CN111810155A - Hydraulic support side protection plate and coal mining machine roller cutting interference recognition and monitoring system - Google Patents
Hydraulic support side protection plate and coal mining machine roller cutting interference recognition and monitoring system Download PDFInfo
- Publication number
- CN111810155A CN111810155A CN202010551198.8A CN202010551198A CN111810155A CN 111810155 A CN111810155 A CN 111810155A CN 202010551198 A CN202010551198 A CN 202010551198A CN 111810155 A CN111810155 A CN 111810155A
- Authority
- CN
- China
- Prior art keywords
- hydraulic support
- support side
- coal mining
- mining machine
- protection plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003245 coal Substances 0.000 title claims abstract description 164
- 238000005065 mining Methods 0.000 title claims abstract description 137
- 238000012544 monitoring process Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000003672 processing method Methods 0.000 claims description 12
- 238000003708 edge detection Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000004438 eyesight Effects 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 20
- 230000001276 controlling effect Effects 0.000 description 3
- 230000036346 tooth eruption Effects 0.000 description 3
- 239000002817 coal dust Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The embodiment of the invention discloses a hydraulic support side protection plate and coal cutter drum cutting interference identification and monitoring system, and belongs to the technical field of coal mine safety production and vision measurement application. The method comprises the following steps: the cutting interference identification module is used for identifying the spatial position posture of the hydraulic support side protection plate, the spatial position posture of the coal cutter roller and an envelope line thereof, and specifically identifying the spatial posture of the coal cutter roller and the envelope line thereof by combining machine vision identification and known structural parameters such as roller radius and the like; and the cutting interference monitoring module is used for monitoring the real-time distance between the hydraulic support side protection plate and the coal cutter roller according to the spatial position posture of the hydraulic support side protection plate, the spatial position posture of the coal cutter roller and the envelope line of the hydraulic support side protection plate and the envelope line of the coal cutter roller. The spatial position forms of the hydraulic support side protection plate and the coal mining machine roller can be accurately identified, and the interference between the support side protection plate and the coal mining machine roller can be accurately monitored, so that a foundation is laid for the subsequent accurate automatic control of cutting interference.
Description
Technical Field
The invention relates to the technical field of coal mine safety production and vision measurement application, in particular to a hydraulic support side protection plate and coal cutter drum cutting interference monitoring system.
Background
The fully mechanized coal mining face is a first production site of coal, main equipment comprises a coal mining machine, a scraper conveyor, a hydraulic support and the like, and the posture states of the three machines in the coal mining process are related to the production safety. In the three-machine cooperative coal mining process, the anti-collision monitoring of the hydraulic support side protection plate and the coal mining machine roller is one of important prerequisites for ensuring the safe operation of the fully-mechanized coal mining automation system, and if the hydraulic support side protection plate is not timely withdrawn or the withdrawal fails to meet the safety stroke before the coal mining machine roller arrives, the side protection plate is cut by the coal mining machine roller, so that serious production accidents are caused.
However, due to the special lamplight layout of the underground fully mechanized mining working face, the problems of insufficient overall illumination and local glare exist; meanwhile, in the process of cutting a coal wall by a coal mining machine, a roller of the coal mining machine rotates at a high speed, cutting teeth on the edge of the roller are difficult to accurately identify, a large amount of coal powder is dispersed in an operation space along with the rotating roller, high-pressure water mist near the cutting teeth of the coal mining machine is sprayed to reduce coal dust, and the coal dust and the water mist which are diffused in the air cause the phenomenon of atomization of a monitoring image of a fully mechanized mining face.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a system for identifying and monitoring cutting interference between a hydraulic support side guard plate and a coal mining machine roller, which can accurately identify spatial position forms of the hydraulic support side guard plate and the coal mining machine roller, and realize accurate monitoring of interference between the support side guard plate and the coal mining machine roller, so as to lay a foundation for accurate and automatic control of subsequent cutting interference.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cutting interference identification and monitoring system for a hydraulic support side protection plate and a drum of a coal mining machine comprises a video acquisition module, a cutting interference identification module and a cutting interference monitoring module;
the video acquisition module comprises a wide-angle lens camera which is arranged at the position below the top beam of the hydraulic support and is used for acquiring videos of the hydraulic support side protection plate and the coal mining machine in real time;
the cutting interference identification module comprises a hydraulic support side protection plate identification unit and a coal mining machine roller identification unit, and the hydraulic support side protection plate identification unit is used for identifying the spatial position posture of the hydraulic support side protection plate based on the video of the hydraulic support side protection plate; the coal mining machine roller identification unit is used for identifying the spatial position posture and the outer envelope line of the coal mining machine roller based on the coal mining machine video;
wherein, coal-winning machine cylinder recognition unit specifically is used for:
identifying each frame of image of the video acquired in real time based on a machine vision identification algorithm to determine the real-time space pose and the outer envelope of the roller;
the method specifically comprises the following steps: converting each frame of image into a gray level image, and eliminating fine holes and redundant discrete points in the image by using an image morphology processing method to reduce noise interference; the image morphology processing method comprises a closing operation and an opening operation;
extracting and identifying the contour edge of the rocker arm of the coal mining machine in the image based on a Canny edge detection operator;
for the outline of the coal mining machine rocker arm detected by identification, drawing the outline of an outer enveloping line of the roller according to the relative position of the coal mining machine rocker arm and the roller and the radius R of the roller;
and the cutting interference monitoring module is used for monitoring the real-time distance between the hydraulic support side protection plate and the coal cutter roller according to the spatial position posture of the hydraulic support side protection plate, the spatial position posture of the coal cutter roller and the envelope line of the hydraulic support side protection plate and the envelope line of the coal cutter roller.
