CN112145232B - Coal caving equipment based on multi-source information fusion and control method - Google Patents
Coal caving equipment based on multi-source information fusion and control method Download PDFInfo
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- CN112145232B CN112145232B CN202011007647.9A CN202011007647A CN112145232B CN 112145232 B CN112145232 B CN 112145232B CN 202011007647 A CN202011007647 A CN 202011007647A CN 112145232 B CN112145232 B CN 112145232B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/46—Telescopic props with load-measuring devices; with alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
The invention relates to coal caving equipment based on multi-source information fusion and a control method. The coal caving equipment comprises a hydraulic support, a rear scraper, an image acquisition device, a sound vibration acquisition device and a multi-source information fusion and processing device; the hydraulic support is arranged at the coal mining working face; the shield beam of the hydraulic support is in contact with the coal bed; the coal inlet of the rear scraper is arranged below the shield beam of the hydraulic support; the image acquisition device is arranged on the base of the hydraulic support and is opposite to the rear scraper; the sound vibration acquisition device is arranged on a shield beam of the hydraulic support; the multi-source information fusion and processing device is arranged on a base of the hydraulic support; and the multi-source information fusion and processing device is respectively connected with the image acquisition device, the sound vibration acquisition device and the inserting plate and the tail beam on the shield beam of the hydraulic support. The method can integrate image, sound and vibration identification technologies, and realizes quantitative and accurate judgment of the coal and gangue mixing degree value.
Description
Technical Field
The invention relates to the field of coal caving equipment and control, in particular to coal caving equipment based on multi-source information fusion and a control method.
Background
At present, the fully mechanized caving mining still generally adopts an artificial coal caving mode, and the intellectualization of coal caving is a main technical bottleneck for restricting the intellectualized fully mechanized caving mining. Due to the characteristics of low illumination, large dust, high interference of electromagnetic/vibration signals and the like in the underground coal caving environment, although the intelligent coal caving is explored for a long time at home and abroad, no key breakthrough is obtained so far. In the current stage, much attention is paid to coal and gangue identification by utilizing rays or identification through vibration signal difference generated by coal and gangue falling and impacting a bracket tail beam, one device usually only has one identification sensor, and the identification means is single. The coal and gangue identification by utilizing rays is easily interfered by external radiation, the identification equipment is heavy and inconvenient to use in a limited space below a narrow bracket rear tail beam, and the identification process has radiativity and can harm the health of workers if the identification process is not proper. The vibration signal identification method also mainly has the problems of poor identification precision, easy interference and incapability of quantitatively giving the coal and gangue mixing degree. The vibration signal identification method at the present stage can only distinguish two stages of coal discharge and gangue discharge, cannot judge the coal and gangue mixing proportion, is a typical principle of 'door closing by gangue discharge', and recent research finds that when the gangue mixing rate is 10% -15%, the recovery rate of fully-mechanized mining top coal can be maximized, so that quantitative and accurate judgment needs to be given to the gangue mixing value during gangue identification, and otherwise, great loss of top coal is caused.
Because the space of the tail beam of the bracket is narrow, large-scale equipment cannot be installed, coal dust is large in the coal caving process, and the noise of equipment such as a coal mining machine and a scraper conveyor is large, the main defect of the existing intelligent coal caving technology is that the identification precision is poor, and the intelligent coal caving technology cannot adapt to severe and complex environments in a well. In addition, the prior art also has the defects of high equipment cost, large volume, inconvenient installation and incapability of quantitatively giving the coal and gangue mixing degree.
Disclosure of Invention
The invention aims to provide coal caving equipment and a control method based on multi-source information fusion, which can fuse image, sound and vibration identification technologies and realize quantitative and accurate judgment on a coal and gangue mixing value.
