CN112211657A - Method for intelligently judging closing of coal discharge port of top coal caving hydraulic support - Google Patents

Method for intelligently judging closing of coal discharge port of top coal caving hydraulic support Download PDF

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CN112211657A
CN112211657A CN202011187551.5A CN202011187551A CN112211657A CN 112211657 A CN112211657 A CN 112211657A CN 202011187551 A CN202011187551 A CN 202011187551A CN 112211657 A CN112211657 A CN 112211657A
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coal
gangue
ith
caving
data processor
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CN112211657B (en
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崔峰
杨彦斌
来兴平
董帅
贾冲
曹建涛
单鹏飞
代晶晶
周玉普
张廷辉
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Xian University of Science and Technology
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/28—Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns

Abstract

The invention discloses a method for intelligently judging closing of a coal discharge port of a top coal caving hydraulic support, which comprises the following steps: firstly, installing a coal and gangue identification module; secondly, collecting and judging the block speed data of the coal discharge port; thirdly, acquiring and judging a block image; and fourthly, judging the closing of the coal discharging port. The method has simple steps and reasonable design, improves the identification accuracy of the coal and gangue, determines the quality of the gangue discharged from the coal discharge port, closes the coal discharge port in time, improves the economic benefit and facilitates the follow-up intelligent unmanned top coal caving exploitation.

Description

Method for intelligently judging closing of coal discharge port of top coal caving hydraulic support
Technical Field
The invention belongs to the technical field of mining engineering, and particularly relates to a method for intelligently judging closing of a coal discharge port of a top coal caving hydraulic support.
Background
China is a world with large coal production and consumption, and coal plays a key role in the energy structure of China. In the coal reserves in China, the reserves of thick coal seams (the thickness is more than or equal to 3.5m) account for about 44% of the reserves of all coals, and the yield of the thick coal seams also accounts for about 45% of the total yield. Fully-mechanized top coal caving is a high-yield and high-efficiency thick coal seam mining mode, how to determine the closing of a coal caving port according to the coal caving degree is a difficult problem encountered in the fully-mechanized top coal caving mining process, and the closing of the fully-mechanized top coal caving is judged by manual visual inspection at present. The manual visual inspection can cause the problem of over-discharge or under-discharge, and simultaneously, toxic and harmful gas and dust generated in the process of top coal caving can also cause certain influence on the body of workers.
The existing top coal caving mainly adopts top coal caving mining based on sound waves, and gangue content and the like are determined by measuring the gamma ray quantity emitted by natural radioactive substances in coal gangue flow discharged from a coal caving port. The identification technology for mining the coal and gangue by the caving coal based on the sound wave is greatly influenced by the noise of the working face. The coal and gangue identification technology based on the gamma ray has poor adaptability, complex technology and poor anti-jamming capability.
Therefore, a method for intelligently judging the closing of the coal discharge port of the top coal hydraulic support is needed, the identification accuracy of the coal and gangue is improved, the quality of the gangue discharged from the coal discharge port is determined, the coal discharge port is closed in time, the economic benefit is improved, and the follow-up intelligent unmanned top coal mining is facilitated.
Disclosure of Invention
The invention aims to solve the technical problem that the method for intelligently judging the closing of the coal discharge port of the hydraulic support for top coal discharge is provided aiming at the defects in the prior art, the method has simple steps and reasonable design, improves the accuracy of coal and gangue identification, determines the quality of the gangue discharged from the coal discharge port, closes the coal discharge port in time, improves the economic benefit and is convenient for follow-up intelligent unmanned top coal discharge mining.
In order to solve the technical problems, the invention adopts the technical scheme that: the method for intelligently judging closing of the coal discharge port of the top coal caving hydraulic support is characterized by comprising the following steps of:
step one, installation of a coal and gangue identification module:
101, laying a plurality of hydraulic supports along coal mining work, installing a front scraper conveyor at the side of the hydraulic supports close to a coal wall, and installing a rear scraper conveyor at the side of the hydraulic supports close to a goaf; the front scraper conveyer is provided with a coal mining machine, and the total number of the hydraulic supports is m;
102, arranging shield plates at the end parts, close to the goaf, of the shield beams of the hydraulic supports; the shield plates are arranged in parallel, the extension lines of the shield plates are intersected with the rear scraper conveyer, gaps between the shield plates and a goaf in the ith hydraulic support form an ith coal discharge port, i and m are positive integers, i is more than or equal to 1 and less than or equal to m, and the m coal discharge ports are communicated to form a coal discharge channel;
103, mounting a gangue identification module at each coal discharge port, wherein the gangue identification modules are mounted at the ith coal discharge port, each gangue identification module comprises an illuminating lamp, a laser speed measuring radar, a camera and a data processor, and the output end of the data processor is connected with an alarm;
step two, collecting and judging the block speed data of the coal discharge port:
the acquisition and the judgement homogeneous phase of the block speed data of each coal discharging port, wherein, the acquisition and the judgement of the speed data of the ith coal discharging port, the concrete process is as follows:
step 201, scanning and detecting the speed of each block passing through the ith coal caving port by using a laser speed measuring radar at the current measuring moment, and sending the detected speed of each block to a data processor; wherein j is a positive integer;
step 202, in the process of top coal caving at the ith coal caving port, when the total top coal caving amount of the ith coal caving port is less than a set top coal caving amount value, executing step 203, otherwise, executing step 204;
step 203, the data processor will pass the speed V of the jth block of the ith coal outletj iAnd a first gangue velocity threshold V1Comparing, and when the speed V of the jth block of the ith coal outletji is greater than the first gangue speed threshold value V1Meanwhile, the data processor controls an alarm to give an alarm, and meanwhile, the camera collects the block image passing through the ith coal discharge port and sends the collected block image passing through the ith coal discharge port to the data processor;
step 204, when the total caving coal amount of the ith coal caving opening is larger than the set top caving coal amount value, the data processor enables the speed V of the jth block body passing through the ith coal caving opening to pass throughji and a second gangue velocity threshold V2Comparing the speed V of the jth block passing through the ith coal outletj iIs greater than the second gangue speed threshold value V2Meanwhile, the data processor controls an alarm to give an alarm, and meanwhile, the camera collects the block image passing through the ith coal discharge port and sends the collected block image passing through the ith coal discharge port to the data processor;
step three, collecting and judging block images:
step 301, the data processor processes the block image passing through the ith coal discharge port to obtain the total volume V of the gangue in the block image passing through the ith coal discharge portz；
Step 302, using the data processor, according to the formula m ═ ρ VzObtaining the mass m of the gangue passing through the ith coal discharge port; wherein ρ represents the density of the gangue;
step four, closing judgment of the coal discharge port:
step 401, in the process of top coal caving at the ith coal caving opening, repeating the step two and the step three, and judging the next measurement time, so as to finish the judgment of each measurement time of the ith coal caving opening and obtain the total mass of the gangue passing through the ith coal caving opening, and comparing the total mass of the gangue at the ith coal caving opening with the set amount of the gangue by adopting the data processor;
step 402, when the total mass of the gangue passing through the ith coal discharge port is larger than the set amount of the gangue, the shield plate of each hydraulic support moves until the shield plate of each hydraulic support is attached to the goaf, and the ith coal discharge port is closed.
The method for intelligently judging the closing of the coal discharge port of the top coal caving hydraulic support is characterized by comprising the following steps of: the first gangue speed threshold V in step 2031The acquisition of (a) is as follows:
according to the formula
Figure BDA0002751776030000031
Obtaining a first gangue speed threshold value V1(ii) a Wherein g represents the acceleration of gravity, and g is 9.8m/s2，h1Denotes the distance between the top beam of the hydraulic support and the bottom of the hydraulic support, h2Indicating the thickness of the top coal;
second gangue speed threshold V in step 2042Is obtained as follows:
according to the formula
Figure BDA0002751776030000041
Obtaining a second gangue speed threshold value V2(ii) a Wherein g represents the acceleration of gravity, and g is 9.8, mu1Represents the coefficient of friction between coal pieces, and μ1The value of (a) is 0.6-0.7, theta represents an included angle between a top coal sliding surface and a bottom horizontal surface of the hydraulic support, and the value range of theta is 45-70 degrees.
The method for intelligently judging the closing of the coal discharge port of the top coal caving hydraulic support is characterized by comprising the following steps of: the specific process for obtaining the set value of the top coal caving amount in the step 202 is as follows:
2021, setting the total output of the coal mining working face to be A tons every day, setting the coal cutting amount of the coal mining machine to be B tons every day, setting the top coal caving amount to be A-B every day, and caving the top coal 3 times every day, and then caving the top coal every time every dayThe amount of coal is
Figure BDA0002751776030000042
Step 2022, according to the formula
Figure BDA0002751776030000043
Obtaining the coal discharge quantity Q of the coal discharge port every day;
2023, in the step 202, the set value of the top coal caving amount is b times of the coal caving amount of the coal port every day, and the value range of b is
Figure BDA0002751776030000044
The method for intelligently judging the closing of the coal discharge port of the top coal caving hydraulic support is characterized by comprising the following steps of: in step 103, a gangue identification module is installed at each coal discharge port, and the method for installing the gangue identification module at each coal discharge port is the same, wherein the gangue identification module is installed at the ith coal discharge port, and the specific process is as follows:
step 1031, arranging an illuminating lamp on a base in the ith hydraulic support;
step 1032, arranging a laser speed measuring radar and a camera on the side surface, close to the coal discharge port, of the base of the ith hydraulic support; the detection surface of the laser speed measuring radar faces to the lower part of the coal caving port, and the shooting surface of the camera faces to the lower part of the coal caving port;
step 1033, arranging a monitoring box on a base of the ith hydraulic support; wherein, a data processor is arranged in the monitoring box, and an alarm is arranged on the monitoring box; the illuminating lamp and the alarm are controlled by a data processor, and the output ends of the camera and the laser speed measuring radar are connected with the input end of the data processor.