Optionally, the cutting interference monitoring module is further configured to determine a grading early warning strategy according to the real-time interval, and intelligently regulate and control the operation speed of the coal mining machine based on the grading early warning strategy.
Optionally, the hydraulic support side protection plate recognition unit is specifically configured to recognize a spatial position posture of the hydraulic support side protection plate by using a machine vision recognition algorithm based on the video of the hydraulic support side protection plate.
Optionally, the hydraulic support upper protection plate recognition unit is specifically configured to recognize the spatial position and posture of the hydraulic support upper protection plate by using a machine vision recognition algorithm based on the video of the hydraulic support upper protection plate, and includes:
and identifying each frame of image of the video acquired in real time by using the hydraulic support side guard plate identification unit to determine the real-time space pose of the side guard plate.
Optionally, the identifying each frame of image of the video acquired in real time by using the hydraulic support side guard plate identifying unit to determine the real-time spatial pose of the side guard plate specifically includes:
converting each frame of image into a gray level image, and eliminating fine holes and redundant discrete points in the image by using an image morphology processing method to reduce noise interference; the image morphology processing method comprises a closing operation and an opening operation;
extracting and identifying the outline edge of the hydraulic support side protection plate in the image based on a Canny edge detection operator;
calculating the area of the detected outline of the hydraulic support side protection plate;
and marking outline edge lines of the hydraulic support side protection plate and the shearer roller in each frame of image of the video.
Optionally, the system further comprises an output display module, configured to output a video with a mark after the outline edge lines of the hydraulic support side protection plate and the coal mining machine roller are marked in each frame of image of the video, and display, in real time, a distance d between the edge of the coal mining machine roller and the edge of the hydraulic support side protection plate, and a distance d between the edge of the coal mining machine roller and the edge of the hydraulic support side protection plate near the roller, and an area S of the hydraulic support side protection plate on the output video; the shearer drum edge includes a drum overclad line profile.
Optionally, the cutting interference monitoring module is further configured to determine a grading early warning strategy according to the real-time interval, and intelligently regulate and control the operation speed of the coal mining machine based on the grading early warning strategy, and specifically configured to:
judging a threshold range of a distance d between the edge of the roller of the real-time coal mining machine and the edge of the hydraulic support close to the side wall protecting plate of the roller;
determining an early warning level according to a threshold range of a distance d between the edge of the coal mining machine roller and the edge of a hydraulic support side wall protection plate and the area S of the hydraulic support side wall protection plate; the early warning grades comprise a grade 0, a grade 1, a grade 2 and a grade 3;
if the early warning level is determined to be 0-level early warning, no signal is sent to the electro-hydraulic control system of the current hydraulic support;
if the early warning level is determined to be a level 1 early warning, sending a withdrawing side guard plate signal to an electro-hydraulic control system of the current hydraulic support, so that the electro-hydraulic control system controls the hydraulic support to withdraw the side guard plate;
if the early warning level is determined to be 2-level early warning, sending a signal of reducing the running speed of the coal mining machine to a coal mining machine control system so that the control system reduces the running speed of the coal mining machine;
and if the early warning level is determined to be 3-level early warning, sending an 'emergency stop coal mining machine operation' signal to a coal mining machine control system so as to enable the control system to emergency stop the coal mining machine.