In order to achieve the purpose, the invention provides the following scheme:
a coal caving device based on multi-source information fusion comprises: the system comprises a hydraulic support, a rear scraper, an image acquisition device, a sound vibration acquisition device and a multi-source information fusion and processing device;
the hydraulic support is arranged at the coal mining working face; the shield beam of the hydraulic support is in contact with the coal seam; the shield beam of the hydraulic support retracts the inserting plate and is used for starting coal caving when the tail beam is opened;
the coal inlet of the rear scraper is arranged below the shield beam of the hydraulic support; the rear scraper is used for conveying the top coal and the gangue out of the working surface;
the image acquisition device is arranged on the base of the hydraulic support and is opposite to the rear scraper; the image acquisition device is used for acquiring image information of top coal and gangue on the rear scraper;
the sound vibration acquisition device is arranged on a shield beam of the hydraulic support; the multi-source information fusion and processing device is arranged on a base of the hydraulic support;
the sound vibration acquisition device is used for acquiring sound information in the air and vibration information of a shield beam of the hydraulic support;
the multi-source information fusion and processing device is respectively connected with the image acquisition device, the sound vibration acquisition device and the inserting plate and the tail beam on the shield beam of the hydraulic support; the multi-source information fusion and processing device is used for determining a coal and gangue mixing degree index according to the image information, the sound information and the vibration information and judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value; when the mixing degree exceeds a threshold value, controlling a shield beam of the hydraulic support to open the inserting plate and close the tail beam, realizing closing of the coal discharge port, and stopping coal discharge; the coal and gangue mixing degree index comprises the area mixing degree and the volume mixing degree of the coal and gangue accumulation body.
Optionally, the image capturing device includes: the device comprises a camera module, a light supplementing module, a dustproof module, a visual angle adjusting module and an image information transmission module;
the camera module is arranged right opposite to the rear scraper;
the dustproof module is arranged on the camera module;
the light supplementing module and the camera module are arranged on the same side face;
the visual angle adjusting module is connected with the multi-source information fusion and processing device and the camera module through a holder; the visual angle adjusting module is used for adjusting the rotation angle of the camera, so that the camera module tracks a shooting area through the rotation angle;
the image information transmission module is respectively connected with the camera module; the image information transmission module is used for transmitting the image information acquired by the camera module to the multi-source information fusion and processing device.
Optionally, the camera module is a CCD camera, a TOF camera, a structured light camera, an infrared camera, or a stereoscopic binocular camera.
Optionally, the light supplement module is a visible light supplement lamp or an infrared light supplement lamp.
Optionally, the image information transmission module is an antenna.
Optionally, the sound vibration collection device includes: the system comprises a sound information sensing module, a vibration information acquisition module and a sound vibration information transmission module;
the sound information sensing module is used for collecting sound information in the air;
the vibration information acquisition module is used for acquiring vibration information of a shield beam of the hydraulic support;
the sound vibration information transmission module is respectively connected with the sound information perception module, the vibration information acquisition module and the multi-source information fusion and processing device; the sound vibration information transmission module is used for transmitting the sound information and the vibration information to the multi-source information fusion and processing device.
Optionally, the sound vibration information transmission module is an antenna.
Optionally, the multi-source information fusion and processing device includes a data display module, a key input control module, a data processing module, a data output module, and a multi-source information receiving module;
the multi-source information receiving module is respectively connected with the image acquisition device and the sound vibration acquisition device; the multi-source information receiving module is used for receiving the image information, the sound information and the vibration information;
the data processing module is connected with the multi-source information receiving module; the data processing module is used for carrying out data fusion on the image information, the sound information and the vibration information to determine a coal and gangue mixing degree index and judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value;
the data output module is connected with the data processing module; the data output module is used for controlling the shield beam of the hydraulic support to open the inserting plate and close the tail beam when the mixing degree threshold value is exceeded, so that the coal discharge port is closed, and the coal discharge is stopped;
the key input control module is connected with the data processing module and is used for setting the mixing degree threshold value;
the display module is connected with the input control module; the display module is used for displaying the mixing degree threshold value.
