CN117287264A - Monitoring information integration method and system for fully-mechanized coal mining face - Google Patents
Monitoring information integration method and system for fully-mechanized coal mining face Download PDFInfo
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- CN117287264A CN117287264A CN202311575143.0A CN202311575143A CN117287264A CN 117287264 A CN117287264 A CN 117287264A CN 202311575143 A CN202311575143 A CN 202311575143A CN 117287264 A CN117287264 A CN 117287264A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 280
- 239000003245 coal Substances 0.000 title claims abstract description 156
- 238000005065 mining Methods 0.000 title claims abstract description 150
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000010354 integration Effects 0.000 title claims abstract description 15
- 239000000779 smoke Substances 0.000 claims description 16
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 230000006399 behavior Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 15
- 238000006073 displacement reaction Methods 0.000 description 14
- 238000004092 self-diagnosis Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 4
- 206010000117 Abnormal behaviour Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
A method and a system for integrating monitoring information of a fully-mechanized coal mining face relate to the field of data processing, in the method, terminal equipment acquires the topographic information and first monitoring information of the fully-mechanized coal mining face, and determines the position information of a monitoring blind area according to the topographic information and the monitoring information of the fully-mechanized coal mining face; determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area; controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to acquire information so as to obtain second monitoring information; and generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information. The application provides a monitoring information integration method and system of a fully-mechanized coal mining face, which are used for monitoring a monitoring blind area which cannot be detected by equipment such as a fixed camera or a sensor in the fully-mechanized coal mining face, and further reducing potential safety hazards existing in the fully-mechanized coal mining face.
Description
Technical Field
The application relates to the field of data processing, in particular to a method and a system for integrating monitoring information of a fully mechanized coal mining face.
Background
The fully-mechanized coal mining working face is the working link of the forefront of coal mine production and is one of the most complex working links. The number of the devices is large, the devices are mutually restricted and mutually coordinated, any single device cannot be separated from other devices to independently complete tasks, and any action of the devices is limited by geological conditions. The core equipment (system) of the fully mechanized mining face mainly comprises a coal mining machine, a crusher, a reversed loader, a scraper conveyer, a hydraulic support, a pump station, a load center and a belt conveyer, wherein only the hydraulic support has two hundred frames or more.
In the prior art, the monitoring work of the fully-mechanized coal mining face is generally to monitor indexes such as smoke concentration, temperature, coal displacement and the like of the fully-mechanized coal mining face in real time by installing equipment such as a camera, a sensor and the like at a preset fixed position, and transmit the monitored real-time data to terminal equipment (an information system for monitoring the fully-mechanized coal mining face).
However, the installation positions of the devices such as the sensor and the camera may be limited by the space of the working surface and the layout of the devices, and cannot be fully covered at each position, so that certain areas may not be monitored by the devices such as the sensor and the camera, and potential safety hazards exist.
Disclosure of Invention
The application provides a monitoring information integration method and system of a fully-mechanized coal mining face, and the potential safety hazard existing in the fully-mechanized coal mining face is further reduced by controlling a method for controlling an unmanned aerial vehicle to monitor a monitoring blind area which cannot be detected by equipment such as a fixed camera or a sensor in the fully-mechanized coal mining face.
In a first aspect, the present application provides a method for integrating monitoring information of a fully-mechanized coal mining face, including:
the method comprises the steps of obtaining topographic information and first monitoring information of a fully-mechanized coal mining face of a coal mine, wherein the first monitoring information comprises first video information and first sensor monitoring data obtained by cameras and sensors at preset positions of the fully-mechanized coal mining face of the coal mine, and the sensors comprise a mining temperature sensor, a mining coal level sensor and a mining smoke sensor;
determining the position information of a monitoring blind area according to the topographic information and the monitoring information of the fully mechanized coal mining face;
determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the first cruising route refers to a flight route of the unmanned aerial vehicle reaching the monitoring blind area;
the unmanned aerial vehicle is controlled to arrive at the monitoring blind area according to the first cruising route to acquire second monitoring information, the unmanned aerial vehicle is provided with a camera and a sensor, the sensor comprises a mining temperature sensor, a mining coal level sensor and a mining smoke sensor, and the second monitoring information comprises second video information and second sensor monitoring data acquired by the unmanned aerial vehicle;
and generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
Through the embodiment, the monitoring blind area of the fully-mechanized coal mining face can be identified, the unmanned aerial vehicle is controlled to reach the monitoring blind area to acquire information, and then integrated monitoring information is generated according to the acquired second monitoring information and the known first monitoring information, so that potential safety hazards possibly caused by the existence of the monitoring blind area are further reduced.