The embodiment of the invention provides a hydraulic support side protection plate and coal cutter drum cutting interference identification and monitoring system, which comprises: the system comprises a video acquisition module, a cutting interference identification module and a cutting interference monitoring module, wherein the video acquisition module is used for acquiring videos of a hydraulic support side protection plate and a coal mining machine in real time, the cutting interference identification module is used for identifying spatial position postures of the hydraulic support side protection plate and a coal mining machine roller and an outer envelope line of the coal mining machine roller for the videos, and the cutting interference monitoring module is used for monitoring the real-time distance between the hydraulic support side protection plate and the coal mining machine roller according to the spatial position postures of the hydraulic support side protection plate, the spatial position postures of the coal mining machine roller and the outer envelope line of the coal mining machine roller; specifically, a coal mining machine roller identification unit is used for carrying out machine vision identification on a rocker arm of a coal mining machine, and determining a roller space pose and an outer envelope curve outline by combining roller radius parameters, and the identification of the roller space pose and the outer envelope curve of the coal mining machine is carried out by adopting a mode of combining the machine vision identification and known structural parameters. Therefore, the spatial position forms of the hydraulic support side protection plate and the coal mining machine roller can be accurately identified, the interference between the support side protection plate and the coal mining machine roller is accurately monitored, and a foundation is laid for the subsequent accurate automatic control of cutting interference.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of an embodiment of a hydraulic support side guard plate and shearer drum cutting interference identification and monitoring system of the invention;
FIG. 2 is a flow chart of the cutting interference identification of the present invention;
fig. 3 is a schematic diagram illustrating the identification results of the hydraulic support side protection plate and the shearer drum according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be apparent that numerous technical details are set forth in the following specific examples in order to provide a more thorough description of the present invention, and it should be apparent to one skilled in the art that the present invention may be practiced without some of these details. In addition, some methods, means, components and applications thereof known to those skilled in the art are not described in detail in order to highlight the gist of the present invention, but the implementation of the present invention is not affected. The embodiments described herein are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a diagram of an embodiment of a cutting interference identification and monitoring system for a hydraulic support side guard plate and a shearer drum according to the present invention, as shown in fig. 1, the system specifically includes a video acquisition module (not shown in the figure), a cutting interference identification module 1 and a cutting interference monitoring module 2; the video acquisition module comprises a wide-angle lens camera which is arranged at the position below the top beam of the hydraulic support and is used for acquiring videos of the hydraulic support side protection plate and the coal mining machine in real time; the cutting interference identification module 1 comprises a hydraulic support side protection plate identification unit 101 and a coal cutter roller identification unit 102 according to the interference identification requirement.
The hydraulic support side protection plate recognition unit 101 is used for recognizing the spatial position posture of the hydraulic support side protection plate based on the video of the hydraulic support side protection plate; the shearer drum identification unit 102 is configured to identify a spatial position posture and an outer envelope of the shearer drum based on the shearer video.
The shearer drum identification unit 102 is specifically configured to:
identifying each frame of image of the video acquired in real time based on a machine vision identification algorithm to determine the real-time space pose and the outer envelope of the roller;
the method specifically comprises the following steps: converting each frame of image into a gray level image, and eliminating fine holes and redundant discrete points in the image by using an image morphology processing method to reduce noise interference; the image morphology processing method comprises a closing operation and an opening operation;
extracting and identifying the contour edge of the rocker arm of the coal mining machine in the image based on a Canny edge detection operator;
and for the profile of the coal mining machine rocker arm detected by identification, drawing the profile of the outer enveloping line of the roller according to the relative position of the coal mining machine rocker arm and the roller and the radius R of the roller.
In this embodiment, the coal mining machine roller identification unit 102 is used for performing machine vision identification on a rocker arm of a coal mining machine, determining a roller space pose and an outline of an outer envelope curve by combining roller radius parameters, and performing identification on the roller space pose and the outer envelope curve of the coal mining machine by combining machine vision identification and known structural parameters, so that the identification accuracy of the spatial position and the outer envelope curve of the roller of the coal mining machine in high-speed operation can be improved.
And the cutting interference monitoring module 2 is used for monitoring the real-time distance between the hydraulic support side protection plate and the coal cutter roller according to the spatial position posture of the hydraulic support side protection plate, the spatial position posture of the coal cutter roller and the envelope line of the hydraulic support side protection plate and the envelope line of the coal cutter roller.
Whether interference exists between the hydraulic support side protection plate of the fully mechanized mining face and the roller of the coal mining machine or not can be identified and monitored through the cutting interference identification module 1 and the cutting interference monitoring module 2.
