CN114743160A - Visual monitoring system and method for coal face based on visual three-dimensional reconstruction - Google Patents
Visual monitoring system and method for coal face based on visual three-dimensional reconstruction Download PDFInfo
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Abstract
The application provides a visual coal face monitoring system and method based on visual three-dimensional reconstruction, wherein the system comprises: the real-time video acquisition module is used for acquiring the video stream of the production picture of the fully mechanized coal mining face in real time; the fully mechanized coal mining face coal machine equipment three-dimensional model module is used for establishing a fully mechanized coal mining face coal machine equipment three-dimensional model; the vision measurement module is used for measuring the state parameters of each coal machine device in real time based on the image data; the data driving model module is used for driving the fully mechanized coal mining face coal machine equipment three-dimensional model based on the state parameters and outputting the fully mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream; and the three-dimensional visual monitoring module is used for forming a three-dimensional real-time driving monitoring picture of the fully mechanized coal mining face surrounding rock state and the coal equipment. The remote monitoring of the surrounding rock state of the fully mechanized coal mining face and the coal machine equipment state can be achieved, and the accuracy of monitoring data is improved.
Description
Technical Field
The application relates to the technical field of coal mine fully mechanized coal mining face monitoring, in particular to a visual coal mining face monitoring system and method based on visual three-dimensional reconstruction.
Background
The coal mine fully-mechanized coal mining face is used as the foremost line of coal resource mining, has the characteristics of severe environment, large equipment quantity, large volume, narrow space and the like, and plays a vital role in the safety production of the coal mining face in real-time monitoring.
However, in the related art, the implementation process of real-time monitoring based on the coal mining working face of the coal mine is complex, and the accuracy of the monitored data needs to be improved.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
According to a first aspect of the application, a coal face visual monitoring system based on visual three-dimensional reconstruction is provided, which comprises:
the real-time video acquisition module is used for acquiring video streams of production pictures of the fully mechanized coal mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully mechanized coal mining face; the video picture of the video stream comprises image data of a plurality of coal mining equipment in the fully mechanized coal mining face under different viewing angles;
the fully mechanized coal mining face coal equipment three-dimensional model module is used for establishing a fully mechanized coal mining face coal equipment three-dimensional model based on the image data, the structural size information of each coal equipment and the equipment layout information of the fully mechanized coal mining face;
the vision measurement module is used for measuring the state parameter of each coal machine equipment in real time based on the image data;
the data driving model module is used for driving the fully mechanized coal mining face coal machine equipment three-dimensional model based on the state parameters and outputting a real-time driving video stream of the fully mechanized coal mining face coal machine equipment three-dimensional model;
and the three-dimensional visual monitoring module is used for splicing the video streams collected by the cameras to form a splicing picture of the fully mechanized working face, and superposing the three-dimensional model real-time driving video stream of the coal equipment of the fully mechanized working face and the splicing picture of the fully mechanized working face to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized working face and the coal equipment.
In some embodiments of the present application, the fully mechanized coal mining face coal mining machine is equipped with a three-dimensional model module specifically configured to:
performing feature extraction on the image data, and determining image data corresponding to each coal mining equipment;
establishing an initial coal equipment three-dimensional model of each coal equipment based on the image data corresponding to each coal equipment;
respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment;
and according to the repaired coal equipment three-dimensional model and the equipment layout information of the fully mechanized coal face, three-dimensional reconstruction is carried out on the fully mechanized coal face scene to obtain the fully mechanized coal face coal equipment three-dimensional model.
In some embodiments of the present application, in the video stream collected by the real-time video collection module, the video pictures collected by each camera include partially overlapped pictures.
In some embodiments of the present application, the three-dimensional visual monitoring module is further configured to:
splicing video pictures acquired by N cameras positioned in front of a coal mining machine and N cameras positioned behind the coal mining machine by taking the coal mining machine as a center to form a local production spliced picture; wherein N is a positive integer;
and superposing the three-dimensional model real-time driving video stream of the coal equipment of the fully mechanized mining face and the video stream formed by the production local splicing picture to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal equipment.
In other embodiments of the present application, the system further comprises:
the video preprocessing module is used for preprocessing each frame of image of the video stream based on an image processing algorithm to obtain a processed video stream;
the vision measurement module is further configured to measure a state parameter of each coal equipment in real time based on image data of a plurality of coal equipment at different viewing angles in a video picture of the processed video stream;
and the three-dimensional visual monitoring module is used for splicing the video streams acquired by each camera in the processed video streams to form a spliced picture of the fully mechanized mining face.
