CN114743160B - Visual three-dimensional reconstruction-based coal face visual monitoring system and method - Google Patents
Visual three-dimensional reconstruction-based coal face visual monitoring system and method Download PDFInfo
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Abstract
The application provides a visual monitoring system and method for a coal face based on visual three-dimensional reconstruction, wherein the system comprises: the real-time video acquisition module is used for acquiring video streams of production pictures of the fully-mechanized 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 parameter 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 equipment three-dimensional model based on the state parameters and outputting real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model; and the three-dimensional visual monitoring module is used for forming a three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully mechanized mining face and the coal machine equipment. According to the scheme, the remote monitoring of the surrounding rock state of the fully mechanized mining face and the equipment state of the coal machine can be realized, and the accuracy of monitoring data is improved.
Description
Technical Field
The application relates to the technical field of coal mine fully-mechanized coal face monitoring, in particular to a visual coal face visual monitoring system and method based on visual three-dimensional reconstruction.
Background
The fully-mechanized coal mining face is used as the forefront line of coal resource exploitation, has the characteristics of severe environment, large equipment quantity, large volume, small space and the like, and plays a vital role in the safe production of the coal mining face through real-time monitoring.
However, the implementation process of real-time monitoring based on the coal mining working face of the coal mine in the related art is complex, and the accuracy of monitored data needs to be improved.
Disclosure of Invention
The present application aims to solve, at least to some extent, one of the technical problems in the related art.
According to a first aspect of the present application, there is provided a visual monitoring system for coal face based on visual three-dimensional reconstruction, comprising:
the real-time video acquisition module is used for acquiring video streams of production pictures of the fully-mechanized mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully-mechanized mining face; the video picture of the video stream comprises image data of a plurality of coal machines in the fully mechanized mining face under different visual angles;
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 based on the image data, the structural size information of each piece of coal machine 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 equipment three-dimensional model based on the state parameters and outputting real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model;
and the three-dimensional visual monitoring module is used for splicing the video streams acquired by each camera to form a fully-mechanized coal mining face splicing picture, and superposing the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face splicing picture to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture.
In some embodiments of the present application, the fully mechanized coal mining face coal machine equipment three-dimensional model module is specifically configured to:
extracting features of the image data, and determining the image data corresponding to each coal machine equipment;
establishing an initial coal machine equipment three-dimensional model of each coal machine equipment based on the image data corresponding to each coal machine equipment;
based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the initial coal machine equipment three-dimensional model;
And carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene according to the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal machine equipment.
In some embodiments of the present application, in the video stream collected by the real-time video collection module, each video frame collected by the camera includes a partially overlapped frame.
In some embodiments of the present application, the three-dimensional visualization monitoring module is further configured to:
splicing video pictures acquired 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 production local spliced picture; wherein, N is a positive integer;
and superposing the real-time driving video stream of the three-dimensional model of the fully mechanized coal mining face coal machine equipment and the video stream formed by the production local splicing picture to form the three-dimensional real-time driving monitoring picture of the fully mechanized coal mining face surrounding rock state and the coal machine 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 visual measurement module is further used for measuring state parameters of each coal machine equipment in real time based on image data of the plurality of coal machine equipment in different visual angles in a video picture of the processed video stream;
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.
According to a second aspect of the present application, there is provided a visual three-dimensional reconstruction-based coal face visual monitoring method, the method being applied to the system of the first aspect, the method comprising:
the real-time video acquisition module acquires video streams of production pictures of the fully-mechanized mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully-mechanized mining face; the video picture of the video stream comprises real-time image data of a plurality of coal equipment in the fully mechanized mining face under different visual angles;
the fully-mechanized coal mining face coal machine equipment three-dimensional model module establishes a fully-mechanized coal mining face coal machine equipment three-dimensional model based on the image data, the structural size information of each piece of coal machine equipment and the equipment layout information of the fully-mechanized coal mining face;
The vision measurement module is used for measuring state parameters of each coal machine device in real time based on the image data;
the data driving model module drives the fully mechanized coal mining face equipment three-dimensional model based on the state parameters, and outputs real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model;
the three-dimensional visual monitoring module is used for splicing the video streams acquired by each camera to form a fully-mechanized coal mining face splicing picture, and overlapping the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face splicing picture to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture.
In some embodiments of the present application, the building a three-dimensional model of the fully mechanized coal mining face coal machine equipment based on the image data, the structural dimension information of each of the coal machine equipment, and the equipment layout information of the fully mechanized coal mining face comprises:
extracting features of the image data, and determining the image data corresponding to each coal machine equipment;
establishing an initial coal machine equipment three-dimensional model of each coal machine equipment based on the image data corresponding to each coal machine equipment;
Based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the initial coal machine equipment three-dimensional model;
and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene according to the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal machine equipment.
In some embodiments of the present application, in the video stream collected by the real-time video collection module, each video frame collected by the camera includes a partially overlapped frame.
In some embodiments of the present application, the splicing of the video streams collected by each camera forms a fully-mechanized coal mining face splicing picture, and the overlapping of the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face splicing picture forms a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture, including:
splicing video pictures acquired 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 production local spliced picture; wherein, N is a positive integer;
And superposing the real-time driving video stream of the three-dimensional model of the fully mechanized coal mining face coal machine equipment and the video stream formed by the production local splicing picture to form the three-dimensional real-time driving monitoring picture of the fully mechanized coal mining face surrounding rock state and the coal machine equipment.
In other embodiments of the present application, the method 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;
wherein, based on the picture of video stream, real-time measurement is said each coal machine equipment's state parameter includes:
measuring state parameters of each coal machine equipment in real time based on image data of a plurality of coal machine equipment in video pictures of the processed video stream at different visual angles;
the video streams collected by the cameras are spliced to form a spliced picture of the fully-mechanized mining face, and the method comprises the following steps:
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 of the application, the three-dimensional model of the fully-mechanized coal mining face is built through the three-dimensional model module of the fully-mechanized coal mining face, the vision measurement module is used for measuring the state parameters of each coal machine based on the image data of a plurality of coal machines under different angles in the video pictures of the video stream acquired by the real-time video acquisition module, the three-dimensional model of the fully-mechanized coal mining face is driven through the data driving model module based on the state parameters, the three-dimensional driving video stream of the fully-mechanized coal face is output, and then the three-dimensional real-time driving monitoring picture of the surrounding rock state of the fully-mechanized coal face and the three-dimensional real-time driving monitoring picture of the coal machine is formed by the three-dimensional visual monitoring module, so that the visual remote monitoring of the fully-mechanized coal mining face and the coal machine is realized. According to the scheme, on one hand, the requirement of remote visual monitoring can be met based on a visual three-dimensional reconstruction technology, on the other hand, a complex process of installing multiple sensors can be avoided through a visual real-time monitoring mode, on the other hand, the accuracy of monitoring parameters of coal machine equipment can be improved based on visual real-time monitoring and measurement, and therefore intelligent perception, safety and high-efficiency exploitation of a full coal face can be achieved.
Additional aspects and advantages of the 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 application.
Drawings
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, in which:
fig. 1 is a structural block diagram of a visual monitoring system for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application;
FIG. 2 is a block diagram of another visual monitoring system for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application;
FIG. 3 is a flowchart of a visual monitoring method for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application;
fig. 4 is a flowchart of another visual monitoring method for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The fully-mechanized coal mining face is used as the forefront line of coal resource exploitation, has the characteristics of severe environment, large equipment quantity, large volume, small space and the like, and plays an important role in the safe production of the coal mining face through real-time monitoring.
In the related technology, a part of coal mines form video splicing pictures in a working face transportation gate centralized control center and a ground dispatching room by continuously arranging a plurality of groups of cameras on a fully-mechanized working face hydraulic support, so as to monitor coal mining conditions in real time, and simultaneously, the working states of equipment such as the fully-mechanized working face hydraulic support and the like are monitored in real time by assisting with contact sensors such as pressure, inclination angle and displacement sensors, so that real-time sensing of working face coal machine equipment based on the plurality of sensors is realized. However, since the multi-sensor distributed sensing scheme needs to fully consider the sensor installation position, the communication scheme and the like in the design of equipment, and meanwhile, the monitoring data standards available for each sensor may be different, the implementation process is complex, and the accuracy of the monitored data needs to be improved.
In order to solve the problems, the application provides a visual monitoring system and method for a coal face based on visual three-dimensional reconstruction.
Fig. 1 is a structural block diagram of a visual monitoring system for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application. As shown in fig. 1, the system comprises a real-time video acquisition module 101, a fully mechanized coal mining face coal machine equipment three-dimensional model module 102, a vision measurement module 103, a data driving model module 104 and a three-dimensional visual monitoring module 105.
In some embodiments of the present application, cameras may be disposed below top beams of hydraulic supports of a fully-mechanized mining face at intervals of a preset distance, and lenses of each camera face a coal wall, so that the real-time video acquisition module 101 may acquire video streams of production pictures of the fully-mechanized mining face in real time based on a plurality of cameras fixed on the hydraulic supports of the fully-mechanized mining face, and video exchange of the video streams includes image data of a plurality of coal machines in the fully-mechanized mining face under different viewing angles. The preset distance of arranging the cameras at intervals of preset distances can be determined according to actual application scenes, and in order to ensure the continuity of splicing the collected video images, the preset distance needs to enable the video images collected by each camera to comprise partial overlapped images, for example, at least one quarter or one third of overlapped images in the video images collected by each camera. In addition, the camera fixed below the hydraulic support top beam can be an explosion-proof high-definition camera, an intrinsic-safety high-definition camera, and an intrinsic-safety or explosion-proof camera with edge calculation.
Wherein the plurality of coal machine equipment may include hydraulic supports, shearer, scraper, crusher, reversed loader, and the like. As an example, the image data at different view angles may be two-dimensional image data, for example, the coal machine equipment may be photographed from different angles by a plurality of cameras on the hydraulic support to acquire the image data of each coal machine equipment at different view angles, wherein each detail of the coal machine equipment has at least two image overlays to ensure the integrity of the image data. As another example, the image data at different perspectives may also be three-dimensional point cloud data, such as the real-time video acquisition module 101 may acquire the three-dimensional point cloud data from different perspectives for the coal mining equipment by using a SLAM camera with depth information.
In some embodiments of the present application, the fully mechanized coal mining face coal machine equipment three-dimensional module 102 is configured to build a fully mechanized coal mining face coal machine equipment three-dimensional model based on the image data, the structural dimension information of each coal machine equipment, and the equipment layout information of the fully mechanized coal mining face.
In some embodiments of the present application, the fully mechanized face coal machine equipment three-dimensional module 102 is specifically configured to: based on image data of a plurality of coal machine equipment in different visual angles in a video picture of a video stream acquired by the real-time video acquisition module 101, establishing an initial coal machine equipment three-dimensional model of each coal machine equipment; based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the three-dimensional model of the initial coal machine equipment; and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene according to the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal mining face. The structural size information of each coal machine equipment can be in the form of a structural diagram, or can be in the form of a data table taking the length, width, height and other size information of each component structure of the coal machine equipment as contents. The structural size information of each coal machine equipment can be preset in the fully-mechanized coal mining face coal machine equipment three-dimensional module 102, or the structural size information of each coal machine equipment can be uploaded into the fully-mechanized coal mining face coal machine equipment three-dimensional module 102 through terminal equipment with an interactive interface. The equipment layout information of the fully mechanized coal mining face refers to layout information of all coal machine equipment in the fully mechanized coal mining face. That is, an initial coal machine equipment three-dimensional model of each coal machine equipment is constructed based on the image data; optimizing the constructed initial coal machine equipment three-dimensional model by utilizing the structural size information of each coal machine equipment, so that the structural size information of each initial coal machine equipment three-dimensional model is consistent with the structural size information of the corresponding coal machine equipment, and a plurality of repaired coal machine equipment three-dimensional models are obtained; and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene based on the repaired coal machine equipment three-dimensional model and equipment layout information of the fully-mechanized coal mining face, namely determining the position information of each coal machine equipment three-dimensional model in the fully-mechanized coal mining face so as to reproduce the fully-mechanized coal mining face scene by utilizing the three-dimensional model.
In some embodiments of the present application, the fully mechanized face coal machine equipment three-dimensional model module 102 is further configured to: extracting features of the image data, and determining the image data corresponding to each coal machine equipment; based on the image data corresponding to each coal machine equipment, establishing an initial coal machine equipment three-dimensional model of each coal machine equipment; based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the three-dimensional model of the initial coal machine equipment; and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene based on the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal mining face. That is, the coal machine equipment corresponding to each image data is determined by extracting the features of the image data to establish the correspondence between the image data and the coal machine equipment, so that the image data can establish an initial three-dimensional model of the coal machine equipment corresponding to the image data. For example, a correspondence between the coal machine equipment features and the coal machine equipment identifiers can be established in advance, and the coal machine equipment identifiers corresponding to the image data are determined in the correspondence based on the feature extraction result of the image data. In addition, the structural size information of each coal machine equipment and the equipment layout information of the fully-mechanized coal mining face can also be corresponding through the coal machine equipment identification.
As an example, the image data may be extracted by using a two-dimensional code or other mark, or the image feature may be extracted by using the feature structure and key component features of the coal machine equipment itself.
In some embodiments of the present application, the vision measurement module 103 is configured to measure, in real time, a state parameter of each of the plurality of coal equipment based on image data of the plurality of coal equipment 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 the coal machine equipment in the image data of the video stream acquired by the real-time video acquisition module 101 through a machine vision measurement method, so as to determine the coal machine equipment in each frame of image picture, and measures the state parameters and surrounding rock deformation parameters of the coal machine equipment such as the hydraulic support height, the pushing-out distance of the hydraulic support base pushing rod, the hydraulic support top beam inclination angle, the hydraulic support side protection plate retraction angle, the coal cutter drum height, whether the coal wall is on the slope, the slope area and the position, and the like in real time.
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 machine equipment in the fully mechanized coal mining face in real time according to the state parameters of the coal machine equipment measured by the vision measuring module 103 in real time, for example, updating the state of the three-dimensional model of the fully mechanized coal mining face coal machine equipment in real time according to the state parameters of the hydraulic support height, the pushing distance of the hydraulic support base pushing rod, the inclination angle of the hydraulic support top beam, the protection side board retraction angle of the hydraulic support, the height of the coal mining machine drum, and the like measured in real time, and outputting the real-time driving video stream of the three-dimensional model of the fully mechanized coal mining face coal machine equipment.
Because the fully-mechanized coal mining face is monitored, the running state of each coal machine equipment of the fully-mechanized coal mining face is monitored, and the surrounding rock state of the fully-mechanized coal mining face is also required to be monitored so as to ensure the stability of the surrounding rock. In the embodiment of the application, the three-dimensional visual monitoring module 105 is equivalent to visual monitoring equipment located outside a well, and is used for splicing pictures of video streams acquired by cameras, and then superposing the spliced pictures with real-time driving video streams of a fully-mechanized coal mining face coal machine equipment three-dimensional model to form a fully-mechanized coal mining face surrounding rock state and a coal mining machine equipment three-dimensional real-time driving monitoring picture so as to facilitate related staff to realize remote monitoring of the fully-mechanized coal mining face.
As one embodiment, the three-dimensional visualization monitoring module 105 is further configured to: splicing video pictures acquired 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 production local spliced picture; wherein N is a positive integer; and superposing the real-time driving video stream of the three-dimensional model of the fully-mechanized coal mining face equipment and the video stream formed by producing the local spliced pictures, for example, determining a reference object and the position of the reference object in the video stream formed by producing the local spliced pictures, simultaneously grabbing the current picture of the local spliced pictures to serve as a fusion foundation mapping, converting a perspective view formed by the current picture into an axial side picture through image perspective transformation, so that the current picture of the real-time driving video stream of the three-dimensional model of the fully-mechanized coal mining face equipment is attached to the current picture of the three-dimensional model of the fully-mechanized coal mining face equipment, and then carrying out frame synchronization to form the surrounding rock state of the fully-mechanized coal mining face and the three-dimensional real-time driving monitoring picture of the coal mining face equipment.
According to the visual three-dimensional reconstruction-based coal face visual monitoring system, a three-dimensional model of the fully-mechanized coal face is built through the three-dimensional model module of the fully-mechanized coal face, the visual measuring module measures the state parameters of each coal face device in real time based on the image data in the video source of the fully-mechanized coal face production picture acquired by the real-time video acquisition module, the data driving model module drives the three-dimensional model of the fully-mechanized coal face based on the state parameters, the three-dimensional model real-time driving video stream of the fully-mechanized coal face is output, and then the three-dimensional visual monitoring module forms the fully-mechanized coal face surrounding rock state and the three-dimensional real-time driving monitoring picture of the fully-mechanized coal face device so as to realize visual remote monitoring of the fully-mechanized coal face and the fully-mechanized coal face device. According to the scheme, on one hand, the requirement of remote visual monitoring can be met based on a visual three-dimensional reconstruction technology, on the other hand, a complex process of installing multiple sensors can be avoided through a visual real-time monitoring mode, on the other hand, the accuracy of monitoring parameters of coal machine equipment can be improved based on visual real-time monitoring and measurement, and therefore intelligent perception, safety and high-efficiency exploitation of a full coal face can be achieved.
In order to promote the effect of comprehensive mining working face remote visual monitoring, the application provides another embodiment.
Fig. 2 is a block diagram of another visual monitoring system for coal face based on visual three-dimensional reconstruction according to an embodiment of the present application. As shown in fig. 2, the device comprises a real-time video acquisition module 101, a fully mechanized coal mining face coal machine equipment three-dimensional model module 102, a vision measurement module 103, a data driving model module 104 and a three-dimensional visual monitoring module 105, and also comprises a video preprocessing module 201. In this embodiment of the present 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 preprocessing each frame of image of the video stream includes, but is not limited to, processing such as brightness enhancement, defogging, denoising, so as to improve the picture quality of the video stream, so that accuracy of measuring a state parameter of a coal machine equipment can be improved, and accuracy of measuring a surrounding rock state of a fully-mechanized working face-a surrounding rock state in a three-dimensional real-time driving monitoring picture of the coal machine equipment and a coal machine equipment state can also be improved. As an example, the video stream processed by the video preprocessing module 201 may be a high quality video stream of not less than 25fps pictures.
In the embodiment of the present application, the functional structures of the real-time video acquisition module 101, the fully-mechanized coal mining face equipment three-dimensional model module 102, the vision measurement module 103, the data driving model module 104 and the three-dimensional visual monitoring module 105 are consistent with the descriptions in the above embodiments, and are not repeated herein. In addition, the vision measurement module 103 is further configured to measure, in real time, a status parameter of each of the plurality of coal equipment based on image data of the plurality of coal equipment at different viewing angles in the video frame of the processed video stream. And the three-dimensional visual monitoring module 105 is used for splicing the video streams collected by each camera in the processed video streams to form a fully-mechanized mining face splicing picture.
According to the visual monitoring system of the coal face based on the three-dimensional visual reconstruction, the video preprocessing module is added to preprocess the video stream acquired by the real-time video acquisition module, so that the picture quality of the video stream is improved. In addition, the vision measurement module is used for measuring the state parameters of each coal machine device in real time based on the image data in the processed video stream, the three-dimensional visual monitoring module is used for splicing the video streams collected by each camera in the processed video stream to form a fully-mechanized coal face splicing picture, so that the accuracy of the real-time measured coal machine device state parameters can be improved, the definition of the fully-mechanized coal face splicing picture can be improved, the accuracy of monitoring the surrounding rock state of the fully-mechanized coal face and the surrounding rock state of the coal machine device in the three-dimensional real-time driving monitoring picture can be improved, the effect of the remote monitoring of the fully-mechanized coal face can be improved, and the safety production of the coal face can be further ensured.
In order to achieve the embodiment, the application provides a coal face visual monitoring method based on three-dimensional visual reconstruction.
Fig. 3 is a flowchart of a visual monitoring method for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application. It should be noted that the method is applied to the visual monitoring system of the coal face based on the visual angle three-dimensional reconstruction shown in fig. 1 and 2. As shown in fig. 3, the method may include:
step 301, a real-time video acquisition module acquires video streams of production pictures of a fully-mechanized mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully-mechanized mining face; the video pictures of the video stream comprise real-time image data of a plurality of coal equipment in the fully mechanized coal mining face under different visual angles.
In some embodiments of the present application, in the video stream collected by the real-time video collection module, the video frames collected by each camera include partially overlapping frames.
Step 302, a fully-mechanized coal mining face coal machine equipment three-dimensional model module establishes a fully-mechanized coal mining face coal machine equipment three-dimensional model based on image data, structural size information of each coal machine equipment and equipment layout information of a fully-mechanized coal mining face.
In some embodiments of the present application, based on the image data, the structural dimension information of each coal machine equipment, and the equipment layout information of the fully-mechanized coal mining face, an implementation manner of establishing the fully-mechanized coal mining face coal machine equipment three-dimensional model may include: extracting characteristics of image data of a plurality of coal machine equipment in video pictures of the video stream acquired by the real-time video acquisition module at different visual angles, and determining the image data corresponding to each coal machine equipment; based on the image data corresponding to each coal machine equipment, establishing an initial coal machine equipment three-dimensional model of each coal machine equipment; based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the three-dimensional model of the initial coal machine equipment; and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene according to the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal mining face.
In step 303, the vision measurement module measures, in real time, a status parameter of each coal machine equipment based on the image data.
Step 304, the data driving model module drives the fully mechanized coal mining face equipment three-dimensional model based on the state parameters, and outputs real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model.
And 305, the three-dimensional visual monitoring module splices the video streams acquired by each camera to form a fully-mechanized coal mining face splicing picture, and superimposes the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face splicing picture to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture.
In some embodiments of the present application, implementation of this step may include: splicing video pictures acquired 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 production local spliced picture; wherein N is a positive integer; and superposing the real-time driving video stream of the three-dimensional model of the fully-mechanized coal mining face equipment and the video stream formed by producing the local spliced pictures, for example, determining a reference object and the position of the reference object in the video stream formed by producing the local spliced pictures, simultaneously grabbing the current picture of the local spliced pictures to serve as a fusion foundation mapping, converting a perspective view formed by the current picture into an axial side picture through image perspective transformation, so that the current picture of the real-time driving video stream of the three-dimensional model of the fully-mechanized coal mining face equipment is attached to the current picture of the three-dimensional model of the fully-mechanized coal mining face equipment, and then carrying out frame synchronization to form the surrounding rock state of the fully-mechanized coal mining face and the three-dimensional real-time driving monitoring picture of the coal mining face equipment.
According to the visual three-dimensional reconstruction-based coal face visual monitoring method, a three-dimensional model module of fully-mechanized coal face equipment is used for constructing a three-dimensional model of the fully-mechanized coal face equipment, the visual measuring module is used for measuring state parameters of each coal face equipment in real time based on image data of a video source of a fully-mechanized coal face production picture acquired by the real-time video acquisition module, the data driving model module is used for driving the three-dimensional model of the fully-mechanized coal face equipment based on the state parameters, a real-time driving video stream of the three-dimensional model of the fully-mechanized coal face equipment is output, and then the three-dimensional visual monitoring module is used for forming a fully-mechanized coal face surrounding rock state and a three-dimensional real-time driving monitoring picture of the fully-mechanized coal face equipment so as to realize visual remote monitoring of the fully-mechanized coal face and the fully-mechanized coal face equipment. According to the scheme, on one hand, the requirement of remote visual monitoring can be met based on a visual three-dimensional reconstruction technology, on the other hand, a complex process of installing multiple sensors can be avoided through a visual real-time monitoring mode, on the other hand, the accuracy of monitoring parameters of coal machine equipment can be improved based on visual real-time monitoring and measurement, and therefore intelligent perception, safety and high-efficiency exploitation of a full coal face can be achieved.
Fig. 4 is a flowchart of another visual monitoring method for a coal face based on visual three-dimensional reconstruction according to an embodiment of the present application. The method can be applied to a visual monitoring system of the coal face based on visual three-dimensional reconstruction as shown in fig. 2. As shown in fig. 4, the method may include:
step 401, a real-time video acquisition module acquires video streams of production pictures of a fully-mechanized mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully-mechanized mining face; the video pictures of the video stream comprise real-time image data of a plurality of coal equipment in the fully mechanized coal mining face under different visual angles.
Step 402, a fully mechanized coal mining face coal machine equipment three-dimensional model module establishes a fully mechanized coal mining face coal machine equipment three-dimensional model based on image data, structural size information of each coal machine equipment and equipment layout information of a fully mechanized coal mining face.
In step 403, the video preprocessing module performs preprocessing on each frame of image of the video stream based on the image processing algorithm, so as to obtain a processed video stream.
In step 404, the real-time measurement module measures the state parameter of each coal machine equipment in real time based on the image data of the plurality of coal machine equipment in different viewing angles in the video picture of the processed video stream.
In step 405, the data driving model module drives the fully mechanized coal mining face equipment three-dimensional model based on the state parameters, and outputs a real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model.
Step 406, the three-dimensional visual monitoring module splices the video streams collected by each camera in the processed video streams to form a fully-mechanized coal mining face splicing picture, and superimposes the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video streams and the fully-mechanized coal mining face splicing picture to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture.
According to the visual three-dimensional reconstruction-based coal face visual monitoring method, the video preprocessing module is added to preprocess the video stream acquired by the real-time video acquisition module so as to improve the picture quality of the video stream. In addition, the vision measurement module is based on the image data in the processed video stream, the state parameters of each coal machine device are measured in real time, the three-dimensional visual monitoring module is used for splicing the video streams acquired by the cameras in the processed video stream to form a fully-mechanized coal face splicing picture, the accuracy of the real-time measured coal machine device state parameters can be improved, the definition of the fully-mechanized coal face splicing picture can also be improved, and therefore the accuracy of monitoring the surrounding rock state of the fully-mechanized coal face and the surrounding rock state and the coal machine device state in the three-dimensional real-time driving monitoring picture can be improved, the effect of the remote monitoring of the fully-mechanized coal face can be improved, and the safe production of the coal face can be further guaranteed.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., 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, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined 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 specific logical functions or steps of the process, and additional 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 embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. Visual monitoring system of coal face based on visual three-dimensional reconstruction, characterized by comprising:
the real-time video acquisition module is used for acquiring video streams of production pictures of the fully-mechanized mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully-mechanized mining face; the video picture of the video stream comprises image data of a plurality of coal machines in the fully mechanized mining face under different visual angles;
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 based on the image data, the structural size information of each piece of coal machine 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 equipment three-dimensional model based on the state parameters and outputting real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model;
the three-dimensional visual monitoring module is used for splicing the video streams acquired by each camera to form a fully-mechanized coal mining face splicing picture, and superposing the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face splicing picture to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture;
wherein, combine and adopt working face coal machine equipment three-dimensional model module specifically is used for:
extracting features of the image data, and determining the image data corresponding to each coal machine equipment;
establishing an initial coal machine equipment three-dimensional model of each coal machine equipment based on the image data corresponding to each coal machine equipment;
based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the initial coal machine equipment three-dimensional model;
and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene according to the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal machine equipment.
2. The system of claim 1, wherein in the video stream captured by the real-time video capture module, each video frame captured by the camera comprises a partially overlapping frame.
3. The system of claim 1, wherein the three-dimensional visualization monitoring module is further configured to:
splicing video pictures acquired 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 production local spliced picture; wherein, N is a positive integer;
and superposing the real-time driving video stream of the three-dimensional model of the fully mechanized coal mining face coal machine equipment and the video stream formed by the production local splicing picture to form the three-dimensional real-time driving monitoring picture of the fully mechanized coal mining face surrounding rock state and the coal machine equipment.
4. 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 visual measurement module is further used for measuring state parameters of each coal machine equipment in real time based on image data of the plurality of coal machine equipment in different visual angles in a video picture of the processed video stream;
The three-dimensional visual monitoring module is further 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.
5. A visual three-dimensional reconstruction-based coal face visual monitoring method, characterized in that the method is applied to the system according to any one of claims 1 to 4; the method comprises the following steps:
the real-time video acquisition module acquires video streams of production pictures of the fully-mechanized mining face in real time based on a plurality of cameras fixed on a hydraulic support of the fully-mechanized mining face; the video picture of the video stream comprises real-time image data of a plurality of coal equipment in the fully mechanized mining face under different visual angles;
the fully-mechanized coal mining face coal machine equipment three-dimensional model module establishes a fully-mechanized coal mining face coal machine equipment three-dimensional model based on the image data, the structural size information of each piece of coal machine equipment and the equipment layout information of the fully-mechanized coal mining face;
the vision measurement module is used for measuring state parameters of each coal machine device in real time based on the image data;
the data driving model module drives the fully mechanized coal mining face equipment three-dimensional model based on the state parameters, and outputs real-time driving video stream of the fully mechanized coal mining face equipment three-dimensional model;
The three-dimensional visual monitoring module is used for splicing the video streams acquired by each camera to form a fully-mechanized coal mining face splicing picture, and overlapping the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face splicing picture to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring picture;
the method for building the three-dimensional model of the fully-mechanized coal mining face coal machine equipment comprises the steps of:
extracting features of the image data, and determining the image data corresponding to each coal machine equipment;
establishing an initial coal machine equipment three-dimensional model of each coal machine equipment based on the image data corresponding to each coal machine equipment;
based on the structural size information of each coal machine equipment, respectively carrying out depth restoration on the initial coal machine equipment three-dimensional model;
and carrying out three-dimensional reconstruction on the fully-mechanized coal mining face scene according to the repaired three-dimensional model of the coal machine equipment and the equipment layout information of the fully-mechanized coal mining face to obtain the three-dimensional model of the fully-mechanized coal machine equipment.
6. The method of claim 5, wherein in the video stream captured by the real-time video capture module, each video frame captured by the camera comprises a partially overlapping frame.
7. The method of claim 5, wherein the splicing the video streams collected by each camera to form a fully-mechanized coal mining face spliced frame, and superposing the fully-mechanized coal mining face coal machine equipment three-dimensional model real-time driving video stream and the fully-mechanized coal mining face spliced frame to form a fully-mechanized coal mining face surrounding rock state and a coal machine equipment three-dimensional real-time driving monitoring frame, comprises:
splicing video pictures acquired 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 production local spliced picture; wherein, N is a positive integer;
and superposing the real-time driving video stream of the three-dimensional model of the fully mechanized coal mining face coal machine equipment and the video stream formed by the production local splicing picture to form the three-dimensional real-time driving monitoring picture of the fully mechanized coal mining face surrounding rock state and the coal machine equipment.
8. The method as recited in claim 5, 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;
wherein, based on the picture of video stream, real-time measurement is said each coal machine equipment's state parameter includes:
measuring state parameters of each coal machine equipment in real time based on image data of a plurality of coal machine equipment in video pictures of the processed video stream at different visual angles;
the video streams collected by the cameras are spliced to form a spliced picture of the fully-mechanized mining face, and the method comprises the following steps:
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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