The embodiment of the invention provides a hydraulic support side protection plate and coal cutter drum cutting interference identification and monitoring system, which comprises: the system comprises a video acquisition module, a cutting interference identification module and a cutting interference monitoring module, wherein the video acquisition module is used for acquiring videos of a hydraulic support side guard plate and a coal mining machine in real time, the cutting interference identification module is used for identifying the spatial position postures of the hydraulic support side guard plate and a coal mining machine roller and an outer envelope line of the coal mining machine roller, and the cutting interference monitoring module is used for monitoring the real-time distance between the hydraulic support side guard plate and the coal mining machine roller according to the spatial position postures of the hydraulic support side guard plate, the spatial position postures of the coal mining machine roller and the outer envelope line of the coal mining machine roller; specifically, a coal mining machine roller identification unit is used for carrying out machine vision identification on a rocker arm of a coal mining machine, and determining a roller space pose and an outer envelope curve outline by combining roller radius parameters, and the identification of the roller space pose and the outer envelope curve of the coal mining machine is carried out by adopting a mode of combining the machine vision identification and known structural parameters. Therefore, the spatial position forms of the hydraulic support side protection plate and the coal mining machine roller can be accurately identified, the interference between the support side protection plate and the coal mining machine roller is accurately monitored, and a foundation is laid for the subsequent accurate automatic control of cutting interference.
The shearer drum identification unit 102 identifies and detects corresponding targets based on machine vision measurement algorithms. The method specifically comprises the following steps: the shearer drum identification unit 102 is specifically configured to identify the spatial position posture and the outer envelope curve of the shearer drum based on a machine vision identification algorithm.
The inventor finds that in the real-time monitoring video actually produced by the analysis working face: for a high-speed rotating coal cutter drum, cutting teeth on the edge of the drum are difficult to accurately identify, certain errors are caused when the coal cutter drum is identified, and hidden dangers exist in subsequent cutting interference monitoring and subsequent control. Therefore, in order to solve the problem, in the embodiment of the present invention, when performing the shearer drum identification, the shearer drum identification unit 102 identifies the spatial pose of the shearer drum and the outer envelope by combining the basic machine vision identification and the known structural parameters of the shearer. The basic machine vision identification refers to the detection and identification of key features of the coal mining machine under the dark light condition by using a traditional machine vision measurement and identification algorithm, the known structural parameters refer to the fact that the maximum radius R of the roller of the coal mining machine and the relative position of the roller on the coal mining machine are fixed, and therefore the envelope curve, the spatial position and the posture of the roller of the coal mining machine are accurately drawn finally by using key feature components (mainly rocker arms of the coal mining machine) of the coal mining machine, which are identified by the basic machine vision, of the coal mining machine and combining the maximum radius R of the roller of the coal mining machine and the relative positions of the roller and the key feature components (mainly rocker arms of the coal mining machine).
The cutting interference identification scheme provided by the embodiment of the invention and an identification and monitoring system formed by other technical characteristics can simply, reliably and effectively identify the cutting interference under the condition of relatively low illumination, and can ensure the accurate identification of the drum outer envelope line rotating at high speed of the coal mining machine.
FIG. 2 is a schematic flow chart of an embodiment of the cutting interference identification; referring to fig. 2, the hydraulic support side guard recognition unit 101 is specifically configured to recognize the spatial position and posture of the hydraulic support side guard by using a machine vision recognition algorithm based on the video of the hydraulic support side guard, and includes the specific steps of:
s1, arranging a wide-angle lens camera at the position below the top beam of the hydraulic support, and collecting the video of the front side protection plate in real time by using the wide-angle lens camera;
and S2, identifying each frame of image of the video acquired in real time by using the hydraulic support side protection plate identification unit 101, and determining the real-time relative spatial pose of the side protection plate.
Wherein, step S2 specifically includes:
step S201, converting each frame of image into a gray level image, eliminating fine holes and redundant discrete points in the image by using an image morphology processing method, and reducing noise interference; the image morphology processing method comprises a closing operation and an opening operation.
In this embodiment, the fine holes are eliminated through the closed operation, and the redundant discrete points in the image are eliminated through the open operation, so as to reduce the noise interference.
S202, extracting the contour edge of the hydraulic support side protection plate in the image based on a Canny edge detection operator;
step S203 calculates the area of the contour of the detected hydraulic bracket apron.
Step S204, calculating the distance d between the edge of the roller of the coal mining machine and the edge of the hydraulic support close to the roller side wall guard;
in the foregoing description, the profile of the shearer drum has also been determined based on machine vision recognition in combination with known drum radius and like structural parameters. And step S3, marking the outline edge lines of the hydraulic support side protecting plate and the shearer roller in each frame of image of the video respectively.
