of method, in case unnecessary details interferes description of the invention.
Before introducing the embodiment of the present invention, simple introduction is made to the application scenarios of the present embodiment first, shuttle car is coal A kind of trackless rubber-tyred vehicle of realization short distance fast transportation under mine, one of the important equipment as short arm mechanized exploitation, Major function is that the coal of continuous miner is transported on coal transporting breaking machine.By material, i.e. coal mine, the charging of crusher is poured into Coal mine is scraped in crusher chamber, is crushed by slot, broken machine scraper.In crusher work, the coal mine of bulk is in biggish pressure Power meeting may get to staff, therefore need in actual job to avoid the generation of such safety accident, and when in feed well When having foreign matter, such as anchor pole, the quality of production and damage crusher of coal mine can be reduced, production efficiency, therefore the present invention are reduced Embodiment needs the type of the material in staff and feed well to detection zone to identify.
With reference to Fig. 2, the embodiment of the present invention 1 provides a kind of underground crusher autocontrol method based on image recognition, side Method specifically includes that
The real time video image for acquiring monitored space, identifies the monitoring objective in real time video image;Wherein, it monitors Target includes first object, the second target and third target;
Enabling signal is generated according to first object, and enabling signal is sent to controller, controller control crusher opens It is dynamic;
The amount of storage of material in second target is determined, if the amount of storage of material is less than preset value, generates stopping Signal, and controller is sent stop signal to, controller, which controls crusher, to be stopped;
Wherein, any time generates emergency stop letter if detecting third target and/or the second target memory in foreign matter Number, and emergent stop signal is sent to controller, controller control crusher stops immediately.
For above-mentioned steps, with reference to Fig. 1, first object is shuttle car in the application specific embodiment, and the second target is Feed well, third target is staff, in practical applications, using algorithm of target detection to each frame image in video data Carry out the detection of artificial intelligence.Data prediction is carried out to real time video image first, may include: to be carried out to image to be detected The operations such as image denoising, image enhancement, color space conversion.Then the identification region of pretreatment rear video image is determined, in advance The region for being likely to occur shuttle car and broken machine scraper is marked, entire picture is scanned, is found brokenly using image-recognizing method The region of scraper plate and the shuttle car label of broken machine is as identification region.The characteristics of image for extracting identification region again, in identification region Monitoring objective carry out target detection.It specifically can use convolutional neural networks and carry out target detection.Mainly include convolutional layer, Extracted region network and three main modulars of classifier.Wherein, convolutional layer is usually depth convolutional neural networks, and being used for will be original Image is converted into more ability to express, more abstract high-rise characteristics of image by operations such as a series of convolution, ponds, is supplied to Extracted region network and classifier.The characteristics of image that extracted region network is extracted based on convolution, the system provided according to network The generating mode of column frame generates corresponding multiple candidate frames, finally generates the area of a certain number of doubtful broken machine scrapers and shuttle car Domain.Classifier carries out Accurate Analysis according to the characteristics of image extracted, to the region of doubtful broken machine scraper and shuttle car, finally gives Meet the coordinate of the characteristic area of broken machine scraper and shuttle car in image out, and then judges whether identification region has monitoring objective.
When judging has shuttle car in identification region, coal mine will be carried out in next step by, which illustrating, is crushed work, therefore server generates Enabling signal, and enabling signal is sent to controller, controller controls motor of crusher starting.Here controller is preferred Using PLC programmable logic controller (PLC), hereinafter abbreviation PLC controller.
Server persistently detects real time video image, and is deposited by image recognition algorithm to coal mine in feed well Reserves are determined, if the amount of storage of material is less than preset value, that is, indicate that broken work is near completion, then server, which generates, stops Signal, and PLC controller is sent stop signal to, PLC controller controls crusher and stops.
It should be noted that any time, if detecting, identification region has in staff or feed well there are foreign matter, Or identification region has in staff and feed well there are foreign matter while occurring, then there may be security risk or damages for explanation The risk of machine, therefore server generates emergent stop signal, and emergent stop signal is sent to PLC controller, PLC controller control is broken Broken machine stops immediately.
Above-mentioned PLC controller is configured with manual operation module and is automatically brought into operation module, and PLC controller is mounted on local electrical In control cabinet, the manual operation module of PLC controller is used to start crusher, stop, resetting and emergency stop operation, PLC The automatic control module of controller is for receiving starting, stopping and emergent stop signal, thus the control logic inside drive control device. Configuration starting on control cabinet stops, resetting, scram button and three knobs selection switch, three knobs select switch for it is manual- Stopping-automatic switch.The electricity such as power module, low voltage component, breaker, intermediate relay are also configured in local electric control box Gas element, for realizing the method for the present embodiment.