The method for intelligently judging the closing of the coal discharge port of the top coal caving hydraulic support is characterized by comprising the following steps of: the data processor processes the block image passing through the ith coal discharge port in step 301 to obtain the total volume value of the gangue in the block image passing through the ith coal discharge port, and the specific process is as follows:
3011, the data processor calls a gray level processing module to perform gray level processing on the block image passing through the ith coal caving port to obtain a block gray level image;
3012, the data processor calls a laplacian edge detection module to perform edge extraction on the block gray-scale image to obtain a block initial edge image;
step 3013, the data processor calls a binarization module to perform binarization processing on the block initial edge image to obtain a block binarization image; the block binarization image comprises a background area, a foreground area and a foreground area, wherein the background area in the block binarization image is black, the foreground area is white, and the foreground area is a gangue area;
3014, the data processor performs connectivity marking on the block binary image by using a region growing method to obtain each connectivity region on the block image; the nth connected region on the block binary image is called the nth connected region, the total number of the connected regions on the block image is N, N and N are positive integers, and N is more than or equal to 1 and less than or equal to N;
3015, obtaining coordinates of each pixel point in the nth connected region in the pixel coordinate system by using the data processor, arranging the coordinates of the pixel points in the nth connected region in the order of ascending abscissa by using the data processor, and obtaining a minimum abscissa value u of the pixel points in the nth connected regionnminAnd the maximum abscissa value u of the pixel point in the nth connected regionnmax(ii) a Arranging the vertical coordinates of the pixel points in the nth connected region in the order from small to large by adopting the data processor to obtain the minimum vertical coordinate value v of the pixel points in the nth connected regionnminAnd the maximum ordinate value v of the pixel point in the mth connected regionnmax；
Step 3016, according to the formula
Figure BDA0002751776030000051
And
Figure BDA0002751776030000052
obtaining the center coordinate of the nth communication area;
step 3017, using the center coordinate of the nth connected region of the data processor to make a perpendicular line perpendicular to the u axis, intersecting the edge of the nth connected region, and dividing the nth connected region into a first region in the nth connected region and a second region in the nth connected region;
step 3018, obtaining, by using the data processor, a center coordinate of the first area in the nth connected area according to the methods shown in steps 3016 and 3017, and obtaining a first distance L from the center coordinate of the first area in the nth connected area to the vertical linen,1；
Obtaining the center coordinate of the second area in the nth connected area and obtaining a first distance L from the center coordinate of the second area in the nth connected area to the vertical line by using the data processor according to the methods shown in the steps 3016 and 3017n,2；
3019, using the data processor to generate a formula Vn,1＝π×Ln,1×Sn.1Obtaining a first volume V of the first region in the nth connected regionn,1(ii) a Using said data processor according to formula Vn,2＝π×Ln,2×Sn,2Obtaining a second volume V of the second region in the nth connected regionn,2(ii) a Wherein S isn,1Represents the area of the first region in the nth connected region; sn,2Represents the area of the second region in the nth communication region;
step 301A, employing the data processor according to formula Vn＝Vn,1+Vn,2Obtaining the volume V of the nth communication regionn；
Step 301B, repeating steps 3015 to 301A for multiple times, and obtaining the volumes of N connected regions;
step 301C, using the data processor according to a formula
Figure BDA0002751776030000061
Obtaining the total volume V of the gangue in the block image passing through the ith coal discharge portz。
The method for intelligently judging the closing of the coal discharge port of the top coal caving hydraulic support is characterized by comprising the following steps of: gangue setting in step 401The quantitative amount is c times of the coal discharge amount of the coal discharge port every day, and the value range of c is
Figure BDA0002751776030000062
Compared with the prior art, the invention has the following advantages:
1. the method has simple steps, reasonable design and lower input cost.
2. The method is simple and convenient to operate and convenient to realize, and mainly comprises three steps of collecting and judging the speed data of the blocks at the coal discharge ports, collecting and judging block images and closing and judging the coal discharge ports, wherein the speed of each block passing through each coal discharge port is collected, so that the speed of each block passing through each coal discharge port can be effectively, accurately and real-timely detected, and then the judgment is carried out on the speed threshold value of the first gangue and the speed threshold value of the second gangue, so that whether the gangue exists in the blocks passing through each coal discharge port is determined, and the information of the gangue can be timely obtained; the block images passing through the coal discharge port are collected through the camera, the quality of the gangue in the block images is obtained through analysis of the block images, and finally the total mass of the gangue passing through the coal discharge port is compared with the set amount of the gangue to determine whether to close each coal discharge port, so that the coal discharge port can be closed in time, and the economic benefit is improved.
3. The method for intelligently judging the closing of the coal discharge port of the top coal caving hydraulic support is good in using effect and high in practical value, and the falling speed of the coal discharge port block is acquired, so that the method is less influenced by mining environment and stratum conditions, and the accuracy of coal and gangue identification is improved.
4. The lighting lamp is used for assisting the camera to shoot images, so that the problem of poor visibility of the coal caving port is effectively solved.
5. The detection of the coal caving port in the caving coal mining process can quickly and accurately identify coal and gangue, avoid the mixing of more gangue in the caving coal mining process, reduce the harm of the gangue to the mining safety in the caving coal mining process and improve the mining completeness.