In this embodiment, after the image processing and recognition are completed, the output video may be returned. Specifically, the system further comprises an output display module, wherein the output display module is used for marking outline edge lines of the hydraulic support side protection plate and the coal mining machine roller in each frame of image of the video, executing the step S4, outputting the video with the marks, and displaying the distance d between the edge of the coal mining machine roller and the edge of the hydraulic support side protection plate, the distance d between the edge of the coal mining machine roller and the edge of the hydraulic support side protection plate and the area S of the hydraulic support side protection plate on the output video in real time; the shearer drum edge includes a drum overclad line profile.
After the hydraulic support side protection plate and the coal mining machine roller are identified, the identified images can be output in real time according to frames, and the real-time area S of the side protection plate and the real-time distance d between the side protection plate and the roller are displayed, as shown in FIG. 3.
In other embodiments, after the image processing identification, the image processing module is further configured to continuously transmit the image to the cutting interference monitoring module 2 in frames. The cutting interference monitoring module 2 is also used for determining a grading early warning strategy according to the real-time interval and intelligently regulating and controlling the running speed of the coal mining machine based on the grading early warning strategy.
The early warning strategy is divided into a 4-level early warning strategy. The grading early warning strategy is related to the distance d between the edge of the roller of the real-time coal mining machine and the edge of the hydraulic support close to the roller side; in the monitoring process, the area S of the monitoring video when the side protection plate is completely opened is obtainedOriginal。
The step of determining the grading early warning strategy and intelligently regulating and controlling the operation speed of the coal mining machine based on the grading early warning strategy specifically comprises the following steps:
judging a threshold range of a distance d between the edge of the roller of the real-time coal mining machine and the edge of the hydraulic support close to the side wall protecting plate of the roller;
determining an early warning level according to a threshold range of a distance d between the edge of the coal mining machine roller and the edge of a hydraulic support side wall protection plate and the area S of the hydraulic support side wall protection plate; the early warning grades comprise a grade 0, a grade 1, a grade 2 and a grade 3;
if the early warning level is determined to be 0-level early warning, no signal is sent to the electro-hydraulic control system of the current hydraulic support;
if the early warning level is determined to be a level 1 early warning, sending a withdrawing side guard plate signal to an electro-hydraulic control system of the current hydraulic support, so that the electro-hydraulic control system controls the hydraulic support to withdraw the side guard plate;
if the early warning level is determined to be 2-level early warning, sending a signal of reducing the running speed of the coal mining machine to a coal mining machine control system so that the control system reduces the running speed of the coal mining machine;
and if the early warning level is determined to be 3-level early warning, sending an 'emergency stop coal mining machine operation' signal to a coal mining machine control system so as to enable the control system to emergency stop the coal mining machine.
In some embodiments, the determining a hierarchical early warning strategy and intelligently controlling the operation speed of the coal mining machine based on the hierarchical early warning strategy specifically include:
(1) when d ═ dmaxAnd when the distance is mm, the drum of the coal mining machine enters the interference early warning range of the side protection plate of the hydraulic support closest to the drum, the interference early warning range belongs to 0-level early warning, and no signal is sent to the electro-hydraulic control system of the current hydraulic support.
(2) When d isminmm＜d＜dmaxWhen mm, if S ═ SOriginalIf the coal mining machine is determined to be running forwards, but the hydraulic support side protection plate does not start to be retracted, the method belongs to level 1 early warning, and at the moment, a 'retracted side protection plate' signal is sent to an electro-hydraulic control system of the current hydraulic support.
(3) When d isminmm＜d＜dmaxmm, if 0.5SOriginal＜S＜SOriginalIf the coal mining machine is determined to be running forwards, and meanwhile the hydraulic support side protection plate is stably retracted, but the running speed of the coal mining machine is high, if speed intervention is not carried out, cutting interference is likely to occur, and the method belongs to level 2 early warning, and then a signal of reducing the running speed of the coal mining machine is sent to coal miningA machine control system;
(4) when d is less than or equal to dminmm, if 0.5SOriginalIf the number of the coal mining machines is less than S, the operation speed of the coal mining machines is determined to be too high, cutting interference can occur if speed interference is not carried out, the 3-level early warning is achieved, and at the moment, signals of 'emergency stop of the operation of the coal mining machines' are sent to a coal mining machine control system.