A control method of coal caving equipment based on multi-source information fusion comprises the following steps:
acquiring an instruction of starting coal caving for withdrawing the flashboard and opening the tail beam;
carrying out coal caving according to the instruction of starting coal caving;
by utilizing an MDNet target tracking algorithm, a camera module automatically tracks a shooting area through angle rotation to obtain image information of the top coal and the gangue conveyed on the rear scraper blade;
the sound vibration acquisition device is used for acquiring sound information in the air and vibration information of a shield beam of the hydraulic support;
determining a coal and gangue mixing degree index based on a BP neural network multi-source information fusion algorithm optimized by a genetic algorithm according to the image information, the sound information and the vibration information;
judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value;
when the coal and gangue mixing degree index exceeds the mixing degree threshold value, controlling a shield beam of the hydraulic support to open the inserting plate and close the tail beam, and stopping coal discharge;
and when the coal and gangue mixing degree index does not exceed the mixing degree threshold value, returning to the step of automatically tracking a shooting area through angular rotation by using an MDNet target tracking algorithm and acquiring image information of the top coal and the gangue conveyed on the rear scraper blade until the coal and gangue mixing degree index exceeds the mixing degree threshold value.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the coal discharging equipment and the control method based on multi-source information fusion provided by the invention determine the coal and gangue mixing degree index by fusing the image information of the top coal and the gangue on the rear scraper, the sound information in the air and the vibration information of the shield beam of the hydraulic support, and judge whether the coal and gangue mixing degree index exceeds a mixing degree threshold value; and when the mixing degree exceeds a threshold value, controlling the shield beam of the hydraulic support to open the inserting plate and close the tail beam, realizing closing of the coal discharge port and stopping coal discharge. Various identification means are fused, the identification principle is simple, the equipment volume is small, and the identification precision of the equipment and the adaptability of the equipment to underground severe and complex environments are effectively improved; by adopting a split type design, the multi-source information fusion and processing device can serve a plurality of sets of image acquisition devices and sound vibration acquisition devices, the cost is greatly reduced, and a new idea is provided for intelligent coal caving of a fully mechanized caving face.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of a first structure of a coal caving apparatus based on multi-source information fusion provided by the invention;
FIG. 2 is a schematic diagram of a second structure of a coal caving apparatus based on multi-source information fusion according to the present invention;
FIG. 3 is a schematic structural diagram of an image capturing device according to the present invention;
fig. 4 is a schematic structural diagram of a sound vibration collection device according to the present invention;
fig. 5 is a schematic structural diagram of a multi-source information fusion and processing device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
The invention aims to provide coal caving equipment and a control method based on multi-source information fusion, which can fuse image, sound and vibration identification technologies and realize quantitative and accurate judgment on a coal and gangue mixing value.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic view of a first structure of a coal caving apparatus based on multi-source information fusion provided by the present invention, fig. 2 is a schematic view of a second structure of a coal caving apparatus based on multi-source information fusion provided by the present invention, as shown in fig. 1 and fig. 2, a coal caving apparatus based on multi-source information fusion provided by the present invention includes: the system comprises a hydraulic support, a rear scraper 5, an image acquisition device 6, a sound vibration acquisition device 8 and a multi-source information fusion and processing device 7.
The hydraulic support is arranged at the coal mining working face; the shield beam 1 of the hydraulic support is in contact with a coal seam; the shield beam 1 of the hydraulic support is used for starting coal caving when the inserting plate 3 is retracted and the tail beam 2 is opened;
the coal inlet of the rear scraper 5 is arranged below the shield beam 1 of the hydraulic support; the rear scraper 5 is used for transporting the top coal and the gangue out of the working surface;
the image acquisition device 6 is arranged on the base 4 of the hydraulic support and is opposite to the rear scraper 5; the image acquisition device 6 is used for acquiring image information of top coal and gangue on the rear scraper 5; the image acquisition device 6 is fixed on the base 4 of the hydraulic support through welding, and the base 4 of the hydraulic support is used for transmitting the pressure born by the hydraulic support from the top plate to the bottom plate and fixing the image acquisition device 6.