Three knob selection switches select three knobs on local electric control box for realizing manual/auto switching Switch rotary is selected to manual position, then system is only believed by the input of PLC controller of the start-stop button on local electric control box Number, receive starting, the stopping, reset command on local electric control box.
Select switch rotary to automated location three knobs on local electric control box, then PLC controller is only with clothes Enabling signal, stop signal and the emergent stop signal that business device transmission comes are the signal input sources of PLC controller, pass through Industrial Ethernet PORT COM, PLC receive starting, stopping and the emergent stop signal of server transport.
Select switch rotary to stop position three knobs on local electric control box, PLC controller control is broken Machine is shut down.
It should be noted that will not stop crusher immediately after PLC controller receives stop signal, the application is real It applies example and is provided with clout cleaning mechanism, it may be assumed that after controller receives stop signal, starting clout clears up countdown, clear in clout After reason countdown terminates, controller control crusher stops immediately.Have the function of clout cleaning, stops when server generates A little coal mine is likely present after signal, in feed well, delay, which is shut down, can guarantee to have cleared up in the coal mine of crusher feed-inlet Cheng Houzai is shut down, and can be improved production efficiency.
It should be noted that the embodiment of the present invention ensures system safety operation by the way that multiple protection mechanisms are arranged.Including Local emergency stop protection, automatic emergency stop protection and the protection of motor frequent start-stop, local emergency stop protection includes: on local electric control box Scram button be ceasing and desisting order for the first priority, under any circumstance, press emergency stop knob equipment and power off shutdown immediately, together When PLC controller stop working.Automatic emergency stop protection includes: to send out when system starts and automatically controls once receiving server Emergent stop signal out, PLC controller stop working.
The protection of motor frequent start-stop to the starting for being manually operated and being automatically brought into operation, stops according to PLC controller internal timer Only stop order to carry out function timing and carry out temporal logic delay, i.e., needs just may be used by delay under normal operating condition, after starting To stop, machine cannot be opened after stopping immediately.Prevent frequent start-stop from leading to the loss of electric machine.
Specifically include start-up study mechanism and shut down delay strategy, start-up study mechanism i.e.: controller receives starting After signal, starting countdown is carried out according to controller pre-set programs, starting countdown terminates, then controller control crusher opens It is dynamic, and start before countdown do not complete, controller forbids crusher to execute stopping movement;Shutting down delay strategy includes: controller After control crusher stops working, shutdown countdown is carried out before shutdown countdown terminates according to controller pre-set programs and is crushed Machine No starting.
Since emergency stop operation typically occurs under emergency, in the emergency stop that PLC controller execute server is sent After signal, manual confirmation working environment is needed, it is believed that confirmation operating condition normally executes afterwards resets operation, PLC controller ability Continue to the operation signal that simultaneously execute server issues.That is: when PLC controller executes the emergency stop for being automatically brought into operation module and receiving After signal, PLC controller is in the lock state, and resets operation up to manual control manual operation module executes, then PLC controller It is unlocked, starts to receive and execute starting, stopping and emergent stop signal.
In addition, manual operation module has interlocking mechanism with module is automatically brought into operation, the two cannot carry out simultaneously, it may be assumed that manually When operation module is triggered, it is automatically brought into operation module and is in the lock state;It is described when being automatically brought into operation module and being triggered, mould is manually operated Block is in the lock state.
In addition, PLC controller, configured with interlocking antilogical, interlocking antilogical, which includes: that controller is every, executes an operation letter Number, the inverted signal of the operation signal is determined, when the output for determining the inverted signal is zero, then executes operation signal.It lifts Example explanation are as follows: before PLC controller starts to execute enabling signal, whether systems stay scanning has emergent stop signal and stop letter Number generation, if without emergent stop signal and stop signal, just allow PLC controller execute start-up operation.Similarly, it is controlled in PLC Before device executes stop signal, need to judge whether system provides enabling signal, if just PLC is allowed to control without enabling signal Device execution stops operation.
The embodiment of the present invention carries out real-time monitoring to scene, by image recognition technology to underground work real time video image It carries out feature extraction and detects shuttle car in the case where detecting that foreign and detection zone are without staff in feed well Give PLC controller enabling signal when arrival, PLC controller starts crusher according to internal logic protective condition, when recognize into When the amount of storage of material in hopper is less than preset value, stop signal is issued to PLC controller, control crusher stops, being not required to Manual control is wanted, the automatic control of crusher is realized, can be improved production efficiency.And there are many protections for setting of the embodiment of the present invention Logic, it can be ensured that the safe operation of equipment.
It is corresponding with above-described embodiment 1, the embodiment of the present invention 2 also provide a kind of underground crusher based on image recognition from Autocontrol system, with reference to Fig. 3, comprising: image collecting device 1, server 2, ring exchanger 3 and controller 4, image collector It sets 1 and carries out image data transmission with server 2, server 2 is communicated by ring exchanger 3 with controller 4, communication modes It can be communicated using Ethernet.
The image collecting device 1 of the embodiment of the present invention can use mining video camera, and installation site will be monitored according to it Region be arranged, in the present embodiment, the shooting angle of video camera is can cover the row of crusher and crusher front end shuttle car It sails subject to route, video camera is mainly used for acquiring the real time video image of monitored space.
Above-mentioned server 2 generates starting, stopping and emergency stop letter for handling the real time video image of monitored space Number, and communicated by the automatic control module of ring exchanger and controller.
Ring exchanger 3 is a kind of special interchanger, looped network exchange have the advantages that on ring network structure it is very much, than if any Redundancy, reliability etc..Ring exchanger can set up loop network, there are two the port for group ring on every interchanger, The network topology of annular is constituted by the form of handing in hand between interchanger.Its advantage set up is certain chain all the way on the looped network When road disconnects, the forwarding of data on network will not influence, therefore introduce ring exchanger in many industrial communication fields.Looped network Interchanger uses certain special techniques, avoids the generation of broadcast storm, while realizing the reliability of loop network again.
Above controller 4 is used to execute the trigger signal of manual operation module or is automatically brought into operation the operation signal of module, matches The various control logic of proposition of the embodiment of the present invention is set, is realized to the starting of crusher, stopping, reset and emergency stop operation.Specifically Control logic and system performed by function be discussed in detail in above-described embodiment 1, therefore do not do here excessive It repeats.
In addition, the system of the embodiment of the present invention 2 can also include warning device, warning device may include alarm and LED display, when PLC controller executes emergent stop signal, or when being manually pressed by the scram button of electric control box, system is issued Alarm, and the display alarm information on LED display remind the staff at scene to leave, and exclusion crusher work is hidden Suffer from.
Corresponding with above-described embodiment, the embodiment of the present invention 3 additionally provides a kind of computer readable storage medium, above-mentioned Comprising one or more program instructions in computer storage medium, one or more program instructions are used to be known by one kind based on image Other underground crusher automatic control system executes a kind of underground crusher autocontrol method based on image recognition.
Disclosed embodiment of this invention provides a kind of computer readable storage medium, the computer readable storage medium In be stored with computer program instructions, when the computer program instructions are run on computers so that computer execute on The method stated.
In embodiments of the present invention, the step of method that server is realized, can be presented as that hardware decoding processor executes Complete, or in decoding processor hardware and software module combine execute completion.Software module can be located at random storage Device, flash memory, read-only memory, this fields such as programmable read only memory or electrically erasable programmable memory, register at In ripe storage medium.The step of processor reads the information in storage medium, completes the above method in conjunction with its hardware.
Storage medium can be memory, such as can be volatile memory or nonvolatile memory, or may include Both volatile and non-volatile memories.
Wherein, nonvolatile memory can be read-only memory (Read-Only Memory, abbreviation ROM), may be programmed Read-only memory (Programmable ROM, abbreviation PROM), Erasable Programmable Read Only Memory EPROM (Erasable PROM, letter Claim EPROM), electrically erasable programmable read-only memory (Electrically EPROM, abbreviation EEPROM) or flash memory.
Volatile memory can be random access memory (Random Access Memory, abbreviation RAM), be used as External Cache.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random-access is deposited Reservoir (Static RAM, abbreviation SRAM), dynamic random access memory (Dynamic RAM, abbreviation DRAM), synchronous dynamic with Machine accesses memory (Synchronous DRAM, abbreviation SDRAM), double data speed synchronous dynamic RAM (Double Data RateSDRAM, abbreviation DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, abbreviation ESDRAM), synchronized links dynamic random access memory (Synchlink DRAM, abbreviation SLDRAM) and directly Rambus random access memory (DirectRambus RAM, abbreviation DRRAM).
The storage medium of description of the embodiment of the present invention is intended to include but is not limited to depositing for these and any other suitable type Reservoir.
Those skilled in the art are it will be appreciated that in said one or multiple examples, function described in the invention It can be realized with hardware with combination of software.When application software, corresponding function can be stored in computer-readable medium In or as on computer-readable medium one or more instructions or code transmitted.Computer-readable medium includes meter Calculation machine storage medium and communication media, wherein communication media includes convenient for transmitting computer journey from a place to another place Any medium of sequence.Storage medium can be any usable medium that general or specialized computer can access.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention Protection scope, all any modification, equivalent substitution, improvement and etc. on the basis of technical solution of the present invention, done should all Including within protection scope of the present invention.