The hydraulic support side protection plate and coal cutter drum cutting interference identification and monitoring system provided by the embodiment of the invention is simple and effective to implement, only needs to acquire a real-time image through a vision sensor, identifies the position of a cross beam of a coal cutter and measures the shape and size of the cross beam; and by combining the actual size parameters of the coal mining machine roller, the actual size of the outer envelope line of the coal mining machine roller can be accurately identified and measured in the image, the measuring method is simple and reliable, the error is small, and the method has good engineering practical application significance for subsequent anti-collision and advanced intervention of the hydraulic support side protection plate and the coal mining machine roller.
Furthermore, the cutting interference identification is simple, reliable and effective to implement, and accurate identification of the outer envelope of the drum of the coal mining machine under the low-light condition can be guaranteed. In addition, the cutting interference monitoring provides a four-level early warning strategy, the progress is made layer by layer, the safety and the intelligent degree of the fully mechanized coal mining face can be increased, and a foundation is laid for realizing accurate automatic control of cutting interference.
It is noted that, herein, the terms "upper", "lower", and the like, indicate orientations or positional relationships and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. Unless otherwise expressly stated or limited, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. As will be appreciated by one of ordinary skill in the art, the situation may be specified.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A hydraulic support side protection plate and coal cutter drum cutting interference identification and monitoring system is characterized by comprising a video acquisition module, a cutting interference identification module and a cutting interference monitoring module;
the video acquisition module comprises a wide-angle lens camera which is arranged at the position below the top beam of the hydraulic support and is used for acquiring videos of the hydraulic support side protection plate and the coal mining machine in real time;
the cutting interference identification module comprises a hydraulic support side protection plate identification unit and a coal mining machine roller identification unit, and the hydraulic support side protection plate identification unit is used for identifying the spatial position posture of the hydraulic support side protection plate based on the video of the hydraulic support side protection plate; the coal mining machine roller identification unit is used for identifying the spatial position posture and the outer envelope line of the coal mining machine roller based on the coal mining machine video;
wherein, coal-winning machine cylinder recognition unit specifically is used for:
identifying each frame of image of the video acquired in real time based on a machine vision identification algorithm to determine the real-time space pose and the outer envelope of the roller;
the method specifically comprises the following steps: converting each frame of image into a gray level image, and eliminating fine holes and redundant discrete points in the image by using an image morphology processing method to reduce noise interference; the image morphology processing method comprises a closing operation and an opening operation;
extracting and identifying the contour edge of the rocker arm of the coal mining machine in the image based on a Canny edge detection operator;
for the outline of the coal mining machine rocker arm detected by identification, drawing the outline of an outer enveloping line of the roller according to the relative position of the coal mining machine rocker arm and the roller and the radius R of the roller;
and the cutting interference monitoring module is used for monitoring the real-time distance between the hydraulic support side protection plate and the coal cutter roller according to the spatial position posture of the hydraulic support side protection plate, the spatial position posture of the coal cutter roller and the envelope line of the hydraulic support side protection plate and the envelope line of the coal cutter roller.
2. The hydraulic support side guard plate and coal mining machine drum cutting interference identification and monitoring system according to claim 1, wherein the cutting interference monitoring module is further configured to determine a grading early warning strategy according to the real-time interval, and intelligently regulate and control the operation speed of a coal mining machine based on the grading early warning strategy.
3. The system for identifying and monitoring interference between a hydraulic support side guard and cutting of a shearer drum according to claim 2, wherein the hydraulic support side guard identifying unit is specifically configured to identify the spatial position posture of the hydraulic support side guard by using a machine vision identification algorithm based on the video of the hydraulic support side guard.
4. The system for identifying and monitoring the interference between the hydraulic support side guard and the cutting drum of the coal mining machine for cutting according to claim 3, wherein the hydraulic support side guard identifying unit is specifically configured to identify the spatial position and posture of the hydraulic support side guard by using a machine vision identification algorithm based on the video of the hydraulic support side guard, and comprises:
and identifying each frame of image of the video acquired in real time by using the hydraulic support side guard plate identification unit to determine the real-time space pose of the side guard plate.
5. The hydraulic support side guard plate and coal mining machine drum cutting interference identification and monitoring system according to claim 4, wherein the hydraulic support side guard plate identification unit is used for identifying each frame of image of a video acquired in real time to determine the real-time spatial pose of the side guard plate, and specifically comprises:
converting each frame of image into a gray level image, and eliminating fine holes and redundant discrete points in the image by using an image morphology processing method to reduce noise interference; the image morphology processing method comprises a closing operation and an opening operation;
extracting and identifying the outline edge of the hydraulic support side protection plate in the image based on a Canny edge detection operator;
calculating the area of the detected outline of the hydraulic support side protection plate;
and marking outline edge lines of the hydraulic support side protection plate and the shearer roller in each frame of image of the video.