The sound vibration acquisition device 8 is arranged on the shield beam 1 of the hydraulic support; the multi-source information fusion and processing device 7 is arranged on the base 4 of the hydraulic support; the sound vibration collection device 8 is fixed on the shield beam 1 of the hydraulic support through a strong magnet, and the shield beam 1 of the hydraulic support is used for preventing the falling waste rock in the goaf from flowing into the working face and is simultaneously used for fixing the sound vibration collection device 8. The multi-source information fusion and processing device 7 is fixed on the base 4 of the hydraulic support through welding.
The sound vibration collection device 8 is used for collecting sound information in the air and vibration information of the shield beam 1 of the hydraulic support.
The multi-source information fusion and processing device 7 is respectively connected with the image acquisition device 6, the sound vibration acquisition device 8, the inserting plate 3 on the shield beam 1 of the hydraulic support and the tail beam 2; the multi-source information fusion and processing device 7 is used for determining a coal and gangue mixing degree index according to the image information, the sound information and the vibration information and judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value; when the mixing degree exceeds a threshold value, controlling the shield beam 1 of the hydraulic support to open the inserting plate 3 and close the tail beam 2, realizing closing of the coal discharge port and stopping coal discharge; the coal and gangue mixing degree index comprises the area mixing degree and the volume mixing degree of the coal and gangue accumulation body.
Fig. 3 is a schematic structural diagram of an image capturing device 6 provided in the present invention, and as shown in fig. 3, the image capturing device 6 includes: the device comprises a camera module 9, a light supplement module 10, a dustproof module 11, a visual angle adjusting module 12 and an image information transmission module 13.
The camera module 9 is disposed opposite to the rear squeegee 5. The camera module 9 is a CCD camera, a TOF camera, a structured light camera, an infrared camera or a stereoscopic binocular camera. The camera module 9 has image acquisition, depth information sensing and electronic anti-shake functions.
The dust-proof module 11 is arranged on the camera module 9; dustproof module 11 can guarantee camera module 9's cleanness, adopts the bionics design, and the simulation eyelid realizes opening and closing of dustproof module 11 through steering engine control, guarantees that camera module 9 separates with external environment when not using, prevents that the dust from gathering on camera module 9, and dustproof module 11 still has the air knife, clears away the dust on camera module 9 through high-pressure wind stream.
The light supplement module 10 and the camera module 9 are arranged on the same side; the light supplement module 10 is a visible light supplement lamp or an infrared light supplement lamp. The light supplement module 10 is used for increasing the illumination intensity of the image acquisition environment and improving the image acquisition quality.
The visual angle adjusting module 12 is connected with the multi-source information fusion and processing device 7 and the camera module 9 through a holder; the view angle adjusting module 12 is configured to adjust a rotation angle of the camera, so that the camera module 9 tracks a shooting area through the rotation angle; the cloud platform can realize camera module 9's angular rotation, utilizes predetermined MDNet target tracking algorithm, lets camera module 9 shoot the region through angular rotation automatic tracking, guarantees that the picture that camera module 9 gathered is the coal and the waste rock that transport on the back scraper blade 5 all the time.
The image information transmission module 13 is respectively connected with the camera module 9; the image information transmission module 13 is configured to transmit the image information acquired by the camera module 9 to the multi-source information fusion and processing device 7. The image information transmission module 13 is an antenna, and transmits the image information acquired by the camera module 9 to the multi-source information fusion and processing device 7 by using 5G (or 4G, Wifi, Bluetooth), so as to complete the image acquisition.
Fig. 4 is a schematic structural diagram of the sound vibration collecting device 8 provided in the present invention, and as shown in fig. 4, the sound vibration collecting device 8 includes: a sound information perception module 13, a vibration information collection module 14 and a sound vibration information transmission module 15.