Claims (10)

1. a kind of underground crusher autocontrol method based on image recognition, which is characterized in that the described method includes:
The real time video image for acquiring monitored space, identifies the monitoring objective in the real time video image;Wherein, described Monitoring objective includes at least first object, the second target and third target;
Enabling signal is generated according to the first object, and the enabling signal is sent to controller, controller control is broken Machine starting;
The amount of storage of material in second target is determined, if the amount of storage of the material is less than preset value, is generated Stop signal, and the stop signal is sent to controller, controller, which controls crusher, to be stopped;
Wherein, if any time detects third target and/or the second target memory in foreign matter, emergent stop signal is generated, and will The emergent stop signal is sent to controller, and controller control crusher stops immediately.
2. a kind of underground crusher autocontrol method based on image recognition as described in claim 1, which is characterized in that right Monitoring objective in the real time video image carries out knowing method for distinguishing
Data prediction is carried out to the real time video image;
Determine the identification region of pretreatment rear video image;
The characteristics of image for extracting identification region carries out target detection to the monitoring objective in identification region.
3. a kind of underground crusher autocontrol method based on image recognition as described in claim 1, which is characterized in that institute The method of stating includes clout cleaning mechanism, and the clout cleaning mechanism includes: after controller receives stop signal, and starting clout is clear Countdown is managed, after clout cleaning countdown terminates, controller control crusher stops immediately.
4. a kind of underground crusher autocontrol method based on image recognition as described in claim 1, which is characterized in that institute The method of stating further includes start-up study mechanism, and the start-up study mechanism includes: after controller receives enabling signal, according to control Device pre-set programs carry out starting countdown, and starting countdown terminates, then the starting of controller control crusher, and starts countdown not Before completion, controller forbids crusher to execute stopping movement;The method also includes shutting down delay strategy, delay strategy packet is shut down It includes: after controller control crusher stops working, carrying out shutdown countdown according to controller pre-set programs, shutting down countdown terminates Before, crusher No starting.
5. a kind of underground crusher autocontrol method based on image recognition as described in claim 1, which is characterized in that institute Controller is stated configured with manual operation module, the manual operation module is for starting crusher, stopping, resetting and suddenly Stop operating, controller configuration, which is also configured with, is automatically brought into operation module, the automatic control module for receive starting, stop and Emergent stop signal, thus the control logic inside drive control device.
6. a kind of underground crusher autocontrol method based on image recognition as claimed in claim 5, which is characterized in that when After controller execution is automatically brought into operation the emergent stop signal that module receives, controller is in the lock state, until manual control is manual Operation module, which executes, resets operation, then controller is unlocked, and starts to receive and execute starting, stopping and emergent stop signal.
7. a kind of underground crusher autocontrol method based on image recognition as claimed in claim 5, which is characterized in that institute Manual operation module is stated when being triggered, module is automatically brought into operation and is in the lock state;It is described when being automatically brought into operation module and being triggered, manually Operation module is in the lock state.
8. a kind of underground crusher autocontrol method based on image recognition as described in claim 1, which is characterized in that institute Controller is stated configured with interlocking antilogical, the interlocking antilogical includes: controller one operation signal of every execution, to the behaviour The inverted signal for making signal is determined, when the output for determining the inverted signal is zero, then executes the operation signal.
9. a kind of underground crusher automatic control system based on image recognition, which is characterized in that the system comprises: image is adopted Acquisition means, server, ring exchanger and controller, described image acquisition device and server carry out image data transmission, institute Server is stated to be communicated by ring exchanger and controller,
Described image acquisition device is used to acquire the real time video image of monitored space;
The server is for handling the real time video image of the monitored space, generation starting, stopping and emergent stop signal, And it is communicated by the automatic control module of ring exchanger and controller;
The controller is used to execute the trigger signal of manual operation module or is automatically brought into operation the operation signal of module, realizes to broken Starting, stopping, reset and the emergency stop operation of broken machine.
10. a kind of computer readable storage medium, which is characterized in that include one or more journeys in the computer storage medium Sequence instruction, one or more of program instructions by a kind of underground crusher automatic control system based on image recognition for being held Row the method according to claim 1.
CN201910668622.4A 2019-07-23 2019-07-23 A kind of underground crusher autocontrol method and system based on image recognition Pending CN110262384A (en)

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CN112198852A (en) * 2020-10-09 2021-01-08 北京北矿智能科技有限公司 Exception handling method and device, storage medium and electronic equipment

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Application publication date: 20190920