6. The system for identifying and monitoring cutting interference between the hydraulic support side guard plate and the shearer drum is characterized by further comprising an output display module, wherein the output display module is used for outputting a video with marks after contour edge lines of the hydraulic support side guard plate and the shearer drum are marked in each frame of image of the video, and displaying the distance d between the edge of the shearer drum and the edge of the hydraulic support side guard plate, the distance d between the edge of the shearer drum and the edge of the hydraulic support side guard plate and the area S of the hydraulic support side guard plate in real time on the output video; the shearer drum edge includes a drum overclad line profile.
7. The hydraulic support side guard plate and coal mining machine drum cutting interference identification and monitoring system according to claim 6, wherein the cutting interference monitoring module is further configured to determine a grading early warning strategy according to the real-time interval, and intelligently regulate and control the operation speed of a coal mining machine based on the grading early warning strategy specifically comprises:
judging a threshold range of a distance d between the edge of the roller of the real-time coal mining machine and the edge of the hydraulic support close to the side wall protecting plate of the roller;
determining an early warning level according to a threshold range of a distance d between the edge of the coal mining machine roller and the edge of a hydraulic support side wall protection plate and the area S of the hydraulic support side wall protection plate; the early warning grades comprise a grade 0, a grade 1, a grade 2 and a grade 3;
if the early warning level is determined to be 0-level early warning, no signal is sent to the electro-hydraulic control system of the current hydraulic support;
if the early warning level is determined to be a level 1 early warning, sending a withdrawing side guard plate signal to an electro-hydraulic control system of the current hydraulic support, so that the electro-hydraulic control system controls the hydraulic support to withdraw the side guard plate;
and if the early warning level is determined to be 2-level early warning, sending a signal of reducing the running speed of the coal mining machine to a coal mining machine control system so that the control system reduces the running speed of the coal mining machine.
And if the early warning level is determined to be 3-level early warning, sending an 'emergency stop coal mining machine operation' signal to a coal mining machine control system so as to enable the control system to emergency stop the coal mining machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010551198.8A CN111810155B (en) | 2020-06-16 | 2020-06-16 | Hydraulic support side protection plate and coal mining machine roller cutting interference recognition and monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010551198.8A CN111810155B (en) | 2020-06-16 | 2020-06-16 | Hydraulic support side protection plate and coal mining machine roller cutting interference recognition and monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111810155A true CN111810155A (en) | 2020-10-23 |
| CN111810155B CN111810155B (en) | 2022-07-08 |
Family
ID=72845171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010551198.8A Active CN111810155B (en) | 2020-06-16 | 2020-06-16 | Hydraulic support side protection plate and coal mining machine roller cutting interference recognition and monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111810155B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112668109A (en) * | 2020-11-30 | 2021-04-16 | 中煤科工开采研究院有限公司 | Method for establishing fully mechanized coal mining face cutting route model |
| CN112901273A (en) * | 2021-01-27 | 2021-06-04 | 中煤科工开采研究院有限公司 | Fully mechanized coal mining face coal mining machine positioning method and system based on coded pattern recognition |
| CN113565567A (en) * | 2021-07-12 | 2021-10-29 | 天地科技股份有限公司 | Anti-collision early warning device and method for top beam of hydraulic support and roller of coal mining machine |
| CN114263497A (en) * | 2021-12-14 | 2022-04-01 | 中煤科工集团上海研究院有限公司常熟分院 | Device and method for detecting distance between cutting drum of coal mining machine and side protection plate of hydraulic support |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85109637A (en) * | 1984-12-17 | 1986-10-01 | 波尔玛克矿山机械化开发公司科玛克矿山机械化研究中心 | The method and system of control coal-winning machine operation |
| US20150019087A1 (en) * | 2013-07-09 | 2015-01-15 | Harnischfeger Technologies, Inc. | System and method of vector drive control for a mining machine |
| CN106869929A (en) * | 2017-01-20 | 2017-06-20 | 中国矿业大学 | Hydraulic support based on image interferes protection system and method with winning machine cutting part |
| CN110415485A (en) * | 2019-08-06 | 2019-11-05 | 精英数智科技股份有限公司 | Monitoring method, device, equipment and the storage medium of face guard |