The sound information sensing module 13 is used for collecting sound information in the air; the sound information sensing module 13 has sound information collection and active sound noise reduction functions, and active sound noise reduction is realized through a preset LMS adaptive filter noise reduction algorithm.
The vibration information acquisition module 14 is used for acquiring vibration information of the shield beam 1 of the hydraulic support; the vibration information acquisition module 14 has vibration information acquisition and active vibration noise reduction functions, and active vibration noise reduction is realized through a preset noise reduction algorithm based on an improved Prony algorithm.
The sound vibration information transmission module 15 is respectively connected with the sound information perception module 13, the vibration information acquisition module 14 and the multi-source information fusion and processing device 7; the sound vibration information transmission module 15 is configured to transmit the sound information and the vibration information to the multi-source information fusion and processing device 7. The sound vibration information transmission module 15 is an antenna, and 5G (or 4G, Wifi, bluetooth) is used to transmit the sound information collected by the sound information sensing module 13 and the vibration information collected by the vibration information collection module 14 to the multi-source information fusion and processing device 7, so as to complete the sound vibration signal collection.
Fig. 5 is a schematic structural diagram of the multi-source information fusion and processing apparatus 7 provided by the present invention, as shown in fig. 5, the multi-source information fusion and processing apparatus 7 includes a data display module 16, a key input control module 17, a data processing module 18, a data output module 19, and a multi-source information receiving module 20;
the multi-source information receiving module 20 is respectively connected with the image acquisition device 6 and the sound vibration acquisition device 8; the multi-source information receiving module 20 is configured to receive the image information, the sound information, and the vibration information;
the data processing module 18 is connected with the multi-source information receiving module 20; the data processing module 18 is configured to perform data fusion on the image information, the sound information, and the vibration information to determine a coal and gangue mixing degree index, and determine whether the coal and gangue mixing degree index exceeds a mixing degree threshold; the data processing module 18 performs data fusion on the image information acquired by the camera module 9, the sound information acquired by the sound information sensing module 13 and the vibration information acquired by the vibration information acquisition module 14(14) by using a preset BP neural network multi-source information fusion algorithm optimized based on a genetic algorithm to obtain a coal and gangue mixing degree index.
The data processing module 18 has a function of reconstructing a coal and gangue accumulation body in three dimensions, realizes the three-dimensional reconstruction of the coal and gangue accumulation body through a preset SGBM three-dimensional reconstruction algorithm, and performs the three-dimensional reconstruction of the coal and gangue accumulation body by using the image information acquired by the image acquisition device 6.
The data processing module 18 has an area mixing degree and volume mixing degree calculation function, the area mixing degree and volume mixing degree calculation is realized through a preset mixing degree calculation algorithm based on a topological pure coherent theory, the reconstruction is compared with a preset mixing degree threshold value, if the preset mixing degree threshold value is exceeded, a signal for closing the coal discharge port is output through the data output module 19 by using an optical fiber line, and otherwise, a signal for keeping the coal discharge port in an open state is output. Thus, the multi-source information fusion and processing work is completed.
The data output module 19 is connected with the data processing module 18; the data output module 19 is used for controlling the shield beam 1 of the hydraulic support to open the inserting plate 3 and close the tail beam 2 when the mixing degree threshold value is exceeded, so that the coal discharge port is closed, and the coal discharge is stopped;
the key input control module 17 is connected with the data processing module 18 and is used for setting the mixing degree threshold value;
the display module 16 is connected with the input control module; the display module 16 is configured to display the blending degree threshold.