In conclusion, the method provided by the invention has the advantages of simple steps and reasonable design, improves the accuracy of coal gangue identification, determines the quality of gangue discharged from the coal discharge port, closes the coal discharge port in time, improves the economic benefit and facilitates subsequent intelligent unmanned top coal caving mining.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of the gangue identification module of the present invention.
FIG. 2 is a schematic block diagram of the circuit of the gangue identification module of the present invention.
FIG. 3 is a block diagram of a method flow of the present invention.
Description of reference numerals:
1-hydraulic support; 1-front beam; 1-2-top beam;
1-3-column; 1-4-shield beam; 1-5-shield plate;
1-6-base; 2-monitoring box; 2-1-a data processor;
2-alarm; 3-a camera; 4-laser speed measuring radar;
6-rear scraper conveyer; 7-a goaf; 9-front scraper conveyer;
10, a coal mining machine; 11-lighting lamp.
Detailed Description
The method for intelligently judging the closing of the coal discharge port of the hydraulic support for top coal caving as shown in figures 1 to 3 comprises the following steps:
step one, installation of a coal and gangue identification module:
101, laying a plurality of hydraulic supports 1 along coal mining work, installing a front scraper conveyor 9 on the side, close to a coal wall, of each hydraulic support 1, and installing a rear scraper conveyor 6 on the side, close to a goaf 7, of each hydraulic support 1; wherein, a coal mining machine 10 is arranged on the front scraper conveyor 9, and the total number of the hydraulic supports 1 is m;
102, arranging shield plates 1-5 at the end parts, close to the goaf 7, of the shield beams 1-4 of each hydraulic support 1; the shield plates 1 to 5 are arranged in parallel, extension lines of the shield plates 1 to 5 are intersected with the rear scraper conveyor 6, gaps between the shield plates 1 to 5 and the goaf 7 in the ith hydraulic support 1 form an ith coal discharge port, i and m are positive integers, i is not less than 1 and not more than m, and m coal discharge ports are communicated to form a coal discharge channel;
103, mounting a gangue identification module at each coal discharge port, wherein the gangue identification modules are mounted at the ith coal discharge port in the same method, each gangue identification module comprises an illuminating lamp 11, a laser speed measuring radar 4, a camera 3 and a data processor 2-1, and the output end of the data processor 2-1 is connected with an alarm 2-2;
step two, collecting and judging the block speed data of the coal discharge port:
the acquisition and the judgement homogeneous phase of the block speed data of each coal discharging port, wherein, the acquisition and the judgement of the speed data of the ith coal discharging port, the concrete process is as follows:
step 201, scanning and detecting the speed of each block body passing through the ith coal caving port by the laser speed measuring radar 4 at the current measuring moment, sending the detected speed of each block body to the data processor 2-1, and recording the speed of the jth block body passing through the ith coal caving port as V by the data processor 2-1j i(ii) a Wherein j is a positive integer;
step 202, in the process of top coal caving at the ith coal caving port, when the total top coal caving amount of the ith coal caving port is less than a set top coal caving amount value, executing step 203, otherwise, executing step 204;
step 203, the data processor 2-1 will pass the speed V of the jth block of the ith coal discharge portj iAnd a first gangue velocity threshold V1Comparing, and when the speed V of the jth block of the ith coal outletj iIs greater than the first gangue speed threshold value V1Meanwhile, the data processor 2-1 controls the alarm 2-2 to give an alarm, and meanwhile, the camera 3 collects the block image passing through the ith coal discharge port and sends the collected block image passing through the ith coal discharge port to the data processor 2-1;
step 204, when the ith coal discharging portWhen the total amount of the top coal caving is larger than the set value of the top coal caving amount, the data processor 2-1 will pass through the speed V of the jth block of the ith coal caving portj iAnd a second gangue velocity threshold V2Comparing the speed V of the jth block passing through the ith coal outletji is greater than the second gangue speed threshold value V2Meanwhile, the data processor 2-1 controls the alarm 2-2 to give an alarm, and meanwhile, the camera 3 collects the block image passing through the ith coal discharge port and sends the collected block image passing through the ith coal discharge port to the data processor 2-1;
step three, collecting and judging block images:
step 301, the data processor 2-1 processes the block image passing through the ith coal discharge port to obtain the total volume V of the gangue in the block image passing through the ith coal discharge portz；
Step 302, using the data processor 2-1 according to the formula m ═ ρ VzObtaining the mass m of the gangue passing through the ith coal discharge port; wherein ρ represents the density of the gangue;
step four, closing judgment of the coal discharge port:
step 401, in the process of top coal caving at the ith coal caving port, repeating the step two and the step three, and judging the next measurement moment, so as to finish the judgment of each measurement moment of the ith coal caving port and obtain the total mass of the gangue passing through the ith coal caving port, and comparing the total mass of the gangue of the ith coal caving port with the set amount of the gangue by adopting the data processor 2-1;
step 402, when the total mass of the gangue passing through the ith coal discharge port is larger than the set amount of the gangue, the shield plates 1-5 of each hydraulic support 1 move until the shield plates 1-5 of each hydraulic support 1 are attached to the gob 7, and the ith coal discharge port is closed.
In this embodiment, the first gangue velocity threshold V in step 2031The acquisition of (a) is as follows:
according to the formula
Figure BDA0002751776030000091
Obtaining a first gangue speed threshold value V1(ii) a Wherein g represents gravityAcceleration, and g is 9.8m/s2，h1Represents the distance between the top beam 1-2 of the hydraulic support 1 and the bottom of the hydraulic support 1, h2Indicating the thickness of the top coal;
second gangue speed threshold V in step 2042Is obtained as follows:
according to the formula
Figure BDA0002751776030000101
Obtaining a second gangue speed threshold value V2(ii) a Wherein g represents the acceleration of gravity, and g is 9.8, mu1Represents the coefficient of friction between coal pieces, and μ1The value of (a) is 0.6-0.7, theta represents an included angle between a top coal sliding surface and a bottom horizontal plane of the hydraulic support 1, and the value range of theta is 45-70 degrees.
In this embodiment, the specific process of obtaining the set value of the top coal caving amount in step 202 is as follows:
2021, setting the total output of the coal face to be A tons every day, setting the coal cutting amount of the coal mining machine 10 to be B tons every day, setting the top coal caving amount to be A-B every day, and caving the top coal 3 times every day, setting the coal caving amount to be A-B every day
Figure BDA0002751776030000102
Step 2022, according to the formula
Figure BDA0002751776030000103
Obtaining the coal discharge quantity Q of the coal discharge port every day;
2023, in the step 202, the set value of the top coal caving amount is b times of the coal caving amount of the coal port every day, and the value range of b is
Figure BDA0002751776030000104
In this embodiment, in step 103, a gangue identification module is installed at each coal discharge port, and the method for installing the gangue identification module at each coal discharge port is the same, wherein the gangue identification module is installed at the ith coal discharge port, and the specific process is as follows:
step 1031, arranging an illuminating lamp 11 on a base 1-6 in the ith hydraulic support 1;
step 1032, arranging a laser speed measuring radar 4 and a camera 3 on the side surface, close to the coal caving port, of a base 1-6 of the ith hydraulic support 1; the detection surface of the laser speed measuring radar 4 faces the lower part of the coal caving port, and the shooting surface of the camera 3 faces the lower part of the coal caving port;
step 1033, arranging a monitoring box 2 on a base 1-6 of the ith hydraulic support 1; wherein, a data processor 2-1 is arranged in the monitoring box 2, and an alarm 2-2 is arranged on the monitoring box 2; the illuminating lamp 11 and the alarm 2-2 are controlled by the data processor 2-1, and the output ends of the camera 3 and the laser speed measuring radar 4 are connected with the input end of the data processor 2-1.
In this embodiment, in step 301, the data processor 2-1 processes the block image passing through the ith coal discharge port to obtain a total volume value of gangue in the block image passing through the ith coal discharge port, and the specific process is as follows:
3011, the data processor 2-1 calls a gray processing module to perform gray processing on the block image passing through the ith coal discharge port to obtain a block gray image;
3012, the data processor 2-1 calls a laplacian edge detection module to perform edge extraction on the block gray-scale image to obtain a block preliminary edge image;
3013, the data processor 2-1 calls a binarization module to perform binarization processing on the block initial edge image to obtain a block binarization image; the block binarization image comprises a background area, a foreground area and a foreground area, wherein the background area in the block binarization image is black, the foreground area is white, and the foreground area is a gangue area;
3014, the data processor 2-1 performs connected labeling on the block binary image by using a region growing method to obtain each connected region on the block image; the nth connected region on the block binary image is called the nth connected region, the total number of the connected regions on the block image is N, N and N are positive integers, and N is more than or equal to 1 and less than or equal to N;
step 3015, obtaining, by using the data processor 2-1, the pixel coordinates of each pixel point in the nth connected regionArranging the coordinates of the pixel points in the nth connected region in the order of small abscissa to large abscissa by using the data processor 1 to obtain the minimum abscissa value u of the pixel points in the nth connected regionnminAnd the maximum abscissa value u of the pixel point in the nth connected regionnmax(ii) a Arranging the vertical coordinates of the pixel points in the nth connected region in the order from small to large by adopting the data processor 1 to obtain the minimum vertical coordinate value v of the pixel points in the nth connected regionnminAnd the maximum ordinate value v of the pixel point in the mth connected regionnmax；
Step 3016, according to the formula
Figure BDA0002751776030000111
And
Figure BDA0002751776030000112
obtaining the center coordinate u of the n-th connected regionn0，vn0；
Step 3017, adopt the central coordinate u of the nth connected region of the data processor 2-1n0，vn0Making a vertical line perpendicular to the u axis, intersecting the edge of the nth communication area, and dividing the nth communication area into a first area in the nth communication area and a second area in the nth communication area;
step 3018, obtaining, by using the data processor 2-1, a center coordinate of the first area in the nth connected area according to the methods shown in steps 3016 and 3017, and obtaining a first distance L from the center coordinate of the first area in the nth connected area to the vertical linen,1；
Obtaining the center coordinate of the second area in the nth connected area and obtaining a first distance L from the center coordinate of the second area in the nth connected area to the vertical line by using the data processor 2-1 according to the methods shown in the steps 3016 and 3017n,2；
Step 3019, using the data processor 2-1 according to formula Vn,1＝π×Ln,1×Sn.1Obtaining a first volume V of the first region in the nth connected regionn,1(ii) a By usingThe data processor 2-1 is according to formula Vn,2＝π×Ln,2×Sn,2Obtaining a second volume V of the second region in the nth connected regionn,2(ii) a Wherein S isn,1Represents the area of the first region in the nth connected region; sn,2Represents the area of the second region in the nth communication region;
step 301A, using the data processor 2-1 according to formula Vn＝Vn,1+Vn,2Obtaining the volume V of the nth communication regionn；
Step 301B, repeating steps 3015 to 301A for multiple times, and obtaining the volumes of N connected regions;
step 301C, using the data processor 2-1 according to a formula
Figure BDA0002751776030000121
Obtaining the total volume V of the gangue in the block image passing through the ith coal discharge portz。
In this embodiment, the set amount of gangue in step 401 is c times of the coal discharge amount of the coal discharge port every day, and the value range of c is
Figure BDA0002751776030000122
In this embodiment, during actual use, the real-time detection of the coal discharge port is realized through the acquisition and judgment at each measurement time.
In this embodiment, during the in-service use, the position of light 11, laser speed measuring radar 4 and camera 3 can carry out the adaptability adjustment according to actual environment needs to in the speed of obtaining clear block image and being convenient for obtain the block.
In the embodiment, an upright column 1-3 is arranged between a top beam 1-2 and a base 1-6 of a hydraulic support 1, and a front beam 1-1 is arranged on the top beam 1-2.
In the embodiment, during actual mining, the phenomenon of gangue mixing can be effectively controlled by adopting two-mining and one-caving-single-wheel sequence to caving the top coal from bottom to top, and the top coal is caving 3 times after six cutters are cut one day.
In this embodiment, the pixel coordinate system uses the upper left corner of the image as the origin o, the row direction of the image as the u-axis through the origin o, and the column direction of the image as the v-axis through the origin o.
In this example, Sn,1And Sn,2The specific process of obtaining comprises the following steps: calculating the number of pixel points in the first region in the nth connected region by adopting the data processor 2-1 to obtain the number C of the pixel points in the first region in the nth connected regionn,1And the number C of the pixel points in the first area in the nth connected arean,1Multiplying the actual size of the unit pixel to obtain the area S of the first region in the nth connected regionn,1(ii) a Calculating the number of pixel points in the second region in the nth connected region by adopting the data processor 2-1 to obtain the number C of the pixel points in the second region in the nth connected regionn,2And the number C of the pixel points in the second area in the nth connected arean,2Multiplying the actual size of the unit pixel to obtain the area S of the second region in the nth connected regionn,2。
In this embodiment, the actual size of the unit pixel needs to be obtained by calibrating the camera 3.
In this embodiment, the volume weight of the gangue is 24kN/m3And obtaining the density rho of the gangue according to the relation that the volume weight is equal to the density multiplied by the gravity acceleration.
In this example, pi is 3.14.
In conclusion, the method has simple steps, reasonable design, simple and convenient operation and convenient realization, mainly comprises three steps of collecting and judging the block speed data of the coal discharge port, collecting and judging the block images and closing and judging the coal discharge port, and can effectively, accurately and real-timely detect the speed of each block passing through each coal discharge port by collecting the speed of each block passing through each coal discharge port, so as to judge with the first gangue speed threshold and the second gangue speed threshold to determine whether gangue exists in the blocks passing through each coal discharge port, thereby timely acquiring the occurrence information of the gangue; the block images passing through the coal discharge port are collected through the camera, the quality of the gangue in the block images is obtained through analysis of the block images, and finally the total mass of the gangue passing through the coal discharge port is compared with the set amount of the gangue to determine whether to close each coal discharge port, so that the coal discharge port can be closed in time, the economic benefit is improved, and follow-up intelligent unmanned top coal mining is facilitated.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (6)

1. A method for intelligently judging closing of a coal discharge port of a hydraulic top coal caving bracket is characterized by comprising the following steps:
step one, installation of a coal and gangue identification module:
101, laying a plurality of hydraulic supports (1) along coal mining work, installing a front scraper conveyer (9) on the side, close to a coal wall, of each hydraulic support (1), and installing a rear scraper conveyer (6) on the side, close to a goaf (7), of each hydraulic support (1); wherein, a coal mining machine (10) is arranged on the front scraper conveyor (9), and the total number of the hydraulic supports (1) is m;
102, arranging shield plates (1-5) at the end parts, close to the goaf (7), of the shield beams (1-4) of the hydraulic supports (1); the shield plates (1-5) are arranged in parallel, extension lines of the shield plates (1-5) are intersected with the rear scraper conveyer (6), gaps between the shield plates (1-5) and a goaf (7) in the ith hydraulic support (1) form an ith coal discharge port, i and m are positive integers, i is more than or equal to 1 and less than or equal to m, and m coal discharge ports are communicated to form a coal discharge channel;
103, mounting a gangue identification module at each coal discharge port, wherein the gangue identification modules are mounted at the ith coal discharge port in the same method, each gangue identification module comprises an illuminating lamp (11), a laser speed measuring radar (4), a camera (3) and a data processor (2-1), and the output end of the data processor (2-1) is connected with an alarm (2-2);
step two, collecting and judging the block speed data of the coal discharge port:
the acquisition and the judgement homogeneous phase of the block speed data of each coal discharging port, wherein, the acquisition and the judgement of the speed data of the ith coal discharging port, the concrete process is as follows:
step 201, scanning and detecting the speed of each block body passing through the ith coal caving port by using a laser speed measuring radar (4) at the current measuring moment, sending the detected speed of each block body to a data processor (2-1), and recording the speed of the jth block body passing through the ith coal caving port as the speed of the jth block body by using the data processor (2-1)
Figure FDA0002751776020000011
Wherein j is a positive integer;
step 202, in the process of top coal caving at the ith coal caving port, when the total top coal caving amount of the ith coal caving port is less than a set top coal caving amount value, executing step 203, otherwise, executing step 204;
step 203, the data processor (2-1) will pass the speed of the jth block of the ith coal outlet
Figure FDA0002751776020000021
And a first gangue velocity threshold V1Comparing the speed of the jth block of the ith coal outlet
Figure FDA0002751776020000022
Is greater than the first gangue speed threshold value V1When the coal caving device is used, the data processor (2-1) controls the alarm (2-2) to give an alarm for prompting, meanwhile, the camera (3) collects block images passing through the ith coal caving port and sends the collected block images passing through the ith coal caving port to the data processor (2-1);
step 204, when the total caving coal amount of the ith coal caving port is larger than the set top caving coal amount value, the data processor (2-1) will pass through the speed of the jth block of the ith coal caving port
Figure FDA0002751776020000023
And a second gangue velocity threshold V2Comparing the speed of the jth block passing through the ith coal outlet
Figure FDA0002751776020000024
Is greater than the second gangue speed threshold value V2When the coal caving device is used, the data processor (2-1) controls the alarm (2-2) to give an alarm for prompting, meanwhile, the camera (3) collects block images passing through the ith coal caving port and sends the collected block images passing through the ith coal caving port to the data processor (2-1);
step three, collecting and judging block images:
step 301, processing the block image passing through the ith coal discharge port by the data processor (2-1) to obtain the total volume V of the gangue in the block image passing through the ith coal discharge portz；
Step 302, using the data processor (2-1) according to the formula m ═ ρ VzObtaining the mass m of the gangue passing through the ith coal discharge port; wherein ρ represents the density of the gangue;
step four, closing judgment of the coal discharge port:
step 401, in the process of top coal caving at the ith coal caving opening, repeating the step two and the step three, and judging the next measurement moment, so as to finish the judgment of each measurement moment of the ith coal caving opening and obtain the total mass of the gangue passing through the ith coal caving opening, and comparing the total mass of the gangue at the ith coal caving opening with the set amount of the gangue by adopting the data processor (2-1);
step 402, when the total mass of the gangue passing through the ith coal discharge port is larger than the set amount of the gangue, the shield plates (1-5) of all the hydraulic supports (1) move until the shield plates (1-5) of all the hydraulic supports (1) are attached to the gob (7), and the ith coal discharge port is closed.
2. The method for intelligently judging the closing of the coal discharge port of the hydraulic support for caving coal according to claim 1, which is characterized in that: the first gangue speed threshold V in step 2031The acquisition of (a) is as follows:
according to the formula
Figure FDA0002751776020000025
Obtaining a first gangue speed threshold value V1(ii) a Wherein g represents the acceleration of gravity, h1Represents the top beam (1) of the hydraulic support (1)2) The distance h from the bottom of the hydraulic support (1)2Indicating the thickness of the top coal;
second gangue speed threshold V in step 2042Is obtained as follows:
according to the formula
Figure FDA0002751776020000031
Obtaining a second gangue speed threshold value V2(ii) a Wherein g represents the acceleration of gravity,. mu.1Represents the coefficient of friction between coal pieces, and μ1The value of (a) is 0.6-0.7, theta represents an included angle between a top coal sliding surface and a bottom horizontal plane of the hydraulic support (1), and the value range of theta is 45-70 degrees.