| CN110454157A (en) * | 2019-08-06 | 2019-11-15 | 精英数智科技股份有限公司 | A kind of method, apparatus, system and storage medium monitoring fully-mechanized mining working bottom plate |
-
2020
- 2020-06-16 CN CN202010551198.8A patent/CN111810155B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85109637A (en) * | 1984-12-17 | 1986-10-01 | 波尔玛克矿山机械化开发公司科玛克矿山机械化研究中心 | The method and system of control coal-winning machine operation |
| US20150019087A1 (en) * | 2013-07-09 | 2015-01-15 | Harnischfeger Technologies, Inc. | System and method of vector drive control for a mining machine |
| US9506221B2 (en) * | 2013-07-09 | 2016-11-29 | Harnischfeger Technologies, Inc. | System and method of vector drive control for a mining machine |
| CN106869929A (en) * | 2017-01-20 | 2017-06-20 | 中国矿业大学 | Hydraulic support based on image interferes protection system and method with winning machine cutting part |
| CN110415485A (en) * | 2019-08-06 | 2019-11-05 | 精英数智科技股份有限公司 | Monitoring method, device, equipment and the storage medium of face guard |
| CN110454157A (en) * | 2019-08-06 | 2019-11-15 | 精英数智科技股份有限公司 | A kind of method, apparatus, system and storage medium monitoring fully-mechanized mining working bottom plate |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112668109A (en) * | 2020-11-30 | 2021-04-16 | 中煤科工开采研究院有限公司 | Method for establishing fully mechanized coal mining face cutting route model |
| CN112668109B (en) * | 2020-11-30 | 2024-01-30 | 天地(榆林)开采工程技术有限公司 | Method for establishing cutting route model of fully-mechanized coal mining face |
| CN112901273A (en) * | 2021-01-27 | 2021-06-04 | 中煤科工开采研究院有限公司 | Fully mechanized coal mining face coal mining machine positioning method and system based on coded pattern recognition |
| CN113565567A (en) * | 2021-07-12 | 2021-10-29 | 天地科技股份有限公司 | Anti-collision early warning device and method for top beam of hydraulic support and roller of coal mining machine |
| CN113565567B (en) * | 2021-07-12 | 2023-08-08 | 天地科技股份有限公司 | Anti-collision early warning method and device for hydraulic support top beam and coal mining machine roller |
| CN114263497A (en) * | 2021-12-14 | 2022-04-01 | 中煤科工集团上海研究院有限公司常熟分院 | Device and method for detecting distance between cutting drum of coal mining machine and side protection plate of hydraulic support |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111810155B (en) | 2022-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111810155B (en) | Hydraulic support side protection plate and coal mining machine roller cutting interference recognition and monitoring system | |
| CN107120116B (en) | Automatic height adjusting device and method for coal mining machine roller based on image recognition | |
| EP3024315B1 (en) | Unloading apparatus controller for agricultural harvesting machines | |
| CA3228100A1 (en) | Road surface technical condition detection method and device based on three-dimensional contour | |
| CN101799434A (en) | Printing image defect detection method | |
| CN103986906B (en) | Door opening and closing detection method based on monitoring videos | |
| CN107285206A (en) | A kind of collision-proof method based on derrick crane collision prevention early warning system | |
| CN104297255A (en) | Visual inspection method and system device for paper cup defects | |
| CN105241679B (en) | A kind of hidden fault detection method of EMUs | |
| CN112253110B (en) | Vision-based intelligent autonomous following control method and device for fully mechanized mining face | |
| CN112855266B (en) | Intelligent monitoring and autonomous collaborative machine following device of coal mining machine and inspection platform system | |
| CN109740507A (en) | A kind of method of transformer equipment abnormality sensing | |
| CN110405540B (en) | Artificial intelligence broken cutter detection system and method | |
| CN109613559B (en) | Device and method for distinguishing water-land boundary floaters based on vision and laser radar | |
| CN102673979A (en) | Method and device for judging deviation of conveying belt | |
| CN107358270B (en) | Water seepage detection method and device for tunnel wall | |
| CN107944342A (en) | A kind of scrapper conveyor abnormal state detection system based on machine vision | |
| CN103116351A (en) | Spinning defective cloth detection camera and detection system thereof | |
| CN203373016U (en) | Lifting hook monitoring and tracking system of crane | |
| CN106934796A (en) | High-speed belt conveyor rock slag video analytic system and method that rock tunnel(ling) machine is carried | |
| CN103400113A (en) | Method for detecting pedestrian on expressway or in tunnel based on image processing | |
| CN111036576B (en) | Gangue identification and sorting method based on gangue-free image filtering and BLOB analysis | |
| CN202562477U (en) | Device for detecting dangerous container stockpiling manner at container terminal storage yard | |
| CN114740086A (en) | Monorail crane track defect detection method | |
| CN110486081A (en) | A kind of development machine operation safety monitoring method, system, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |