CN110661775A - Underground personnel identification positioning and communication system based on miner lamp with special structure - Google Patents
Underground personnel identification positioning and communication system based on miner lamp with special structure Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
- H04L63/0876—Network architectures or network communication protocols for network security for authentication of entities based on the identity of the terminal or configuration, e.g. MAC address, hardware or software configuration or device fingerprint
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
Abstract
The invention provides an underground personnel identification positioning and communication system based on a miner lamp with a special structure, which utilizes a miner lamp device with a polaroid to control a signal light source to send information in an optical signal form, utilizes an underground video acquisition device to acquire optical signals, utilizes an aboveground video processing device to process the optical signals, and realizes the acquisition of various information such as personnel identity, position information, underground environment data and the like based on a decoding result of the optical signals. When the information acquisition is realized, the method does not depend on external illumination conditions, has high recognition rate, is easy to implement and low in construction cost, and solves the problems of low acquisition precision and high system cost by utilizing radio waves.
Description
Technical Field
The invention relates to an underground personnel identification positioning and communication system based on a miner lamp with a special structure, which mainly relates to the technologies of embedding, image processing, wired communication and the like.
Background
The mine personnel positioning system belongs to a six-system of safety danger avoidance required by a national institute (No. 2010) and required to be equipped in a coal mine and a non-coal mine, and plays an important role in safety production and emergency rescue such as the restraint of production of overdetermined personnel. The common positioning method for underground target positioning comprises the following steps: received Signal Strength Indication (RSSI), Time Of Arrival (TOA), and the like. A signal strength indication (RSSI) method is a main positioning method adopted by Zigbee and WiFi networks at present, and the RSSI method is simple and easy to implement. However, the transmission loss model of the wireless signal is greatly influenced by the environment, the positioning precision is low, and the positioning error can reach dozens of meters. The TOA needs to be strictly synchronized between a positioning card and a substation and between the substations, the system synchronization is difficult, the requirement on the stability of the crystal oscillator is high, the system is complex and the cost is high. The RFID technology which is most widely adopted for positioning mine personnel at present cannot realize accurate positioning, and is difficult to meet the requirements of accident prevention and emergency rescue such as searching of personnel in distress in mines and injuring people by vehicles. The ground positioning technology is restricted to the application of the mine by the serious transmission attenuation of the mine radio signals, the complex and changeable radio transmission attenuation model, the fact that satellite positioning signals cannot penetrate through a coal bed and a rock stratum to reach the underground, the mine positioning needs to cover a roadway with the length of 10km, and the like. With the popularization and promotion of underground video monitoring, scientific research personnel provide an underground personnel positioning method based on video images, positioning is realized by identifying the underground personnel images, but in the implementation process, the bottleneck problem that how to determine personnel identities is difficult to solve is solved. At present, a recognition method through face recognition and action feature recognition is mainly available, but the underground illuminance is poor, the image resolution and the definition are poor, and the requirements of face feature recognition are difficult to meet, so that the face feature recognition is not suitable for underground personnel positioning; the human body action feature recognition technology is not mature, the recognition accuracy rate is low, and the personnel action feature recognition needs enough number of action images, so that the requirements on the installation position of a camera, the density of the camera, the illumination condition, the mutual shielding among personnel bodies and the like are high, and the method is not suitable for underground personnel positioning. The mine monitoring and monitoring system also belongs to six safety risk avoiding systems which must be equipped in coal mines and non-coal mines, and the detection and monitoring system needs to be controlled on the basis of detecting related information, so that the personnel identification and positioning are realized, the acquisition of environmental information such as temperature and gas concentration and personnel state information is realized, and the system has important significance for further real-time control and timely early warning. Therefore, there is a need for a downhole personnel identification, positioning and communication system which is independent of external lighting conditions, has a high identification rate, is easy to implement, and can acquire various information including personnel identity information, positioning information, downhole environment information and the like.
Disclosure of Invention
The invention provides an underground personnel identification, positioning and communication system based on a miner lamp with a special structure, which realizes the functions of personnel identification, underground environment information acquisition, personnel positioning and the like by utilizing an underground video acquisition device in an optical communication mode, and solves the problems of low positioning precision, high system cost and the like existing in radio wave positioning. The system is independent of external illumination conditions, high in recognition rate, easy to implement, low in construction cost and wide in application prospect.
Underground personnel identification location and communication system based on special structure miner's lamp, its characterized in that: the system comprises miner lamp equipment with a special structure for sending information and video management equipment for acquiring information; the miner lamp equipment with the special structure comprises a lamp holder device, a power supply device and a control device; the lamp holder device mainly comprises a lamp group and a polaroid additionally arranged on the lamp holder; the lamp set comprises at least one luminous source emitting visible light and a plurality of signal light sources emitting invisible light, the luminous source comprises but is not limited to an LED lamp, the signal light source is an infrared lamp, the signal light sources are arranged around the luminous source, the luminous source is responsible for illumination, and the signal light sources are responsible for sending light signals in different working modes; the infrared lamp beads of the signal light source can be controlled, arranged and combined into different specific shapes, and the specific shapes can be collected, detected and identified by video management equipment; the mode of sending the optical signal by the signal light source comprises that different light and shade degrees in a specific shape formed by arranging and combining infrared lamp beads are used as basic code elements to send the optical signal; the mode of sending the optical signal by the signal light source comprises that a plurality of different specific shapes formed by arranging and combining infrared lamp beads are used as basic code elements to send the optical signal; the miner lamp equipment can enter an emergency communication mode through manual adjustment; the polaroid additionally arranged on the lamp holder device only covers the luminous source when being installed; the video management equipment comprises a video acquisition device, a wired communication network and a video processing device; the video acquisition device is arranged underground and mainly comprises a monitoring camera which is responsible for acquiring video images of the working of the miner lamp, a polaroid is additionally arranged, the polaroid additionally arranged on the monitoring camera covers the whole camera lens, the polaroid and the polaroid additionally arranged on the lamp holder device have mutually vertical polarization angles, and the two polaroids act together to filter visible light emitted by the luminous source in the acquired video images; the wired communication network is connected with the underground and the aboveground and is responsible for data transmission; the video processing equipment is arranged on the ground and is responsible for processing videos and decoding the videos; the system decodes the light signals sent by the signal light source in different working modes to obtain various communication information, so that the personnel can be identified and positioned.
1. The system further comprises: the lamp head device emits light signals containing information by a plurality of signal light sources, the signal light sources in the lamp group are arranged in a distribution mode surrounding the light emitting source in various shapes and multiple layers, and the light emitted by the signal light sources can be collected by the video collecting device but cannot be seen by human eyes.
2. The system further comprises: the video acquisition device is arranged underground, consists of a camera with a polaroid arranged underground and is responsible for acquiring video images; the wired communication network consists of the original communication network of the mine and is responsible for transmitting the acquired image information to the mine; the video processing device is installed on the ground and comprises a video processing server, a storage server and a monitoring terminal, so that when the video image is processed to finish decoding and obtain information, the working environment where underground personnel are located can be monitored in real time, and the collected video image and the personnel information can be stored to be called out and viewed at any time.
3. The system further comprises: when the video management device processes and detects the image to realize decoding, the video image is processed frame by frame to judge and position the position of the mine lamp, and the shapes are collected and detected to realize the positioning of the mine lamp target in the image on the basis of various shapes formed by lightening a signal light source during coding, wherein the specific detection process comprises the following steps:
a. carrying out gray level conversion and further smoothing treatment on the original image, wherein the selected smoothing treatment formula is as follows:
the smoothing process yields the following results: g (x, y) ═ f (x, y) × H (x, y), where f (x, y) denotes original video image information;
b. the edge is judged by sharpening the image, the smoothed image data is subjected to solving of finite difference of first-order partial derivatives to realize sharpening, and the calculation process is as follows: first, the gradient value is calculated
WhereinAnd
for the first order difference convolution template, the gradient magnitude is further calculated:
direction of gradient:
screening the gradient amplitude obtained by calculation, reserving a local gradient maximum point, setting a non-local maximum value as 0, and judging the edge;
c. connecting edges to form a contour, selecting two thresholds T1And T2(T1＜T2) And thresholding the image, wherein the process comprises the following steps: by T2To obtainHigh threshold edge distribution image, using T1Obtaining a low threshold edge distribution image, and combining the low threshold edge distribution image and the low threshold edge distribution image to realize edge connection into a contour;
d. judging whether the contour is the miner lamp, carrying out shape recognition on the connected contour, and if the recognition result is the shape selected when the code is selected, determining that the position of the miner lamp is positioned; if the recognition result is not the shape used in the encoding, the contour is not the miner's lamp, and other contours in the frame and other frame images are detected.
4. The system further comprises: when the video management equipment processes and detects the image, the video management equipment detects the working mode of the miner lamp; when the working mode of the brightness change of the signal light source is detected, the brightness identification is realized based on the integral image and thresholding; the detection process comprises the following steps: firstly, carrying out closed operation processing on a detected local area of the mine lamp to eliminate a central black hole, then utilizing integral image statistics to solve the pixel sum of the local area, carrying out thresholding processing on the pixel sum, and further judging whether the mine lamp in each frame is extinguished or lightened according to a thresholding result.
5. The system further comprises: when the video management equipment processes and detects the image, the working mode of the miner lamp is detected, wherein when the signal light source is lightened to form working modes with different shapes for detection, the shape identification is realized by a method of one-dimensional description of the outline of the miner lamp; the detection process comprises the following steps: selecting a reference point (x) on the contour0,y0) For the starting point, points (x) on all contours are calculated around the contour linei,yj) To the center of mass (x)*,y*) Euclidean distance of DijAnd the angle theta by which this point corresponds to the rotation of the reference pointijAnd drawing a D (theta) oscillogram and fitting the oscillogram with various known shapes to determine the shape of the contour.
6. The system further comprises: when the video management equipment processes and detects the images, the miner lamp target in two adjacent frames of images is tracked; the specific tracking process comprises the following steps: on the basis of obtaining the block size of the mine lamp area in the previous frame, the block with the size equal to that of the mine lamp outline area in the previous frame is utilized, the surrounding area of the mine lamp position in the next frame image corresponding to the previous frame image is scanned in a traversing way, and the shape selected when whether the coding exists or not is judged; if the mine lamp position is detected, the position information of the scanned area is used as a basis for judging the position of the mine lamp in the next frame of image; if not, the scanning range is expanded in the subsequent multi-frame images, and whether the signal light source is off or the target is lost is further judged.
7. The system further comprises: the different kinds of information sent by the signal light source comprise: personnel identity information, personnel position information, personnel state information and working environment information; the implementation process of various information acquisition comprises the following steps:
a. the miner lamp control device controls the miner lamp to send out a corresponding optical signal by utilizing a personnel identity information code in advance, and the optical signal is collected and processed by the information collection equipment, so that personnel identity information is collected;
b. calculating the distance between the miner lamp and the camera according to the corresponding relation among the actual size of the miner lamp, the size of the miner lamp in the image and the focal length of the camera, and calculating the position coordinates of the personnel by combining the distance with the known coordinates of the camera, thereby realizing the acquisition of the position information of the personnel;
c. the detection part of the miner lamp control device adopts a modular structure and can be installed and accessed with various sensors; the sensor comprises a gas content detection sensor used for collecting the gas content information of the working environment; the sensor comprises a temperature sensor for acquiring real-time temperature information of the surrounding environment; the sensor comprises a human body vital sign detection sensor and is used for collecting the physical condition information of the staff.
8. The system further comprises: the emergency communication mode of the miner lamp equipment is realized by manually adjusting an emergency button in a miner lamp control circuit by a wearer; when the miner lamp is in the emergency communication mode, the signal light source sends out a specific emergency help-seeking signal, and the miner lamp enters the low power consumption mode.
Drawings
FIG. 1 is a schematic diagram of a system for identifying, positioning and communicating underground personnel based on a miner lamp with a special structure
Fig. 2 schematic structure of miner's lamp holder
Fig. 3 hardware circuit schematic diagram of miner's lamp
FIG. 4 is a schematic diagram of principle of encoding information transmitted by a signal light source of a miner's lamp in embodiment 1
FIG. 5 is a schematic diagram of different shapes of signal light source lighting components in embodiment 2
Fig. 6 schematic diagram of principle of encoding information transmitted by signal light source in miner's lamp of embodiment 2
FIG. 7 is a schematic diagram of a person identification process in embodiment 2
Detailed Description
The underground personnel identifying, positioning and communication system based on the mine lamp with the special structure consists of the mine lamp with the special structure and video management equipment, wherein the video management system mainly consists of a video processing device, a wired communication network and a video acquisition device. The video processing device consists of a video processing server, a video storage server and a monitoring and management terminal. The wired communication network mainly comprises a network switch, an underground communication network formed by connecting an underground transmission line and an underground switch. The video acquisition device is composed of a monitoring camera with a polaroid additionally arranged underground. The system specifically comprises the following components as shown in fig. 1:
1. the video processing server (101) is mainly responsible for analyzing the acquired video images frame by frame; firstly, positioning of the mine lamp is achieved by contour judgment and detection of the collected shape, then a light-emitting signal of the mine lamp is obtained by detecting a working mode of a signal light source in the mine lamp, and finally collection of identity information, position information and other kinds of information of personnel is achieved by decoding results and obtaining position coordinates of a corresponding camera.
2. The video storage server (102) is mainly responsible for storing information, wherein the information mainly comprises collected videos, personnel identity information and position information obtained by the video processing server (101) and other information collected by the mine lamp control device; the above information will be stored in the form of a zone visitor record and provide call-out query functionality when needed.
3. The monitoring and management terminal (103) is mainly responsible for providing real-time monitoring pictures for the personnel on the well; moreover, the video acquisition and processing server (101) can be managed when the processing parameters need to be adjusted, and the storage content of the video storage server (102) is called out when the relevant records need to be called out.
4. The network switch (104) is responsible for the management and data exchange of all devices accessing the wired communication network.
5. The downhole switch (105) is responsible for the management and data exchange of the various substations and other communication devices through the network.
6. The monitoring camera (106) is mainly responsible for acquiring a video image of a light signal emitted by the mine lamp and outputting a standard analog signal;
7. the video encoder (107) is mainly responsible for digitizing the standard analog signal output by the monitoring camera (106) and transmitting the converted digitized data further through the downhole communication network, wherein the process of compression conversion is as follows: the specific calculation formula is as follows:
where F (i, j) is the original image information, F (u, v) is the result of the transformation, u belongs to [0, M-1 ]],v∈[0,N-1]And is and
the surveillance camera (106) and the video encoder (107) may be replaced by a digital camera that integrates the functionality of both.
8. The miner's lamp equipment (108) with special structure is responsible for sending various information including the personal identity information of miners in the form of light signals sent by signal light sources invisible to human eyes.
The special structure of the miner's lamp mentioned above mainly includes three points; firstly, signal light sources in a lamp holder are distributed and installed around a luminous source in a multi-layer and multi-shape mode and are used as a signal sending device to send information; secondly, a polaroid is additionally arranged on the lamp holder and only covers the light emitting source but not the signal light source when the lamp holder is installed, and the additionally arranged polaroid and the polaroid additionally arranged on the monitoring camera in the video acquisition device act together to ensure that only the light emitted by the signal light source is reserved in the acquired working video image of the miner lamp and the visible light emitted by the light emitting source is filtered out; thirdly, a detection part in the control device of the miner lamp adopts a modular structure, and various sensors can be connected to detect various environmental information and personnel state information; the signal light sources in the lamp head structure are distributed and mounted in a plurality of possibilities, and one of the possibilities is selected here for illustration, specifically as shown in fig. 2:
1. the lamp cap shell and the matched light-transmitting lens (201) form the main external structure of the lamp cap; the inner structure of the lamp holder is surrounded in a closed space by the shell, the lens, the related sealing rubber ring and other structures, and the explosion-proof condition of the underground device is met.
2. And the light emitting source (202) is responsible for providing an illumination function when the miner lamp works.
3. A signal light source (203) as an optical signal transmitting device which emits infrared light invisible to human eyes but collected by a camera; as mentioned above, the installation manner of the signal light source has the characteristics of multiple layers, multiple shapes and surrounding light emitting source type; a plurality of signal light sources are indicated in fig. 2 by a plurality of solid small circles of the same shape as (203), and the signal light sources light up shapes that may be composed, including but not limited to shapes as drawn by broken lines in the figure.
4. The polaroid (204) is additionally arranged in the lens of the miner light and is used for realizing light filtering under the combined action of the polaroid and the polaroid on the monitoring camera; the specific attachment positions are shown in fig. 2: the polarizer covers only the light emitting sources (202) and does not cover the signal light sources (203).
The control of the working mode of the miner's lamp needs to depend on a control device, which is included in the hardware circuit of the miner's lamp, as shown in fig. 3:
1. a charging configuration module (301) comprising a charging integrated circuit and associated circuit connections, wherein the charging integrated circuit is capable of providing both charging and overcurrent over-temperature protection; the module keeps constant voltage work when charging the lithium battery, and enters a low current running state when the miner lamp does not work so as to save electric energy; and the miner lamp enters a shutdown mode during charging to realize accelerated charging.
2. A power supply battery (302) which adopts a chargeable lithium ion battery; a plurality of lithium ion batteries with high capacity, long service life and high reliability are selected to form a battery pack as a power supply battery pack; and is provided with a protection circuit to prevent faults such as back flush, overcurrent and short circuit.
3. And the power supply (303) is mainly responsible for converting the battery voltage into a stable working voltage and supplying power for the processor and the sensor.
4. The control circuit (304) mainly comprises a control chip and an external circuit, wherein the chip is a high-speed ultra-low power consumption single chip microcomputer and is responsible for controlling the driving circuit to enable the signal light source to work in different modes; the control circuit also comprises an emergency button, when an emergency occurs, a wearing person can adjust the miner lamp through the emergency button to enter an emergency communication mode, the miner lamp is in a low power consumption state in the emergency communication mode, and the signal light source sends out a specific emergency help-seeking signal.
5. A sensor module (305) to be of a modular construction, into which a variety of sensors may be incorporated; the method mainly comprises the following steps: the gas content detection sensor is connected to acquire various gas content information of a working environment, the human body vital sign detection sensor is connected to acquire physical condition information of workers, and the temperature sensor is connected to detect the real-time temperature of the surrounding environment. The collected information is transmitted to a control circuit (304), and further various information is converted into optical signals to be sent out through a signal light source.
6. And the signal light source driving circuit (306) works under the condition of constant current, and the control circuit (304) realizes the current change in the signal light source by controlling the signal light source driving circuit (306) so as to ensure that the signal light source is in different working modes to realize signal transmission.
The miner lamp equipment has the functions of controlling the signal light sources to be arranged and combined into different specific shapes which can be collected, detected and identified by the video management equipment, and has the function of controlling the signal light sources to send light signals in different working modes; when personnel information is sent and collected, due to the particularity and the multiple possibilities of the lamp cap structure, the coding mode can be performed by using the miner lamp equipment to control the signal light source; specific encoding modes include, but are not limited to, the following embodiments.
Embodiment 1:
in the present embodiment, the brightness variation of the signal light source of the control miner's lamp is used as a basic code element to form a series of codes to transmit information.
Different light and shade degrees of a specific shape formed by arranging and combining signal light source beads are used as basic code elements to send light signals; specifically, intervals with different lengths of the lighting time of the signal light source are used as a coding basic unit to form a segment of optical signal codes containing various information. In the encoding process, starting with the start bit period, the data bit 0 lighting period, the data 1 lighting period and the data bit lighting period therebetween jointly constitute an optical signal corresponding to the transmitted information code.
Taking the example of encoding the personnel information, the identity information of each person is a ten-digit code consisting of numbers, letters and symbols; before the optical signal sequence is converted, the codes are encrypted, namely ten-bit codes are converted into corresponding ASCII codes based on the code control circuit, and the ten-bit codes are converted into corresponding binary codes and then are expressed by high-low bit interchange; finally, the encrypted code is sent out by a signal light source of the miner lamp.
Taking the ten-digit codes of the identity information as 1, namely '1111111111' as a segment of personnel information code as an example; one segment of the code corresponds to the code element 1, the ASCII code thereof is 49, the 49 is converted into binary code, i.e., '00110001', the high and low bits of the binary code are exchanged to perform encryption processing, so as to obtain an encryption result of '10001100', the segment of code is converted into an optical signal sequence, which represents the code element 1 in the code, and ten segments of optical signals which are equivalent to the optical sequence, i.e., optical signals which are coded by persons having 1 in all the ten bits in the above text, as shown in fig. 4 specifically:
(401) starting the lighting bit period with a lighting interval of 4000 ms.
And 2, (402) starting the lamp-out bit period by using the lamp-out interval of 200ms as an initial lamp-out bit period, and forming the initial bit period by using the (401) and the (402) together.
(403) a data bit 1 lighting period with a lamp-off interval of 2000 ms.
And 4, (404) taking a lamp-on interval of 100ms as a data lamp-out period.
(405) a data bit 1 lighting period of a lamp-off interval of 1000 ms.
6.(406) represents data 0, (407) represents data 0, (408) represents data 1, (409) represents data 1, (410) represents data 0.
(411) represents data 1; the ten digits are composed of (403), (405), (406), (407), (408), (409), (410) and (411)
The first bit of the information code, symbol 1 as described above.
8.(412) indicates that nine bit information codes except the first bit code, and the part indicated by (412) is the same as the first bit code
And a complete ten-bit information code is formed.
Other information codes detected via the sensors are consistent with the person information coding method described above.
The MPG format is adopted during video acquisition, and the interval of each frame is 100ms during video acquisition, so that the following relations exist in the encoding principle: the starting position consisting of the starting lamp-on position and the starting lamp-off position needs to collect 20 frames, the 1 position of the data needs to collect 10 frames, the 0 position of the data needs to collect 5 frames, and the lamp-off position of the data needs to collect 1 frame.
When the ten-bit code is sent, all the signal light sources stop flashing and are always kept on before the next sending, and the time interval between two times of sending data exceeds the time required for collecting one time of complete data. The computer can judge whether the acquisition is finished once according to the number of the acquired start bits, judge whether the group of 10-bit codes is completely received or not according to the number of the acquired data bits, and judge the state conversion conditions among the start bits, the data 0 bit and the data 1 bit by taking the extinction of the signal light source every time.
After the encoding and the encryption processing, the light signal sent by the miner lamp under the control of the control device is captured and collected, analyzed, processed and decoded, and the process of realizing the specific personnel identity recognition is as follows:
1. and (501) restoring the returned information into a video image, wherein the process is mainly completed by a video acquisition and processing server (101) in the figure 1, and the main work comprises inverse compression transformation and inverse quantization processing.
2. Step (502), processing the video image frame by frame, which is also completed by the video acquisition and processing server (101), the specific processing includes:
a. carrying out gray level transformation on the image;
b. positioning the position of the miner lamp in each frame of image by using a characteristic detection method based on contour shape detection and local area size tracking detection;
c. and solving the local pixel sum of the position of the miner lamp by using a method based on integral image statistics.
3. Step (503), the brightness of the signal light source is judged by thresholding; if the sum of the pixels is higher than the threshold value, the signal light source is judged to be in a lighting state at the moment, and the step (504) is further executed; and if the sum of the pixels is lower than the threshold value, determining that the signal light source is in a turn-off state at the moment, and further executing the step (505).
4. And (504) when the signal light source is judged to be in the lighting state, adding one to the lighting frame number counter.
5. And (505) when the signal light source is judged to be in the off state, adding one to the off frame number counter.
6. Step (506), the judgment is made on the basis of the frame number statistics of step (504) and step (505). The specific principle is as follows: since the encoding method specifies that all of the start bit, data 1 bit, and data 0 bit start with lighting and end with lighting-off, the number of lighting frames, i.e., the lighting time duration, is counted in step (504), and then it can be determined whether the light signal corresponding to lighting before lighting-off represents the start bit or the data bit according to the lighting-off time duration of the lamp in this step. When the code is judged not to be the start bit, executing the step (507); when the encoding is judged to be the start bit, step 510 is executed.
7. And (507), after judging that the current code is not the start bit, further judging whether the optical signal represents data 1 or data 0, and storing the judged data.
8. Step 508, executed after identifying a bit of data, increments a data bit counter by 1.
9. And (509) after the data judgment of the section of the optical signal is finished, resetting both the off frame number counter and the on frame number counter to zero, returning to the step (502), and continuously judging the information represented by each section of the optical signal according to the off frame number and the on frame number.
10. Step (510) is performed by determining a start bit of a segment of the optical signal bit in step (506); after determining that a segment of the optical signal indicates a start bit, the start bit counter increments by one. When encoding, a personnel information code is 10 bits in total, and after the tenth bit code is detected, a start bit is detected, and the personnel information is considered to be detected, so that 11 start bits need to be detected when identifying a personnel.
11. Step (511), the number of the detected start bits is determined, and the determination principle is as described in step (510); if the count is not 11, then proceed to step (509) to continue processing the video image to determine the optical signal; if the count reaches 11, then a person is considered to have collected information, and step 512 is performed.
12. And (512) judging whether the acquired data is complete or not after judging that one piece of personnel information is acquired. Because of the encoding, a person information has 10 bits, and each bit is an 8-bit binary code composed of 0 or 1. Therefore, a complete personal information code should be an 80-bit binary code consisting of 1 or 0. Thus, based on the above principle, the determination is made when the start bits have reached 11; if the data counter count has reached 80, continue with step 513; if the data counter count does not reach 80, then the data collection is not complete and step 515 is performed.
13. And (513) after the personnel information is judged to be completely acquired, decrypting the data stored in the step (507), and converting 10 sections of binary codes into 10 decimal numbers to obtain the ASCII codes of 10 code elements during encoding.
14. Step (514), carry on the decipher and discern, the concrete process is: after completely collecting one person information and converting the person information into 10 ASCII codes, each ASCII code is converted into corresponding numbers, letters or symbols, and therefore the final decoding result is obtained. The computer queries the personnel information database based on the decoding result to realize the identification of personnel.
15. Step (515), performed in two cases: first, if the collected information is determined to be incomplete in step (512), and needs to be collected again, step (515) is executed to empty the data stored in step (506); alternatively, after the identification of a person is completed at step (514), this step is performed for the purpose of further person identification.
16. Step 516 zeroes the start bit counter together with the data bit counter and performs step 509 of zeroing the frame number counter based thereon.
Embodiment 2:
in this embodiment, a plurality of different specific shapes combined by arranging signal light source beads are used as basic symbols to transmit optical signals.
Because the signal light sources are distributed in a multilayer, multi-shape and surrounding manner in the lamp holder of the miner lamp, the shapes which can be formed when the signal light sources are lightened have various possibilities. In this embodiment, the encoding principle is illustrated by taking as an example the shape that the burner structure shown in fig. 2 can be made up. When transmitting light signals in different shapes composed of a burner configuration as shown in fig. 2, various possible basic shapes that may be used for encoding include, but are not limited to, the ones shown in fig. 5.
In fig. 5, when the shapes of the various signal light source lighting compositions are shown, only the signal light source and the light source to be lit are shown, and the shape formed by connecting the large circle, the small circle, and the broken line represents the shape formed by the signal light source to be lit:
(601) when the signal light sources are distributed around the luminous sources such as the shape (601) to be lightened and the rest lamps are extinguished, the result of image acquisition of the miner's lamp shows that the signal light sources form a quadrangle on the periphery of the miner's lamp.
(602) when the signal light sources are illuminated in a distribution around the light emitting sources, such as in shape (602), and the remaining lamps are extinguished, it is indicated in the results of the image acquisition of the mine lamp that the signal light sources form a circle around the periphery of the mine lamp.
(603) when the signal light sources are distributed around the luminous sources, such as the shape (603), and the rest of the lamps are extinguished, the signal light sources are expressed in the result of the image acquisition of the miner's lamp to form a regular triangle at the periphery of the miner's lamp.
(604) when the signal light sources are distributed around the light emitting sources, such as the shape (604), and the rest of the lamps are extinguished, the signal light sources are expressed in the result of the image acquisition of the miner's lamp as forming an inverted triangle at the periphery of the miner's lamp.
Taking the personnel identity information as an example, when the personnel information is coded, each section of code consists of ten binary digits, and the ten-digit code is converted into respective corresponding optical signals by the coding control circuit based on the ten-digit code, and finally the optical signals are emitted by the signal light source of the miner lamp.
Selecting the various possible shapes which can be collected and detected as code elements to form optical signals, wherein the coding mode is not unique due to the various shapes; taking one of the encoding methods as an example, as shown in fig. 6 specifically:
(701) indicating that the signal light source is lighted to form a circle, and the interval lasting 4000ms is a starting position lighting period.
And 2, (702) indicating a signal light source extinguishing interval of 100ms, which is a gap between data bits and between a data bit and a start bit.
And 3, (703) indicating that the interval of the quadrangle formed by the signal light source lighting lasting 1000ms is a lighting period of the data bit 0.
(704), the interval of the triangle formed by the signal light source lighting and lasting 1000ms is the lighting period of data bit 1.
(705), representing the remaining 8 bits encoded; in the eight-bit coding, each bit correspondingly selects a quadrangle interval lasting 1000ms as a data bit 0 lighting period and a circle interval lasting 1000ms as a data bit 1 lighting period according to the information to be actually transmitted; (705) the (703) and (704) together form a complete ten-bit binary code containing information.
The corresponding coding method of other information detected by the sensor is consistent with the personnel information coding method; when various types of information are transmitted via the signal light source, the different signal light source shapes are combined to be used as basic code elements of the optical signal to distinguish the various types of information from each other.
The MPG format is adopted during video acquisition, and the sampling interval of each frame is 100ms, so that the following relations exist in the encoding principle: 20 frames need to be collected at the start position, 5 frames need to be collected at the data 1 position, 5 frames need to be collected at the data 0 position, and 1 frame needs to be collected at the data lighting position.
Taking the case of transmitting 10-bit binary data once, that is, the ten-bit binary code shown in fig. 7, when the code is transmitted, the signal light sources stop shape transformation, all the signal light sources are always kept on before the next transmission, and the time interval between two times of data transmission should exceed the time required for collecting one complete data. The computer can judge whether one-time data acquisition is finished according to the acquired number of the gaps, judge whether the group of 10-bit binary data is completely acquired according to the acquired number of the data bits, and judge the state conversion conditions among the initial bit, the data 0 bit and the data 1 bit by taking the extinction of the signal light source every time.
When the specific coding mode is used as the above example, the corresponding process of capturing, collecting, analyzing, processing, decoding and realizing the specific personnel identification of the miner lamp by the optical signal sent by the control of the control device is as follows:
1. and (801) restoring the returned information into a video image, wherein the process is mainly completed by a video acquisition and processing server (101) in the figure 1, and the main work comprises inverse compression transformation and inverse quantization processing.
2. Step (802), processing the video image frame by frame, which is also completed by the video acquisition and processing server (101), the specific processing includes:
a. carrying out gray level transformation on the image;
b. positioning the position of the mine lamp in each frame of image by using a characteristic detection method based on contour shape detection and local area size tracking detection;
c. and solving the local pixel sum of the position of the miner lamp by using a method based on integral image statistics.
3. Step (803), after the local position pixel sum of the miner's lamp is obtained, the brightness of the signal light source is judged by thresholding; if the sum of the pixels is lower than the threshold value, the signal light source is judged to be in an off state at the moment, the signal light source is in a gap section which does not send information at the moment, and then the step (812) is executed; if the pixel sum is higher than the threshold value, it is determined that the signal light source is in a lighting state at the moment, that is, the signal light source is lighting into various shapes to transmit light signals, so step (804) is further performed.
4. In the step (804), the shape of the periphery collected when the miner lamp works is detected by using a method of edge profile one-dimensional description; so-called profile-one-dimensional description, i.e. selecting a reference point (x) on the profile line0,y0) For the starting point, points (x) on all contours are calculated around the contour linei,yj) To the center of mass (x)*,y*) Distance D ofijAnd the angle theta by which this point corresponds to the rotation of the reference pointijDrawing a D (theta) oscillogram and fitting the oscillogram with various shapes to judge the shape of the contour; the calculation formula of the distance is as follows: dij＝((xi-x*)2+(yi-y*)2)1/2The calculation formula of the rotation angle is as follows: thetaij＝tan-1(|yi-y*|/|xi-x*|)。
5. Step (805), judging the lighting shape of the miner lamp, if the peripheral shape of the miner lamp is circular, sending a start bit, and further executing step (806); if the peripheral shape of the miner's lamp is other shapes, it indicates that the signal light source is transmitting data, and then step (807) is executed.
6. Step (806), executed after judging that the signal light source sends the start bit; when the start bit is sent, the gap counter needs to be cleared by 0, namely, counting initialization before data acquisition is realized; in the encoding scheme shown in fig. 6, the blanking interval of the signal light source of 100ms is the gap between data bit 1 and data bit 0, and a group of ten-bit 2-ary codes has 11 gaps in total, and the method used here is to determine whether to complete one acquisition by calculating the number of gaps. After step 706 is completed, initialization is complete and data acquisition is to be performed, so step 802 is performed.
7. And (807) when the signal light source is judged to be transmitting data, determining whether the transmitted data is binary 0 or binary 1 according to the coding mode shown in fig. 6 and the shape of the signal light source when being lighted.
8. Step (808), determining a value in a data flag counter; after the system is initialized, all counters are cleared by 0; because the duration of the data bit is longer than the sampling time in the adopted coding mode, the condition that the same 2-system data value is acquired for many times can occur; as shown in the encoding mode in fig. 6, the 100ms signal light source off interval is a gap between data bits, so that the data value sent by the light is stored after the data value is detected for the first time, and then the flag bit counter of the data bit is changed, the flag bit counter is cleared by 0 only when the gap occurs again, and only the first detected value is stored before the flag bit is changed, so that the data is stored only once when the gap occurs, and the problem that the same data is acquired by multiple times of storage is solved; judging the value of the data zone bit counter in the step (808), if 0 indicates that the 2-system numerical value is not stored, continuing to execute the step (809); if the value in the counter is 1, it indicates that the 2-ary value has been stored, and then continues to collect other values, so step (802) is performed.
9. And step (809), storing the data value acquired for the first time after storing the data value for later decoding.
10. And (810) after the data storage is finished, changing the data zone bit counter to ensure that the collected same data value cannot be stored repeatedly.
11. Step (811), after completing the 2-system data storage, recording the number of the stored data; after this step is completed, other values continue to be collected.
12. A step (812) executed after the signal light source is judged to be in the gap section not transmitting the information in the step (803); as shown in the encoding scheme of fig. 6, a segment of 10-bit 2-ary code is transmitted with 11 gaps to be collected; so that in this step a gap counter of 1 is performed in preparation for a subsequent determination whether the data has been received once.
13. Step (813), the data bit flag counter is cleared; in the encoding scheme shown in fig. 6, the data bits are separated by gaps, so that a data bit is stored when it is first acquired, and the data bit is not stored until the next gap occurs.
14. Step (814), judging whether the number of the gaps reaches 11, if so, considering that one acquisition is finished, and continuing to execute step (715); if not, an acquisition is deemed to have not been completed and step (802) is performed.
15. Step (815), executed when judging that one acquisition is finished, judging whether the number of data bits is 10 in the step, if the number of data bits reaches 10, considering that the data reception is complete, and continuously executing step (816); if the number of data bits is less than 10 after completing one acquisition, the data are missed in the acquisition, and the acquisition should be performed again, namely, step (802) is executed.
16. Step (816) is executed after judging that the complete data is received in one acquisition; in this step, a group of 2-ary codes is formed according to the stored data bits, corresponding decoding processing is performed according to a corresponding coding principle, and personnel identity information is judged according to a decoding result.
17. And step (817), executed after the decoding and the personnel identification are completed, and the initialization effect is achieved by clearing 0 of all counters.
The system acquires personnel position information to realize underground personnel positioning. When underground personnel positioning is realized, the position of the personnel needs to be solved and determined based on the position of a camera, namely the position coordinate of the underground personnel is calculated through the position coordinate of the camera of the collected video image of the mine lamp and the distance between the mine lamp and the camera; the specific process is as follows:
1. and (901) processing the acquired image, wherein the processing mainly comprises graying and thresholding the image.
2. And (902) judging whether the miner lamp is detected in the current frame image, if so, further executing the step (903), and otherwise, executing the step (901) to reprocess the image.
3. And (903) calling the coordinates of the corresponding camera installation position of the acquired image.
4. And (904) calculating the distance of the camera by the miner lamp according to the corresponding relation among the actual size of the miner lamp, the size of the miner lamp in the image and the focal length of the camera.
5. And (905) calculating coordinate values corresponding to the personnel by combining the camera coordinates obtained in the step (903) and the distance between the personnel and the camera obtained in the step (904) and the coordinate values of the camera, realizing the positioning of the personnel, and transmitting the positioning result to a related processing and storage device.
Claims (9)
1. Underground personnel identification location and communication system based on special structure miner's lamp, its characterized in that: the system comprises miner lamp equipment with a special structure for sending information and video management equipment for acquiring information; the miner lamp equipment with the special structure comprises a lamp holder device, a power supply device and a control circuit; the lamp holder device mainly comprises a lamp group and a polaroid additionally arranged on the lamp holder; the lamp set comprises at least one luminous source emitting visible light and a plurality of signal light sources emitting invisible light, the luminous source comprises but is not limited to an LED lamp, the signal light source is an infrared lamp, the signal light sources are arranged around the luminous source, the luminous source is responsible for illumination, and the signal light sources are responsible for sending light signals in different working modes; the infrared lamp beads of the signal light source can be controlled, arranged and combined into different specific shapes, and the specific shapes can be collected, detected and identified by video management equipment; the mode of sending the optical signal by the signal light source comprises that different light and shade degrees in a specific shape formed by arranging and combining infrared lamp beads are used as basic code elements to send the optical signal; the mode of sending the optical signal by the signal light source comprises that a plurality of different specific shapes formed by arranging and combining infrared lamp beads are used as basic code elements to send the optical signal; the miner lamp equipment can enter an emergency communication mode through manual adjustment; the polaroid additionally arranged on the lamp holder device only covers the luminous source when being installed; the video management equipment comprises a video acquisition device, a wired communication network and a video processing device; the video acquisition device is arranged underground and mainly comprises a monitoring camera which is responsible for acquiring video images of the working of the miner lamp, a polaroid is additionally arranged, the polaroid additionally arranged on the monitoring camera covers the whole camera lens, the polaroid and the polaroid additionally arranged on the lamp holder device have mutually vertical polarization angles, and the two polaroids act together to filter visible light emitted by the luminous source in the acquired video images; the wired communication network is connected with the underground and the aboveground and is responsible for data transmission; the video processing equipment is arranged on the ground and is responsible for processing videos and decoding the videos; the system decodes the light signals sent by the signal light source in different working modes to obtain various communication information, so that the personnel can be identified and positioned.
2. The downhole personnel identification, location and communication system of claim 1 wherein: the miner's lamp device is characterized in that a plurality of signal light sources are used for emitting light signals containing information, the signal light sources in the lamp group are arranged in a distribution mode surrounding the light emitting sources in various shapes and multiple layers, and the light emitted by the signal light sources can be collected by a video collecting device but cannot be seen by human eyes.
3. The downhole personnel identification, location and communication system of claim 1 wherein: the video acquisition device is arranged underground, mainly comprises a monitoring camera with a polaroid arranged underground and is responsible for acquiring video images; the wired communication network is formed on the basis of the original communication network of the mine and is responsible for transmitting the acquired image information to the mine; the video processing device is installed on the ground and comprises a video processing server, a storage server and a monitoring terminal, so that when the video image is processed to finish decoding and obtain information, the working environment where underground personnel are located can be monitored in real time, and the collected video image and the personnel information can be stored to be called out and viewed at any time.
4. The downhole personnel identification, location and communication system of claim 1 wherein: when the video management device processes and detects the image to realize decoding, the video image is processed frame by frame to judge and position the position of the mine lamp, and the shapes are collected and detected to realize the positioning of the mine lamp target in the image on the basis of various shapes formed by lightening an infrared lamp in a signal light source during coding, wherein the specific detection process comprises the following steps:
a. carrying out gray level transformation on the original image, and further carrying out smoothing treatment, wherein the result obtained by the smoothing treatment is as follows: g (x, y) ═ f (x, y) × H (x, y), where f (x, y) denotes original video image information, and H (x, y) denotes a smoothing processing formula:
b. determining edges by sharpening the image, the process comprising: first, the gradient value is calculated 
WhereinAnd
representing convolution calculationsTemplate, further gradient magnitude calculation:
direction of gradient:
screening the gradient amplitude obtained by calculation, reserving a local gradient maximum point, setting a non-local maximum value as 0, and judging the edge;
c. connecting edges to form a contour, selecting two thresholds T1And T2(T1＜T2) And thresholding the image, wherein the process comprises the following steps: by T2Obtaining a high threshold edge distribution image using T1Obtaining a low threshold edge distribution image, and combining the low threshold edge distribution image and the low threshold edge distribution image to realize edge connection into a contour;
d. judging whether the contour is the miner lamp, carrying out shape recognition on the connected contour, and if the recognition result is the shape selected when the code is selected, determining that the position of the miner lamp is positioned; if the recognition result is not the shape used in the encoding, the contour is not the miner's lamp, and other contours in the frame and other frame images are detected.
5. The downhole personnel identification, location and communication system of claim 1 wherein: when the video management equipment processes and detects the image, the working mode of the miner lamp is detected, wherein when the working mode of the brightness change of the signal light source is detected, the brightness identification is realized based on the integral image and thresholding; the detection process comprises the following steps: firstly, carrying out closed operation processing on a detected local area of the mine lamp to eliminate a central black hole, then utilizing integral image statistics to solve the pixel sum of the local area, carrying out thresholding processing on the pixel sum, and further judging whether the mine lamp in each frame is extinguished or lightened according to a thresholding result.
6. The downhole personnel identification, location and communication system of claim 1 wherein: the video management device processes imagesWhen the mine lamp is detected, the working mode of the mine lamp is detected, wherein when the working modes in different shapes are detected by lighting the signal light source, the shape identification is realized by a method of one-dimensional description of the profile of the mine lamp; the detection process comprises the following steps: selecting a reference point (x) on the contour0,y0) For the starting point, points (x) on all contours are calculated around the contour linei,yj) To the center of mass (x)*,y*) Euclidean distance of DijAnd the angle theta by which this point corresponds to the rotation of the reference pointijAnd drawing a D (theta) oscillogram and fitting the oscillogram with various known shapes to determine the shape of the contour.
7. The downhole personnel identification, location and communication system of claim 1 wherein: when the video management equipment processes and detects the images, the miner lamp target in the adjacent frame images is tracked; the specific tracking process comprises the following steps: on the basis of obtaining the local block size of the mine lamp area in the previous frame, carrying out circular traversal scanning in a larger area containing the mine lamp position in the previous frame in the image of the next frame by using a block with the size equal to the mine lamp outline area in the previous frame, and judging whether the selected shape exists in the scanned sub-area when the code exists or not; if the mine lamp position is detected, the position information of the sub-area scanned at the moment is used as a basis for judging the position of the mine lamp in the next frame of image; if not, further searching the whole range of each frame of image after the matching failure, if detecting again that the mine lamp is extinguished or the personnel move greatly, otherwise, judging that the target is lost.
8. The downhole personnel identification, location and communication system of claim 1 wherein: the different kinds of information sent by the miner lamp control signal light source comprise: personnel identity information, personnel position information, personnel state information and working environment information; the implementation process of various information acquisition comprises the following steps:
a. the miner lamp control device controls the miner lamp to send out a corresponding optical signal by utilizing a personnel identity information code in advance, and the optical signal is collected and processed by the information collection equipment, so that personnel identity information is collected;
b. calculating the distance between the miner lamp and the camera according to the corresponding relation among the actual size of the miner lamp, the size of the miner lamp in the image and the focal length of the camera, and calculating the position coordinates of the personnel by combining the distance with the known coordinates of the camera, thereby realizing the acquisition of the position information of the personnel;
c. the detection part of the miner lamp control device adopts a modular structure and can be installed and accessed with various sensors; the sensor comprises a gas content detection sensor used for collecting the gas content information of the working environment; the sensor comprises a temperature sensor for acquiring real-time temperature information of the surrounding environment; the sensor comprises a human body vital sign detection sensor and is used for collecting the physical condition information of the staff.
9. The downhole personnel identification, location and communication system of claim 1 wherein: the emergency communication mode of the miner lamp equipment is realized by manually adjusting an emergency button in a miner lamp control circuit by a wearer; when the miner lamp is in the emergency communication mode, the signal light source sends out a specific emergency help-seeking signal, and the miner lamp enters the low power consumption mode.
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