3. The method for intelligently judging the closing of the coal discharge port of the hydraulic support for caving coal according to claim 1, which is characterized in that: the specific process for obtaining the set value of the top coal caving amount in the step 202 is as follows:
2021, setting the total output of the coal face to be A tons every day, setting the coal cutting amount of the coal mining machine (10) to be B tons every day, setting the top coal caving amount to be A-B every day, and caving the top coal 3 times every day, setting the coal caving amount to be A-B every day
Figure FDA0002751776020000032
Step 2022, according to the formula
Figure FDA0002751776020000033
Obtaining the coal discharge quantity Q of the coal discharge port every day;
2023, in the step 202, the set value of the top coal caving amount is b times of the coal caving amount of the coal port every day, and the value range of b is
Figure FDA0002751776020000034
4. The method for intelligently judging the closing of the coal discharge port of the hydraulic support for caving coal according to claim 1, which is characterized in that: in step 103, a gangue identification module is installed at each coal discharge port, and the method for installing the gangue identification module at each coal discharge port is the same, wherein the gangue identification module is installed at the ith coal discharge port, and the specific process is as follows:
step 1031, arranging an illuminating lamp (11) on a base (1-6) in the ith hydraulic support (1);
step 1032, arranging a laser speed measuring radar (4) and a camera (3) on the side face, close to the coal caving port, of a base (1-6) of the ith hydraulic support (1); the detection surface of the laser speed measuring radar (4) faces to the lower part of the coal caving port, and the shooting surface of the camera (3) faces to the lower part of the coal caving port;
step 1033, arranging a monitoring box (2) on a base (1-6) of the ith hydraulic support (1); wherein, a data processor (2-1) is arranged in the monitoring box (2), and an alarm (2-2) is arranged on the monitoring box (2); the illuminating lamp (11) and the alarm (2-2) are controlled by the data processor (2-1), and the output ends of the camera (3) and the laser speed measuring radar (4) are connected with the input end of the data processor (2-1).
5. The method for intelligently judging the closing of the coal discharge port of the hydraulic support for caving coal according to claim 1, which is characterized in that: in step 301, the data processor (2-1) processes the block image passing through the ith coal discharge port to obtain a total volume value of gangue in the block image passing through the ith coal discharge port, and the specific process is as follows:
3011, the data processor (2-1) calls a gray processing module to perform gray processing on the block image passing through the ith coal caving port to obtain a block gray image;
step 3012, the data processor (2-1) calls a laplacian edge detection module to perform edge extraction on the block gray-scale image to obtain a block initial edge image;
3013, the data processor (2-1) calls a binarization module to perform binarization processing on the block initial edge image to obtain a block binarization image; the block binarization image comprises a background area, a foreground area and a foreground area, wherein the background area in the block binarization image is black, the foreground area is white, and the foreground area is a gangue area;
3014, the data processor (2-1) performs connected labeling on the block binary image by using a region growing method to obtain each connected region on the block image; the nth connected region on the block binary image is called the nth connected region, the total number of the connected regions on the block image is N, N and N are positive integers, and N is more than or equal to 1 and less than or equal to N;
3015, obtaining coordinates of each pixel point in the nth connected region in the pixel coordinate system by using the data processor (2-1), arranging the coordinates of the pixel points in the nth connected region in the order of ascending abscissa by using the data processor (1), and obtaining a minimum abscissa value u of the pixel points in the nth connected regionnminAnd the maximum abscissa value u of the pixel point in the nth connected regionnmax(ii) a Arranging the vertical coordinates of the pixel points in the nth connected region in the order from small to large by adopting the data processor (1) to obtain the minimum vertical coordinate value v of the pixel points in the nth connected regionnminAnd the maximum ordinate value v of the pixel point in the mth connected regionnmax；
Step 3016, according to the formula
Figure FDA0002751776020000051
And
Figure FDA0002751776020000052
obtaining the center coordinate (u) of the n-th connected regionn0，vn0)；
Step 3017, using the data processor (2-1) to determine the center coordinate (u) of the nth connected regionn0，vn0) Making a vertical line perpendicular to the u axis, intersecting the edge of the nth communication area, and dividing the nth communication area into a first area in the nth communication area and a second area in the nth communication area;
step 3018, obtaining, by using the data processor (2-1), the center coordinate of the first area in the nth connected area according to the methods shown in step 3016 and step 3017, and obtaining a first distance L from the center coordinate of the first area in the nth connected area to the vertical linen,1；
Obtaining the center coordinate of the second area in the nth connected area by adopting the data processor (2-1) according to the methods shown in the steps 3016 and 3017, and obtaining a first distance L from the center coordinate of the second area in the nth connected area to the vertical linen,2；
Step 3019, using the data processor (2-1) according to formula Vn,1＝π×Ln,1×Sn.1Obtaining a first volume V of the first region in the nth connected regionn,1(ii) a Using said data processor (2-1) according to formula Vn,2＝π×Ln,2×Sn,2Obtaining a second volume V of the second region in the nth connected regionn,2(ii) a Wherein S isn,1Represents the area of the first region in the nth connected region; sn,2Represents the area of the second region in the nth communication region;
step 301A, using the data processor (2-1) according to formula Vn＝Vn,1+Vn,2Obtaining the volume V of the nth communication regionn；
Step 301B, repeating steps 3015 to 301A for multiple times, and obtaining the volumes of N connected regions;
step 301C, using said data processor (2-1) according to a formula
Figure FDA0002751776020000053
Obtaining the total volume V of the gangue in the block image passing through the ith coal discharge portz。
6. The method for intelligently judging the closing of the coal discharge port of the hydraulic support for caving coal according to claim 1, which is characterized in that: in step 401, the set amount of the gangue is c times of the coal discharge amount of the coal discharge port every day, and the value range of c is
Figure FDA0002751776020000061
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