In an embodiment, after the step of determining the first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, the method further includes:
controlling the unmanned aerial vehicle to acquire third monitoring information of a position to be detected on the first routing path;
judging whether the error between the third monitoring information and the corresponding first monitoring information is within a preset range or not;
if not, sending out fault early warning information.
Through the embodiment, the third monitoring information of the to-be-detected position on the first routing path can be obtained, and the third monitoring information is compared with the corresponding first monitoring information, so that whether the equipment for obtaining the first monitoring information has faults or not is judged.
In one embodiment, after the step of determining the position information of the monitoring blind area according to the topographic information and the monitoring information of the fully-mechanized coal mining face, the method further comprises:
receiving self-checking information of a sensor;
judging whether the sensor is abnormal or not according to the self-checking information;
if yes, the monitoring area corresponding to the sensor is temporarily set as a monitoring blind area.
Through the embodiment, whether the sensor has a fault or not can be judged according to the self-diagnosis data of the sensor, and after the sensor is detected to have the fault, the unmanned aerial vehicle is controlled to go to the sensor existence area for information acquisition.
In an embodiment, before the step of controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to perform information collection to obtain the second monitoring information, the method further includes:
receiving a worker privacy area and a privacy time period set by a user;
the drone is controlled to bypass the worker privacy zone during the privacy time period.
Through the embodiment, the unmanned aerial vehicle can be controlled to bypass the privacy zone of the worker in the privacy time period of the worker, so that the personal privacy of the worker on the fully mechanized mining face of the coal mine can be protected as much as possible on the premise that the normal work of the unmanned aerial vehicle is not affected.
In an embodiment, after the step of controlling the drone to bypass the worker privacy zone during the privacy period, further comprising:
and after the preset time period is exceeded, if the flight time is not finished, controlling the unmanned aerial vehicle to reach the worker privacy area for information acquisition.
Through the embodiment, the information acquisition of the privacy area of the worker can be completed on the premise of protecting the personal privacy of the worker on the fully-mechanized coal mining face, the probability of potential safety hazards in the privacy area of the worker is reduced, and the safety of the worker is improved.
In an embodiment, after the step of controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to perform information collection to obtain the second monitoring information, the method further includes:
after a preset time period passes, determining a second cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the second cruising route is not identical to the first cruising route;
and controlling the unmanned aerial vehicle to reach the monitoring blind area according to the second cruising route to acquire second monitoring information again.
Through the embodiment, in the process of information acquisition by controlling the unmanned aerial vehicle to enter the monitoring blind area of the coal mine fully-mechanized coal mining working face for a plurality of times, the cruising route of the unmanned aerial vehicle reaching the monitoring blind area is different as far as possible, so that the unmanned aerial vehicle can verify the first monitoring information of a plurality of positions on the cruising route.
In one embodiment, after the step of obtaining the topographic information and the first monitoring information of the fully-mechanized coal mining face, the method further includes:
acquiring position information of an identification card of a target person, wherein a positioning device and an identity recognition device are arranged in the identification card;
and controlling the unmanned aerial vehicle to reach the position of the identification card to monitor the behavior of the target person.
Through the embodiment, the unmanned aerial vehicle can be controlled to find the target personnel on the coal mine fully-mechanized mining face according to the position information of the identification card of the target personnel, and the behavior of the target personnel is monitored, so that potential safety hazards possibly caused by abnormal behaviors of the target personnel are reduced.
In a second aspect, the present application provides a monitoring information integration system for a fully-mechanized coal mining face, which is applied to a terminal device, and includes:
the information acquisition module is used for acquiring the topographic information and the first monitoring information of the fully-mechanized coal mining face, wherein the monitoring information comprises video information and detection information of a plurality of sensors;
the position determining module is used for determining the position information of the monitoring blind area according to the topographic information and the monitoring information of the fully-mechanized coal mining face;
the route determining module is used for determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the first cruising route refers to a flight route of the unmanned aerial vehicle reaching the monitoring blind area;
the information acquisition module is used for controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to acquire information so as to obtain second monitoring information;
and the information integration module is used for generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
The monitoring information integration system for the fully-mechanized coal mining face provided by the embodiment can realize the monitoring information integration method for the fully-mechanized coal mining face provided by the embodiment, and is not repeated here.