According to a second aspect of the present application, there is provided a coal face visual monitoring method based on visual three-dimensional reconstruction, the method being applied to the system of the first aspect, and the method including:
the real-time video acquisition module is used for acquiring video streams of production pictures of the fully mechanized coal mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully mechanized coal mining face; the video frame of the video stream comprises real-time image data of a plurality of coal mining equipment in the fully mechanized coal mining face under different viewing angles;
the fully mechanized coal mining face coal equipment three-dimensional model module establishes a fully mechanized coal mining face coal equipment three-dimensional model based on the image data, the structural size information of each coal equipment and the equipment layout information of the fully mechanized coal mining face;
the vision measurement module measures the state parameters of each coal machine equipment in real time based on the image data;
the data driving model module drives the fully mechanized coal mining face coal machine equipment three-dimensional model based on the state parameters, and outputs a fully mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream;
the three-dimensional visual monitoring module splices the video streams collected by the cameras to form a splicing picture of the fully mechanized working face, and superposes the three-dimensional model real-time driving video streams of the coal equipment of the fully mechanized working face and the splicing picture of the fully mechanized working face to form a surrounding rock state of the fully mechanized working face and a three-dimensional real-time driving monitoring picture of the coal equipment.
In some embodiments of the application, the establishing a three-dimensional model of the fully mechanized coal mining face coal mining equipment based on the image data, the structural size information of each coal mining equipment, and the equipment layout information of the fully mechanized coal mining face includes:
performing feature extraction on the image data, and determining the image data corresponding to each coal mining machine equipment;
establishing an initial coal equipment three-dimensional model of each coal equipment based on the image data corresponding to each coal equipment;
respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment;
and according to the repaired coal equipment three-dimensional model and the equipment layout information of the fully mechanized coal face, three-dimensional reconstruction is carried out on the fully mechanized coal face scene to obtain the fully mechanized coal face coal equipment three-dimensional model.
In some embodiments of the present application, in the video stream collected by the real-time video collection module, the video pictures collected by each camera include partially overlapped pictures.
In some embodiments of this application, will every the video stream that the camera was gathered is spliced, forms to combine to adopt working face concatenation picture, and will combine to adopt working face coal machine to equip three-dimensional model real-time drive video stream with combine to adopt working face concatenation picture to superpose, form to combine to adopt working face country rock state and coal machine to equip three-dimensional real-time drive monitoring picture, include:
splicing video pictures acquired by N cameras positioned in front of a coal mining machine and N cameras positioned behind the coal mining machine by taking the coal mining machine as a center to form a local production spliced picture; wherein N is a positive integer;
and superposing the three-dimensional model real-time driving video stream of the coal equipment of the fully mechanized mining face and the video stream formed by the production local splicing picture to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal equipment.
In other embodiments of the present application, the method further comprises:
the video preprocessing module preprocesses each frame of image of the video stream based on an image processing algorithm to obtain a processed video stream;
wherein the measuring the state parameter of each coal equipment in real time based on the picture of the video stream comprises:
measuring the state parameters of each coal equipment in real time based on the image data of a plurality of coal equipment at different visual angles in the processed video picture of the video stream;
wherein, will every the video stream of camera collection splices, forms to combine and adopts working face concatenation picture, includes:
and splicing the video streams collected by each camera in the processed video streams to form a splicing picture of the fully mechanized mining face.
According to the technical scheme, the fully-mechanized coal mining face coal equipment three-dimensional model is constructed through the fully-mechanized coal mining face coal equipment three-dimensional model module, the vision measurement module is used for measuring the state parameters of each coal equipment in real time based on the image data of a plurality of coal equipment at different angles in the video picture of the video stream acquired by the real-time video acquisition module, the fully-mechanized coal mining face coal equipment three-dimensional model is driven through the data driving model module based on the state parameters, the fully-mechanized coal mining face coal equipment three-dimensional model real-time driving video stream is output, and then the fully-mechanized coal mining face surrounding rock state and the coal equipment three-dimensional real-time driving monitoring picture are formed through the three-dimensional visual monitoring module, so that the visual remote monitoring of the fully-mechanized coal mining face and the coal equipment is realized. According to the scheme, the requirement of remote visual monitoring can be met on the one hand based on the visual three-dimensional reconstruction technology, the complex process of installing multiple sensors can be avoided in a visual real-time monitoring mode on the other hand, and the accuracy of monitoring the equipment parameters of the coal mining machine can be improved on the other hand based on visual real-time monitoring and measurement, so that the intelligent sensing and safe and efficient mining of a full coal face are facilitated.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a structural block diagram of a coal face visual monitoring system based on visual three-dimensional reconstruction provided in an embodiment of the present application;
fig. 2 is a structural block diagram of another coal face visual monitoring system based on visual three-dimensional reconstruction provided in an embodiment of the present application;
fig. 3 is a flowchart of a coal face visual monitoring method based on visual three-dimensional reconstruction according to an embodiment of the present application;
fig. 4 is a flowchart of another coal face visualization monitoring method based on visual three-dimensional reconstruction according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The coal mine fully-mechanized coal mining face is used as the foremost line of coal resource mining, has the characteristics of severe environment, large equipment quantity, large volume, narrow space and the like, and plays a vital role in the safety production of the coal mining face through real-time monitoring.
In the related technology, a plurality of groups of cameras are continuously distributed on a hydraulic support of a fully mechanized mining face in part of coal mines, video splicing pictures are formed in a transport gateway centralized control center of the working face and a ground dispatching room to monitor coal mining conditions in real time, and meanwhile, contact sensors such as pressure sensors, inclination sensors and displacement sensors are used for monitoring working states of equipment such as the hydraulic support of the fully mechanized mining face in real time, so that real-time sensing of the equipment of the fully mechanized mining face coal machine based on multiple sensors is realized. However, in the multi-sensor distributed sensing scheme, not only the installation position of the sensor, the communication scheme, and the like need to be fully considered during equipment design, but also the monitoring data standards provided by each sensor may be different, so the implementation process is complicated, and the accuracy of the monitored data needs to be improved.
In order to solve the problems, the application provides a visual coal face monitoring system and method based on visual three-dimensional reconstruction.
Fig. 1 is a structural block diagram of a coal face visualization monitoring system based on visual three-dimensional reconstruction provided in an embodiment of the present application. As shown in fig. 1, the system includes a real-time video acquisition module 101, a fully mechanized coal mining face coal equipment three-dimensional model module 102, a vision measurement module 103, a data-driven model module 104, and a three-dimensional visualization monitoring module 105.
In some embodiments of the present application, cameras may be arranged below top beams of hydraulic supports of a fully mechanized mining face at preset intervals, and a lens of each camera faces a coal wall, so that the real-time video acquisition module 101 may acquire a video stream of a production picture of the fully mechanized mining face in real time based on a plurality of cameras fixed to the hydraulic supports of the fully mechanized mining face, and the video exchange of the video stream includes image data of a plurality of coal mining equipment in the fully mechanized mining face at different viewing angles. The preset distance for arranging the cameras at intervals can be determined according to actual application scenes, and in order to ensure the splicing continuity of the acquired video pictures, the preset distance needs to enable the video pictures acquired by each camera to include partially overlapped pictures, for example, at least one fourth or one third of the overlapped pictures in the video pictures acquired by each camera. In addition, the camera fixed below the top beam of the hydraulic support can be an explosion-proof high-definition camera, an intrinsic safety type high-definition camera and an intrinsic safety type or explosion-proof camera with edge calculation.
Wherein the plurality of coal mining equipment may include hydraulic supports, coal mining machines, scraper machines, crushers, transfer conveyors, and the like. As an example, the image data at different viewing angles may be two-dimensional image data, for example, the coal equipment may be photographed by a plurality of cameras on the hydraulic support from different viewing angles to collect the image data of each coal equipment at different viewing angles, where each detail of the coal equipment has at least two kinds of image coverage to ensure the integrity of the image data. As another example, the image data at different viewing angles may also be three-dimensional point cloud data, for example, the real-time video acquisition module 101 may acquire the three-dimensional point cloud data from different angles by using a SLAM camera with depth information to the coal equipment.
In some embodiments of the present application, the three-dimensional module 102 of the coal equipment of the fully mechanized mining face is configured to establish a three-dimensional model of the coal equipment of the fully mechanized mining face based on the image data, the structural dimension information of each coal equipment, and the equipment layout information of the fully mechanized mining face.
In some embodiments of the present application, the three-dimensional module 102 of the fully mechanized coal face coal mining equipment is specifically configured to: establishing an initial coal equipment three-dimensional model of each coal equipment based on image data of a plurality of coal equipment at different viewing angles in a video picture of a video stream acquired by a real-time video acquisition module 101; respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment; and according to the repaired coal equipment three-dimensional model and the equipment layout information of the fully mechanized mining face, three-dimensional reconstruction is carried out on the fully mechanized mining face scene to obtain the fully mechanized mining face coal equipment three-dimensional model. The structural dimension information of each coal equipment can be in the form of a structure diagram, or can be in the form of a data table with the contents of several pieces of dimension information of the length, the width, the height and the like of the structures of each component of the coal equipment. The structural size information of each coal equipment can be preset in the three-dimensional module 102 of the coal equipment of the fully mechanized mining face, or the structural size information of each coal equipment can be uploaded to the three-dimensional module 102 of the coal equipment of the fully mechanized mining face through a terminal device with an interactive interface. The equipment layout information of the fully mechanized coal mining face refers to layout information of all coal mining equipment in the fully mechanized coal mining face. That is, an initial coal equipment three-dimensional model of each coal equipment is constructed based on image data; optimizing the constructed three-dimensional model of the initial coal equipment by utilizing the structural dimension information of each piece of coal equipment, so that the structural dimension information of the three-dimensional model of each piece of initial coal equipment is consistent with the structural dimension information of the corresponding coal equipment, and thus obtaining a plurality of repaired three-dimensional models of the coal equipment; and performing three-dimensional reconstruction on the fully mechanized mining face scene based on the repaired three-dimensional coal equipment models and the equipment layout information of the fully mechanized mining face, namely determining the position information of each three-dimensional coal equipment model in the fully mechanized mining face so as to reproduce the fully mechanized mining face scene by using the three-dimensional models.
In some embodiments of the present application, the fully mechanized coal mining face coal mining equipment three-dimensional model module 102 is further configured to: performing feature extraction on the image data, and determining the image data corresponding to each coal equipment; establishing an initial coal equipment three-dimensional model of each coal equipment based on the image data corresponding to each coal equipment; respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment; and performing three-dimensional reconstruction on the fully mechanized mining face scene based on the repaired three-dimensional coal equipment model and the equipment layout information of the fully mechanized mining face to obtain the three-dimensional coal equipment model of the fully mechanized mining face. That is, the coal equipment corresponding to each image data is determined by performing feature extraction on the image data to establish the corresponding relationship between the image data and the coal equipment, so that the image data can establish an initial three-dimensional model of the coal equipment corresponding to the image data. For example, a corresponding relationship between the coal equipment characteristics and the coal equipment identifiers may be established in advance, and then the coal equipment identifiers corresponding to the image data may be determined in the corresponding relationship based on the characteristic extraction result of the image data. In addition, the structural dimension information of each coal machine equipment and the equipment layout information of the fully mechanized coal mining face can also correspond to each other through a coal machine equipment identifier.
As an example, the image data may be subjected to feature extraction by using a form of a mark such as a two-dimensional code, or the image feature extraction may be performed by using a feature structure of the coal equipment itself or a feature of a key component.
In some embodiments of the present application, the vision measurement module 103 is configured to measure, in real time, a status parameter of each coal equipment based on image data of a plurality of coal equipments at different viewing angles in a video frame of the video stream acquired by the real-time video acquisition module 101. As an example, the vision measurement module 103 performs feature extraction on coal equipment in image data of a video stream acquired by the real-time video acquisition module 101 through a machine vision measurement method to determine the coal equipment in each frame of image picture, and measures state parameters and surrounding rock deformation parameters of the coal equipment, such as the height of a hydraulic support in the picture, the push-out distance of a hydraulic support base push rod, the inclination angle of a hydraulic support top beam, the retraction angle of a hydraulic support side protection plate, the height of a coal mining machine roller, whether a coal wall is provided with a side and the area and position of the side, and the like.
In some embodiments of the present application, the data driving model module 104 is equivalent to updating the state of the three-dimensional model of each coal equipment in the fully mechanized mining face in real time according to the state parameters of the coal equipment measured in real time by the vision measuring module 103, for example, updating the state of the three-dimensional model of the coal equipment in the fully mechanized mining face in real time according to the state parameters of the height of the hydraulic support, the push-out distance of the pushing rod of the base of the hydraulic support, the inclination angle of the top beam of the hydraulic support, the retraction angle of the side guard of the hydraulic support, the height of the roller of the coal mining machine, and the like measured in real time, and outputting the real-time driving video stream of the three-dimensional model of the coal equipment in the fully mechanized mining face.
Due to the fact that the fully-mechanized coal mining face is monitored, the running state of all coal mining equipment of the fully-mechanized coal mining face needs to be monitored, and the surrounding rock state of the fully-mechanized coal mining face needs to be monitored, so that the stability of the surrounding rock is guaranteed. In the embodiment of the application, the three-dimensional visual monitoring module 105 is equivalent to a visual monitoring device located outside a well, and the video streams collected by the cameras are subjected to picture splicing, and then the spliced pictures are overlapped with the three-dimensional model of the coal mining equipment of the fully mechanized mining face to drive the video streams in real time, so that a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal mining equipment is formed, and related workers can realize remote monitoring on the fully mechanized mining face.
As an embodiment, the three-dimensional visualization monitoring module 105 is further configured to: splicing video pictures collected by N cameras positioned in front of the coal mining machine and N cameras positioned behind the coal mining machine by taking the coal mining machine as a center to form a local production spliced picture; wherein N is a positive integer; the method comprises the steps of superposing a three-dimensional model real-time driving video stream of the coal mining machine equipment of the fully mechanized mining face and a video stream formed by a production local splicing picture, for example, determining a reference object and the position of the reference object in the video stream formed by the production local splicing picture, simultaneously capturing a current picture of the production local splicing picture as a fusion basic chartlet, converting a perspective view formed by the current picture into an axonometric picture through image perspective transformation, so that the axonometric picture is pasted on the current picture of the three-dimensional model real-time driving video stream of the coal mining machine equipment of the fully mechanized mining face, and then carrying out frame synchronization to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal mining machine equipment.
According to the visual coal face visual monitoring system based on visual three-dimensional reconstruction, a three-dimensional model module of the coal face equipment of the fully mechanized coal face is built through the three-dimensional model module of the coal face equipment of the fully mechanized coal face, the visual measurement module measures the state parameters of each coal equipment in real time based on image data in a video source of a production picture of the fully mechanized coal face acquired by the real-time video acquisition module, the three-dimensional model of the coal face equipment of the fully mechanized coal face is driven by the data driving model module based on the state parameters, a real-time driving video stream of the three-dimensional model of the coal face equipment of the fully mechanized coal face is output, and then the three-dimensional visual monitoring module forms a surrounding rock state of the fully mechanized coal face and a three-dimensional real-time driving monitoring picture of the coal equipment of the coal face equipment, so that visual remote monitoring of the fully mechanized coal face and the coal equipment is realized. According to the scheme, the requirement of remote visual monitoring can be met on the one hand based on the visual three-dimensional reconstruction technology, the complex process of installing multiple sensors can be avoided in a visual real-time monitoring mode on the other hand, and the accuracy of monitoring the equipment parameters of the coal mining machine can be improved on the other hand based on visual real-time monitoring and measurement, so that the intelligent sensing and safe and efficient mining of a full coal face are facilitated.
In order to improve the effect of the remote visual monitoring of the fully mechanized coal mining face, the application provides another embodiment.
Fig. 2 is a structural block diagram of another coal face visual monitoring system based on visual three-dimensional reconstruction provided in an embodiment of the present application. As shown in fig. 2, the apparatus includes a video preprocessing module 201 in addition to a real-time video acquisition module 101, a three-dimensional model module 102 for coal equipment of a fully mechanized mining face, a vision measurement module 103, a data-driven model module 104, and a three-dimensional visualization monitoring module 105. In this embodiment of the application, the video preprocessing module 201 is configured to preprocess each frame of image of a video stream based on an image processing algorithm to obtain a processed video stream, where the preprocessing performed on each frame of image of the video stream includes but is not limited to brightness enhancement, defogging, denoising, and the like, so as to improve the picture quality of the video stream, thereby improving the accuracy of measuring state parameters of coal equipment, and also improving the accuracy of a surrounding rock state and a coal equipment state in a fully mechanized mining face surrounding rock state-coal equipment three-dimensional real-time driving monitoring picture. As an example, the video stream processed by the video pre-processing module 201 may be a high quality video stream with a picture count of not less than 25 fps.
In the embodiment of the present application, the functional structures of the real-time video acquisition module 101, the three-dimensional model module 102 for coal equipment of a fully mechanized mining face, the vision measurement module 103, the data driving model module 104, and the three-dimensional visualization monitoring module 105 are consistent with those described in the above embodiments, and are not described herein again. In addition, the vision measurement module 103 is further configured to measure, in real time, a state parameter of each coal equipment based on image data of multiple coal equipments at different viewing angles in a video frame of the processed video stream. And the three-dimensional visual monitoring module 105 is used for splicing the video streams acquired by the cameras in the processed video streams to form a splicing picture of the fully mechanized coal mining face.
According to the coal face visual monitoring system based on three-dimensional visual reconstruction, the video preprocessing module is added, and the video stream acquired by the real-time video acquisition module is preprocessed, so that the picture quality of the video stream is improved. In addition, the vision measurement module is based on the image data in the processed video stream, the state parameters of each coal mining device are measured in real time, the three-dimensional visual monitoring module is used for splicing the video streams collected by each camera in the processed video streams to form a splicing picture of the fully mechanized mining face, the accuracy of the state parameters of the coal mining devices measured in real time can be improved, and the definition of the splicing picture of the fully mechanized mining face can also be improved, so that the accuracy of monitoring the surrounding rock state and the coal mining device state in the fully mechanized mining face surrounding rock state and the three-dimensional real-time driving monitoring picture of the coal mining device can be improved, the remote monitoring effect of the fully mechanized mining face can be improved, and the safety production of the coal mining face is further ensured.
In order to realize the embodiment, the application provides a coal face visual monitoring method based on three-dimensional visual reconstruction.
Fig. 3 is a flowchart of a coal face visualization monitoring method based on visual three-dimensional reconstruction according to an embodiment of the present application. It should be noted that the method is applied to a coal face visualization monitoring system based on perspective three-dimensional reconstruction as shown in fig. 1 and fig. 2. As shown in fig. 3, the method may include:
301, a real-time video acquisition module acquires video streams of production pictures of the fully mechanized coal mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully mechanized coal mining face; the video pictures of the video stream comprise real-time image data of a plurality of coal mining equipment in the fully mechanized mining face under different viewing angles.
In some embodiments of the present application, in the video stream captured by the real-time video capture module, the video pictures captured by each camera include partially overlapping pictures.
And 302, establishing a three-dimensional model of the coal equipment of the fully mechanized coal mining face by the three-dimensional model module of the coal equipment of the fully mechanized coal mining face based on the image data, the structural size information of each coal equipment and the equipment layout information of the fully mechanized coal mining face.
In some embodiments of the present application, the implementation manner of establishing the three-dimensional model of the coal mining machine equipment on the fully mechanized mining face based on the image data, the structural size information of each coal mining machine equipment, and the equipment layout information of the fully mechanized mining face may include: performing feature extraction on image data of a plurality of coal mining equipment under different viewing angles in a video picture of a video stream acquired by a real-time video acquisition module, and determining image data corresponding to each coal mining equipment; establishing an initial coal equipment three-dimensional model of each coal equipment based on the image data corresponding to each coal equipment; respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment; and according to the repaired coal equipment three-dimensional model and the equipment layout information of the fully mechanized mining face, three-dimensional reconstruction is carried out on the fully mechanized mining face scene to obtain the fully mechanized mining face coal equipment three-dimensional model.
And step 303, the vision measuring module measures the state parameters of each coal machine device in real time based on the image data.
And step 304, the data driving model module drives the fully mechanized coal mining face coal machine equipment three-dimensional model based on the state parameters, and outputs the fully mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream.
And 305, splicing the video streams acquired by the cameras by the three-dimensional visual monitoring module to form a splicing picture of the fully mechanized mining face, and superposing the three-dimensional model real-time driving video stream of the fully mechanized mining face coal equipment and the splicing picture of the fully mechanized mining face to form a three-dimensional real-time driving monitoring picture of the fully mechanized mining face surrounding rock state and the coal equipment.
In some embodiments of the present application, the implementation of this step may include: splicing video pictures collected by N cameras positioned in front of the coal mining machine and N cameras positioned behind the coal mining machine by taking the coal mining machine as a center to form a local production spliced picture; wherein N is a positive integer; the method comprises the steps of superposing a three-dimensional model real-time driving video stream of the coal mining equipment of the fully mechanized mining face and a video stream formed by a production local splicing picture, for example, determining a reference object and the position of the reference object in the video stream formed by the production local splicing picture, simultaneously capturing a current picture of the production local splicing picture as a fusion basic chartlet, converting a perspective view formed by the current picture into an axial-lateral view through image perspective transformation, so as to be attached to the current picture of the three-dimensional model real-time driving video stream of the coal mining equipment of the fully mechanized mining face, and then carrying out frame synchronization to form a surrounding rock state of the fully mechanized mining face and a three-dimensional real-time driving monitoring picture of the coal mining equipment.
According to the visual monitoring method for the coal mining working face based on the visual three-dimensional reconstruction, a three-dimensional model module of the coal mining working face is arranged through the coal mining working face to construct a three-dimensional model of the coal mining working face, a visual measurement module measures the state parameters of each coal mining device in real time based on the image data of the video source of the production picture of the coal mining working face collected by a real-time video collection module, a data driving model module drives the three-dimensional model of the coal mining working face based on the state parameters to output the real-time driving video stream of the three-dimensional model of the coal mining working face, and then a three-dimensional visual monitoring module forms a three-dimensional real-time driving monitoring picture of the surrounding rock state of the coal mining working face and the coal mining device, so that the visual remote monitoring of the coal mining working face and the coal mining working face is achieved. According to the scheme, the requirement of remote visual monitoring can be met on the one hand based on the visual three-dimensional reconstruction technology, the complex process of installing multiple sensors can be avoided in a visual real-time monitoring mode on the other hand, and the accuracy of monitoring the equipment parameters of the coal mining machine can be improved on the other hand based on visual real-time monitoring and measurement, so that the intelligent sensing and safe and efficient mining of a full coal face are facilitated.
Fig. 4 is a flowchart of another coal face visualization monitoring method based on visual three-dimensional reconstruction according to an embodiment of the present application. The method can be applied to a coal face visual monitoring system based on visual three-dimensional reconstruction as shown in FIG. 2. As shown in fig. 4, the method may include:
And 402, establishing a three-dimensional model of the coal equipment of the fully mechanized coal mining face by the three-dimensional model module of the coal equipment of the fully mechanized coal mining face based on the image data, the structural size information of each coal equipment and the equipment layout information of the fully mechanized coal mining face.
In step 403, the video preprocessing module preprocesses each frame of image of the video stream based on an image processing algorithm to obtain a processed video stream.
In step 404, the real-time measurement module measures the state parameters of each coal equipment in real time based on the image data of the multiple coal equipment at different viewing angles in the processed video frame of the video stream.
And 405, driving a three-dimensional model of the coal equipment of the fully mechanized coal mining face by the data driving model module based on the state parameters, and outputting a real-time driving video stream of the three-dimensional model of the coal equipment of the fully mechanized coal mining face.
And 406, splicing the video streams acquired by each camera in the processed video streams by the three-dimensional visual monitoring module to form a splicing picture of the fully mechanized mining face, and superposing the three-dimensional model real-time driving video streams of the coal equipment of the fully mechanized mining face and the splicing picture of the fully mechanized mining face to form a surrounding rock state of the fully mechanized mining face and a three-dimensional real-time driving monitoring picture of the coal equipment of the fully mechanized mining face.
According to the visual monitoring method for the coal face based on the visual three-dimensional reconstruction, the video preprocessing module is added, and the video stream acquired by the real-time video acquisition module is preprocessed, so that the picture quality of the video stream is improved. In addition, the vision measurement module is based on the image data in the processed video stream, the state parameters of each coal mining device are measured in real time, the three-dimensional visual monitoring module is used for splicing the video streams collected by the camera in the processed video stream to form a splicing picture of the fully mechanized mining face, the accuracy of the state parameters of the coal mining devices measured in real time can be improved, and the definition of the splicing picture of the fully mechanized mining face can also be improved, so that the accuracy of monitoring the surrounding rock state and the coal mining device state in the fully mechanized mining face surrounding rock state and the three-dimensional real-time driving monitoring picture of the coal mining device can be improved, the remote monitoring effect of the fully mechanized mining face can be improved, and the safety production of the coal mining face is further ensured.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A visual coal face monitoring system based on visual three-dimensional reconstruction is characterized by comprising:
the real-time video acquisition module is used for acquiring video streams of production pictures of the fully mechanized coal mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully mechanized coal mining face; the video picture of the video stream comprises image data of a plurality of coal mining equipment in the fully mechanized coal mining face under different viewing angles;
the fully mechanized coal mining face coal equipment three-dimensional model module is used for establishing a fully mechanized coal mining face coal equipment three-dimensional model based on the image data, the structural size information of each coal equipment and the equipment layout information of the fully mechanized coal mining face;
the vision measurement module is used for measuring the state parameter of each coal machine equipment in real time based on the image data;
the data driving model module is used for driving the fully mechanized coal mining face coal machine equipment three-dimensional model based on the state parameters and outputting a real-time driving video stream of the fully mechanized coal mining face coal machine equipment three-dimensional model;
and the three-dimensional visual monitoring module is used for splicing the video streams collected by the cameras to form a splicing picture of the fully mechanized working face, and superposing the three-dimensional model real-time driving video stream of the coal equipment of the fully mechanized working face and the splicing picture of the fully mechanized working face to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized working face and the coal equipment.
2. The system of claim 1, wherein the fully mechanized coal mining face coal mining machine is equipped with a three-dimensional model module specifically configured to:
performing feature extraction on the image data, and determining image data corresponding to each coal mining equipment;
establishing an initial coal equipment three-dimensional model of each coal equipment based on the image data corresponding to each coal equipment;
respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment;
and according to the repaired coal equipment three-dimensional model and the equipment layout information of the fully mechanized coal face, three-dimensional reconstruction is carried out on the fully mechanized coal face scene to obtain the fully mechanized coal face coal equipment three-dimensional model.
3. The system of claim 1, wherein the video frames captured by each camera in the video stream captured by the real-time video capture module comprise partially overlapping frames.
4. The system of claim 1, wherein the three-dimensional visual monitoring module is further configured to:
splicing video pictures acquired by N cameras positioned in front of a coal mining machine and N cameras positioned behind the coal mining machine by taking the coal mining machine as a center to form a local production spliced picture; wherein N is a positive integer;
and superposing the three-dimensional model real-time driving video stream of the coal equipment of the fully mechanized mining face and the video stream formed by the production local splicing picture to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal equipment.
5. The system of claim 1, further comprising:
the video preprocessing module is used for preprocessing each frame of image of the video stream based on an image processing algorithm to obtain a processed video stream;
the vision measurement module is further configured to measure a state parameter of each coal equipment in real time based on image data of a plurality of coal equipment at different viewing angles in a video picture of the processed video stream;
the three-dimensional visual monitoring module is also used for splicing the video streams collected by the cameras in the processed video streams to form a splicing picture of the fully mechanized coal mining face.
6. A visual coal face monitoring method based on visual three-dimensional reconstruction, which is characterized in that the method is applied to the system according to any one of claims 1 to 6; the method comprises the following steps:
the real-time video acquisition module is used for acquiring video streams of production pictures of the fully mechanized coal mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully mechanized coal mining face; the video pictures of the video stream comprise real-time image data of a plurality of coal mining equipment in the fully mechanized mining face under different visual angles;
the fully mechanized coal mining face coal equipment three-dimensional model module establishes a fully mechanized coal mining face coal equipment three-dimensional model based on the image data, the structural size information of each coal equipment and the equipment layout information of the fully mechanized coal mining face;
the vision measurement module is used for measuring the state parameters of each coal machine equipment in real time based on the image data;
the data driving model module drives the fully mechanized coal mining face coal machine equipment three-dimensional model based on the state parameters, and outputs a fully mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream;
the three-dimensional visual monitoring module splices the video streams collected by the cameras to form a splicing picture of the fully mechanized working face, and superposes the three-dimensional model real-time driving video streams of the coal equipment of the fully mechanized working face and the splicing picture of the fully mechanized working face to form a surrounding rock state of the fully mechanized working face and a three-dimensional real-time driving monitoring picture of the coal equipment.
7. The method of claim 6, wherein the building a three-dimensional model of the fully mechanized coal face coal equipment based on the image data, the structural dimension information of each of the coal equipment, and the equipment layout information of the fully mechanized coal face comprises:
performing feature extraction on the image data, and determining image data corresponding to each coal mining equipment;
establishing an initial coal equipment three-dimensional model of each coal equipment based on the image data corresponding to each coal equipment;
respectively performing depth repair on the three-dimensional model of the initial coal equipment based on the structural size information of each coal equipment;
and according to the repaired coal equipment three-dimensional model and the equipment layout information of the fully mechanized coal face, three-dimensional reconstruction is carried out on the fully mechanized coal face scene to obtain the fully mechanized coal face coal equipment three-dimensional model.
8. The method of claim 6, wherein the video pictures captured by each camera in the video stream captured by the real-time video capture module comprise partially overlapping pictures.
9. The method of claim 6, wherein the splicing the video streams collected by each camera to form a splicing picture of the fully mechanized mining face, and the overlaying the fully mechanized mining face coal equipment three-dimensional model real-time driving video stream and the splicing picture of the fully mechanized mining face to form a fully mechanized mining face surrounding rock state and coal equipment three-dimensional real-time driving monitoring picture comprises:
splicing video pictures acquired by N cameras positioned in front of a coal mining machine and N cameras positioned behind the coal mining machine by taking the coal mining machine as a center to form a local production spliced picture; wherein N is a positive integer;
and superposing the three-dimensional model real-time driving video stream of the coal equipment of the fully mechanized mining face and the video stream formed by the production local splicing picture to form a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal equipment.
10. The method of claim 6, further comprising:
the video preprocessing module preprocesses each frame of image of the video stream based on an image processing algorithm to obtain a processed video stream;
wherein the measuring of the state parameter of each coal equipment in real time based on the video stream comprises:
measuring the state parameters of each coal equipment in real time based on the image data of a plurality of coal equipment at different visual angles in the processed video picture of the video stream;
wherein, will every the video stream of camera collection splices, forms to combine and adopts working face concatenation picture, includes:
and splicing the video streams collected by each camera in the processed video streams to form a splicing picture of the fully mechanized mining face.
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