The multi-source information fusion and processing device 7 adopts LVDS technology to transmit data of multi-source information to a plurality of sets of sound vibration acquisition devices 8 and image acquisition devices 6, uses SCSI technology to realize data storage of the multi-source information after the data transmission is finished, uses FPGA to construct a data buffer area of the multi-source information after the data storage is finished, uses time division multiplexing technology to realize real-time data processing of the multi-source information by the data buffer area, realizes multi-channel information fusion and processing functions, can be provided with the image acquisition devices 6 and the sound vibration acquisition devices 8 on each hydraulic bracket, is provided with only one multi-source information fusion and processing device 7 on 5-10 adjacent hydraulic brackets, can receive and process image information acquired by camera modules 9 of 5-10 adjacent hydraulic brackets, sound information acquired by a sound information sensing module 13 and vibration information acquired by a vibration information acquisition module 14 by 5G (or 4G, Wifi, Bluetooth), therefore, the image acquisition device 6 and the sound vibration acquisition device 8 which are provided with one plurality of hydraulic supports share one multi-source information fusion and processing device 7.
The invention provides a control method of coal caving equipment based on multi-source information fusion, which comprises the following steps:
s1, acquiring instructions of starting coal caving for withdrawing the flashboards 3 and opening the tail beam 2;
s2, discharging coal according to the command of starting coal discharging;
s3, using MDNet target tracking algorithm to make the camera module 9 automatically track the shooting area through angle rotation, and obtaining the image information of the top coal and the gangue transported on the rear scraper 5;
s4, collecting sound information in the air and vibration information of the shield beam 1 of the hydraulic support by using the sound vibration collecting device 8;
s5, determining a coal and gangue mixing degree index based on a BP neural network multi-source information fusion algorithm optimized by a genetic algorithm according to the image information, the sound information and the vibration information;
s6, judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value;
s7, when the coal and gangue mixing degree index exceeds the mixing degree threshold value, controlling the shield beam 1 of the hydraulic support to open the inserting plate 3 and close the tail beam 2, and stopping coal caving;
and S8, when the coal and gangue mixing degree index does not exceed the mixing degree threshold value, returning to S3 until the coal and gangue mixing degree index exceeds the mixing degree threshold value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A coal caving equipment based on multisource information fusion is characterized by comprising: the system comprises a hydraulic support, a rear scraper, an image acquisition device, a sound vibration acquisition device and a multi-source information fusion and processing device;
the hydraulic support is arranged at the coal mining working face; the shield beam of the hydraulic support is in contact with the coal seam; the shield beam of the hydraulic support retracts the inserting plate and is used for starting coal caving when the tail beam is opened;
the coal inlet of the rear scraper is arranged below the shield beam of the hydraulic support; the rear scraper is used for conveying the top coal and the gangue out of the working surface;
the image acquisition device is arranged on the base of the hydraulic support and is opposite to the rear scraper; the image acquisition device is used for acquiring image information of top coal and gangue on the rear scraper;
the sound vibration acquisition device is arranged on a shield beam of the hydraulic support; the multi-source information fusion and processing device is arranged on a base of the hydraulic support;
the sound vibration acquisition device is used for acquiring sound information in the air and vibration information of a shield beam of the hydraulic support;
the multi-source information fusion and processing device is respectively connected with the image acquisition device, the sound vibration acquisition device and the inserting plate and the tail beam on the shield beam of the hydraulic support; the multi-source information fusion and processing device is used for determining a coal and gangue mixing degree index according to the image information, the sound information and the vibration information and judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value; when the mixing degree exceeds a threshold value, controlling a shield beam of the hydraulic support to open the inserting plate and close the tail beam, realizing closing of the coal discharge port, and stopping coal discharge; the coal and gangue mixing degree index comprises the coal and gangue accumulation area mixing degree and volume mixing degree;
the multi-source information fusion and processing device comprises a data display module, a key input control module, a data processing module, a data output module and a multi-source information receiving module;
the multi-source information receiving module is respectively connected with the image acquisition device and the sound vibration acquisition device; the multi-source information receiving module is used for receiving the image information, the sound information and the vibration information;
the data processing module is connected with the multi-source information receiving module; the data processing module is used for carrying out data fusion on the image information, the sound information and the vibration information to determine a coal and gangue mixing degree index and judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value;
the data output module is connected with the data processing module; the data output module is used for controlling the shield beam of the hydraulic support to open the inserting plate and close the tail beam when the mixing degree threshold value is exceeded, so that the coal discharge port is closed, and the coal discharge is stopped;
the key input control module is connected with the data processing module and is used for setting the mixing degree threshold value;
the display module is connected with the input control module; the display module is used for displaying the mixing degree threshold value.
2. The coal caving equipment based on multi-source information fusion of claim 1, wherein the image acquisition device comprises: the device comprises a camera module, a light supplementing module, a dustproof module, a visual angle adjusting module and an image information transmission module;
the camera module is arranged right opposite to the rear scraper;
the dustproof module is arranged on the camera module;
the light supplementing module and the camera module are arranged on the same side face;
the visual angle adjusting module is connected with the multi-source information fusion and processing device and the camera module through a holder; the visual angle adjusting module is used for adjusting the rotation angle of the camera, so that the camera module tracks a shooting area through the rotation angle;
the image information transmission module is respectively connected with the camera module; the image information transmission module is used for transmitting the image information acquired by the camera module to the multi-source information fusion and processing device.
3. The coal caving equipment based on multisource information fusion of claim 2, wherein the camera module is a CCD camera, a TOF camera, a structured light camera, an infrared camera or a stereo binocular camera.
4. The coal caving equipment based on multi-source information fusion of claim 2, wherein the supplementary lighting module is a visible light supplementary lighting lamp or an infrared light supplementary lighting lamp.
5. The coal caving equipment based on multi-source information fusion of claim 2, wherein the image information transmission module is an antenna.
6. The coal caving equipment based on multi-source information fusion of claim 1, wherein the sound vibration collection device comprises: the system comprises a sound information sensing module, a vibration information acquisition module and a sound vibration information transmission module;
the sound information sensing module is used for collecting sound information in the air;
the vibration information acquisition module is used for acquiring vibration information of a shield beam of the hydraulic support;
the sound vibration information transmission module is respectively connected with the sound information perception module, the vibration information acquisition module and the multi-source information fusion and processing device; the sound vibration information transmission module is used for transmitting the sound information and the vibration information to the multi-source information fusion and processing device.
7. The coal caving equipment based on multi-source information fusion of claim 6, wherein the sound vibration information transmission module is an antenna.
8. A control method of a coal caving device based on multi-source information fusion, which is used for controlling the coal caving device based on multi-source information fusion of any one of claims 1-7, and is characterized by comprising the following steps:
acquiring an instruction of starting coal caving for withdrawing the flashboard and opening the tail beam;
carrying out coal caving according to the instruction of starting coal caving;
by utilizing an MDNet target tracking algorithm, a camera module automatically tracks a shooting area through angle rotation to obtain image information of the top coal and the gangue conveyed on the rear scraper blade;
the sound vibration acquisition device is used for acquiring sound information in the air and vibration information of a shield beam of the hydraulic support;
determining a coal and gangue mixing degree index based on a BP neural network multi-source information fusion algorithm optimized by a genetic algorithm according to the image information, the sound information and the vibration information;
judging whether the coal and gangue mixing degree index exceeds a mixing degree threshold value;
when the coal and gangue mixing degree index exceeds the mixing degree threshold value, controlling a shield beam of the hydraulic support to open the inserting plate and close the tail beam, and stopping coal discharge;
and when the coal and gangue mixing degree index does not exceed the mixing degree threshold value, returning to the step of automatically tracking a shooting area through angular rotation by using an MDNet target tracking algorithm and acquiring image information of the top coal and the gangue conveyed on the rear scraper blade until the coal and gangue mixing degree index exceeds the mixing degree threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011007647.9A CN112145232B (en) | 2020-09-23 | 2020-09-23 | Coal caving equipment based on multi-source information fusion and control method |
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