In a third aspect, the present application provides a terminal device, including: the system comprises one or more processors and a memory, wherein the memory is coupled with the one or more processors, the memory is used for storing computer program codes, the computer program codes comprise computer instructions, and the one or more processors call the computer instructions so that the terminal equipment can realize the monitoring information integration method of the fully-mechanized coal mining face provided by the embodiment, and the details are not repeated here.
In a fourth aspect, the present application provides a computer readable storage medium, including instructions, where the instructions, when executed on a terminal device, enable the terminal device to implement a method for integrating monitoring information of a fully-mechanized coal mining face provided by the foregoing embodiment, which is not described herein again.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. through the technical scheme, the terminal equipment can identify the monitoring blind area of the fully-mechanized coal mining face and control the unmanned aerial vehicle to reach the monitoring blind area for information acquisition, and then integrated monitoring information is generated according to the acquired second monitoring information and the known first monitoring information, so that potential safety hazards possibly caused by the existence of the monitoring blind area are further reduced.
2. By the technical scheme, the third monitoring information of the position to be detected on the first routing route can be obtained, and the third monitoring information is compared with the corresponding first monitoring information, so that whether the equipment for obtaining the first monitoring information has faults or not is judged; judging whether the sensor has faults according to the self-diagnosis data of the sensor, and controlling the unmanned aerial vehicle to go to the sensor existing area to acquire information after detecting that the sensor has faults; the unmanned aerial vehicle can also enter the monitoring blind area of the fully-mechanized coal mining face for information acquisition in the process of controlling the unmanned aerial vehicle to enter the monitoring blind area of the fully-mechanized coal mining face for multiple times, so that the cruising routes of the unmanned aerial vehicle reaching the monitoring blind area each time are different as far as possible, and the unmanned aerial vehicle can verify first monitoring information of multiple positions on the cruising route.
3. Through the technical scheme, the unmanned aerial vehicle can be controlled to bypass the privacy zone of the worker in the privacy time period of the worker, so that the personal privacy of the worker on the fully mechanized mining face of the coal mine is protected as much as possible on the premise that the normal work of the unmanned aerial vehicle is not influenced; the information acquisition of the privacy area of the worker can be completed on the premise of protecting the personal privacy of the worker on the fully mechanized coal mining face, the probability of potential safety hazards in the privacy area of the worker is reduced, and the safety of the worker is improved; the unmanned aerial vehicle can be controlled to find the target personnel on the coal mine fully-mechanized mining face according to the position information of the identification card of the target personnel, and the behavior of the target personnel is monitored, so that potential safety hazards possibly caused by abnormal behaviors of the target personnel are reduced.
Drawings
FIG. 1 is a schematic flow chart of a method for integrating monitoring information of a fully-mechanized coal mining face according to an embodiment of the present application;
FIG. 2 is another flow chart of a method for integrating monitoring information of a fully-mechanized coal mining face according to an embodiment of the present application;
FIG. 3 is a schematic view of an exemplary scenario in which a drone arrives at a blind zone according to a cruising route in an embodiment;
FIG. 4 is a schematic view of an exemplary scenario in which a sensor monitoring blind zone occurs on a fully-mechanized coal mining face in an embodiment of the present application, wherein FIG. (a) is a schematic view of an exemplary scenario in which a mining displacement sensor of the fully-mechanized coal mining face detects displacement data of a coal mine; FIG. 2 (b) is a schematic diagram of an exemplary scenario in which a mine displacement sensor detects displacement data of a coal mine in the presence of a mine obstacle on a fully mechanized face of the coal mine;
FIG. 5 is a schematic view of an exemplary scenario in which a camera monitoring blind area occurs on a fully-mechanized coal mining face in an embodiment of the present application, where FIG. (a) is a schematic view of an exemplary scenario in which a camera on the fully-mechanized coal mining face normally collects video information of the fully-mechanized coal mining face; FIG. 2 (b) is a schematic diagram of an exemplary scenario in which a camera is blocked from normally acquiring video information of a fully-mechanized coal mining face in the presence of an obstacle on the fully-mechanized coal mining face; FIG. (c) is a schematic diagram of an exemplary scenario in which a terminal device controls a drone to reach a blind area to collect monitoring information;
FIG. 6 is a schematic diagram of a module of a monitoring information integration system for a fully mechanized coal mining face in an embodiment of the present application;
fig. 7 is a schematic structural diagram of an internal computer system of the terminal device in the embodiment of the present application.
Detailed Description
The terminology used in the following embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates to the contrary. It should also be understood that the term "and/or" as used in this application is intended to encompass any or all possible combinations of one or more of the listed items.
The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying 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 one or more such feature, and in the description of embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
The fully-mechanized coal mining working face is the working link of the forefront of coal mine production and is also the most complex working link. The number of the devices is large, the devices are mutually restricted and mutually coordinated, any single device cannot be separated from other devices to independently complete tasks, and any action of the devices is limited by geological conditions. The core equipment (system) of the fully mechanized mining face mainly comprises a coal mining machine, a crusher, a reversed loader, a scraper conveyer, a hydraulic support, a pump station, a load center and a belt conveyer, wherein only the hydraulic support has two hundred frames or more.
In the prior art, the monitoring work of the fully-mechanized coal mining face is generally to monitor indexes such as smoke concentration, temperature, coal displacement and the like of the fully-mechanized coal mining face in real time by installing equipment such as a camera, a sensor and the like at a preset fixed position, and transmit the monitored real-time data to terminal equipment (an information system for monitoring the fully-mechanized coal mining face).
However, the installation positions of the devices such as the sensor and the camera may be limited by the space of the working surface and the layout of the devices, and cannot be fully covered at each position, so that certain areas may not be monitored by the devices such as the sensor and the camera, and potential safety hazards exist.
In order to solve the problems, the application provides a monitoring information integration method and system for a fully-mechanized coal mining face, which are used for monitoring a monitoring blind area which cannot be detected by fixed cameras or sensors and other equipment in the fully-mechanized coal mining face, and further reducing potential safety hazards existing in the fully-mechanized coal mining face.
The following describes a schematic flow chart of a method for integrating monitoring information of a fully-mechanized coal mining face in an embodiment of the present application.
S101, obtaining the topographic information and the first monitoring information of the fully-mechanized coal mining face.
The terminal equipment acquires topographic information and first monitoring information of a fully-mechanized coal mining face, wherein the first monitoring information comprises first video information and first sensor monitoring data acquired by cameras and sensors at all preset positions of the fully-mechanized coal mining face, and the sensors comprise a mining temperature sensor, a mining coal level sensor and a mining smoke sensor.
The mining temperature sensor can be used for detecting the surface temperature and the environment temperature of equipment, the dial switch in the sensor can select the temperature value of an alarm point, the three alarm points are respectively (42+/-2) DEGC, (60+/-2) DEGC and (70+/-2) DEGC, and in addition, other alarm point temperature values can be set according to actual conditions, so that the mining temperature sensor is not limited.
In addition, a mining coal level sensor is a sensor device for monitoring reserves in a coal mine. It is typically installed in a coal bunker or coal storage facility for real-time detection and display of displacement or reserves of coal. The mining smoke sensor is used for detecting the smoke concentration of the fully-mechanized coal mining face and sending out early warning information when the smoke concentration reaches a preset threshold value, and under the general default condition, the preset threshold value and the response time of the mining smoke concentration sensor are as follows: when the smoke concentration reaches 5% obs/m, the sensor sends out early warning information, the response time is less than or equal to 20s, and the preset threshold value and the corresponding time can be adjusted according to actual conditions, and the method is not limited.
The terminal equipment receives first video information sent by a camera of the fully-mechanized coal mining face and first sensor information sent by a sensor in real time, and stores the received first video information and the received first sensor information into the database.
In addition, the staff can install cameras and sensors at each preset position of the fully-mechanized coal mining face so as to acquire video information and sensor data of the fully-mechanized coal mining face in real time, and further realize real-time monitoring of the fully-mechanized coal mining face.
It should be noted that, the sensor of the fully-mechanized coal mining face may be added with other sensors besides a mine temperature sensor, a mine coal level sensor and a mine smoke sensor, which is not limited herein.
S102, determining the position information of the monitoring blind area according to the topographic information and the monitoring information of the fully mechanized coal mining face.
Specifically, the terminal equipment can determine the area range which can be monitored by the camera according to the video information of the camera through an image recognition technology, and determine the area which cannot be monitored by the camera by combining the positioning information of the camera and the topographic information of the fully-mechanized coal mining face, so that the area is set as a monitoring blind area, and the position information of the monitoring blind area is determined.
S103, determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area.
After the position information of the monitoring blind area is determined, the terminal equipment determines a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the first cruising route refers to a flight route of the unmanned aerial vehicle reaching the monitoring blind area.
It is to be noted that, this unmanned aerial vehicle installs and keeps away barrier system and navigation, can avoid the obstacle through keeping away the barrier system automation, avoid the collision with colliery equipment and structure, can also reach the position that monitors the blind area place according to the first route of cruising of predetermineeing in the navigation.
In addition, the unmanned aerial vehicle can fly through the obstacle avoidance device and the navigation system, and can fly through the remote control of technicians, and the unmanned aerial vehicle is not limited herein.
And S104, controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to acquire information, and obtaining second monitoring information.
The terminal equipment controls the unmanned aerial vehicle to arrive the monitoring blind area according to the first cruising route and carries out information acquisition to obtain second monitoring information, wherein the unmanned aerial vehicle is provided with a camera and a sensor, the sensor comprises a mining temperature sensor, a mining coal level sensor and a mining smoke sensor, and the second monitoring information comprises second video information and second sensor monitoring data which are acquired by the unmanned aerial vehicle.
It can be understood that the unmanned plane can be provided with various sensors and devices, such as a mine temperature sensor, a mine coal level sensor, a mine smoke sensor, a camera and the like, and is used for detecting indexes such as underground temperature, coal displacement, smoke concentration and the like of a coal mine and transmitting real-time data back to terminal equipment.
S105, generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
Specifically, the terminal equipment stores the first monitoring information acquired in real time into a database, and stores the second monitoring information acquired by the unmanned aerial vehicle into the database, so that a user can check the first monitoring information or the second monitoring information of any area of the fully-mechanized coal mining face at any time.
Through the technical scheme, the terminal equipment is used for identifying the monitoring blind area of the fully-mechanized coal mining face and controlling the unmanned aerial vehicle to reach the monitoring blind area to acquire information, and then integrated monitoring information is generated according to the acquired second monitoring information and the known first monitoring information, so that potential safety hazards possibly caused by the existence of the monitoring blind area are further reduced.
Next, the overall flow of a method for integrating monitoring information of a fully-mechanized coal mining face in the embodiment of the present application will be described in detail, with reference to fig. 2.
S201, obtaining the topographic information and the first monitoring information of the fully mechanized coal mining face.
The present step is the same as step S101, and will not be described here again.
S202, determining the position information of the monitoring blind area according to the topographic information and the monitoring information of the fully mechanized coal mining face.
The step is the same as step S102, and will not be described here again.
S203, judging whether the sensor is abnormal or not according to the self-checking information of the sensor.
Specifically, the terminal device receives the self-diagnosis data information sent by the sensor in real time, and detects whether there is abnormal information in the self-diagnosis information, if so, the step S213 is entered, otherwise, if not, the step S204 is entered.
It can be understood that the range threshold value of the normal self-diagnosis data of the sensor is stored in the database of the terminal device, if the self-diagnosis data of the sensor is within the corresponding range threshold value, the self-diagnosis information of the sensor is not abnormal, otherwise, if the self-diagnosis data of the sensor exceeds the corresponding threshold value range, the self-diagnosis information of the sensor is abnormal.
S204, determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area.
This step is the same as step S103 and will not be described here again.
S205, controlling the unmanned aerial vehicle to acquire third monitoring information of the position to be detected on the first routing path.
Specifically, after the first cruising route of the unmanned aerial vehicle is determined, the user may set a position to be detected on the first cruising route, and after the position to be detected is determined, the unmanned aerial vehicle may collect video information and sensor detection information of the position to be detected when passing through the position to be detected, and take the video information and the sensor detection information of the position to be detected as third monitoring information, and send the third monitoring information to the terminal device.
S206, judging whether the error between the third monitoring information and the corresponding first monitoring information is within a preset range threshold value.
Specifically, after receiving third monitoring information sent by the unmanned aerial vehicle, the terminal device compares the third monitoring information with first monitoring information acquired by the original camera and the sensor at the time of the position to be detected, judges whether an error between the third monitoring information and the first monitoring information is within a preset range threshold, if the error between the third monitoring information and the first monitoring information is within the preset range threshold, then step S207 is entered, otherwise, if the error between the third monitoring information and the first monitoring information exceeds the preset range threshold, then step S214 is entered.
S207, the unmanned aerial vehicle is controlled to arrive at the monitoring blind area according to the first cruising route to acquire information, and second monitoring information is obtained.
The present step is the same as step S104, and will not be described here again.
And S208, after a preset time period passes, determining a second cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area.
Specifically, after the unmanned aerial vehicle arrives at the monitoring blind area according to the first cruising route to carry out information acquisition and returns, if the unmanned aerial vehicle needs to carry out information acquisition to the monitoring blind area again or the unmanned aerial vehicle needs to carry out information acquisition to the newly-appearing monitoring blind area, the terminal equipment can and the second cruising route of the unmanned aerial vehicle is determined according to the position of the monitoring blind area.
It should be noted that the second cruising route is not identical to the first cruising route, i.e. there are fewer overlapping routes of the second cruising route and the first cruising route.
The preset time period may be set according to the needs of the user, may be 2 hours or 3 hours, or may be another time period, which is not limited herein.
S209, controlling the unmanned aerial vehicle to reach the monitoring blind area according to the second cruising route to acquire second monitoring information again.
After the second cruising route is determined, the terminal equipment controls the unmanned aerial vehicle to arrive at the monitoring blind area according to the second cruising route to acquire second monitoring information again, and the second monitoring information is sent to the terminal equipment in real time.
S210, generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
This step is the same as step S105, and will not be described here again.
S211, acquiring position information of an identification card of the target person.
Specifically, after the terminal device obtains the topographic information and the first monitoring information of the fully-mechanized coal mining face, if the user needs to find the target personnel, the terminal device can directly locate the position of the target personnel in the topographic map.
It should be noted that, each staff has a unique identification card, the identification card is provided with positioning information, and the terminal device can rapidly determine the position information of each staff from the topographic map according to the positioning information.
S212, controlling the unmanned aerial vehicle to reach the position of the identification card to conduct behavior monitoring on the target personnel.
After the terminal equipment determines the position information of the target personnel on the topographic map, a flight route can be generated according to the position of the target personnel and is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle can quickly find the target personnel in the coal fully-mechanized working face according to the flight route and monitor the behaviors of the target personnel through the carried cameras.
S213, temporarily setting the monitoring area corresponding to the sensor as a monitoring blind area.
After the terminal equipment receives the self-diagnosis data information of the sensor of the fully-mechanized coal mining face, the terminal equipment judges whether the sensor is abnormal according to the self-detection information of the sensor, if the sensor is detected to be abnormal, the position information of the sensor is acquired, the monitoring area corresponding to the sensor is temporarily set as a monitoring blind area, and the unmanned aerial vehicle is controlled to go to the area for information acquisition.
S214, sending out early warning information.
Specifically, after the terminal device controls the unmanned aerial vehicle to collect third monitoring information of the to-be-detected position on the first routing path, whether the error of the third monitoring information and the corresponding first monitoring information is within a preset range is judged. If so, the original camera or sensor at the position to be detected may have faults, and the terminal equipment displays fault early warning information to remind a user of fault detection and maintenance.
S215, controlling the unmanned aerial vehicle to bypass the worker privacy area in the privacy time period.
Specifically, the user can set the privacy area and the privacy time of the worker on the fully-mechanized coal mining face on the terminal equipment, the privacy area and the privacy time are sent to the unmanned aerial vehicle, and in the privacy time period, if the unmanned aerial vehicle detects that the worker passes through the privacy area, the cruising route is temporarily changed, the privacy area of the worker is bypassed, and then the personal privacy of the worker is protected.
And S216, after the privacy time period is exceeded, if the flight time is not finished, controlling the unmanned aerial vehicle to reach a worker privacy area for information acquisition.
After the privacy time period is exceeded, if the unmanned aerial vehicle is still on the first routing route, the terminal equipment controls the unmanned aerial vehicle to arrive at the worker privacy area for information acquisition, and the information acquisition of the worker privacy area can be completed on the premise of protecting the personal privacy of the worker of the fully-mechanized coal mining face, so that the probability of potential safety hazards in the worker privacy area is reduced, and the safety of the worker is improved.
Fig. 3 is a schematic diagram of an exemplary scenario in which a drone arrives at a blind monitoring zone according to a cruising route in the embodiment.
Wherein the solid arrow is the first cruising route and the dashed arrow is the second cruising route. In the figure, a black circle area represents a monitoring blind area, and a gray circle area represents a position to be detected. Specifically, after determining the monitoring blind area 1 and the monitoring blind area 2, the terminal device plans a first cruising route, as shown in fig. 3, a user can set a position to be detected on the first cruising route, for example, the position to be detected 1 and the position to be detected 2 in fig. 3, an unmanned aerial vehicle flies according to the first cruising route, the unmanned aerial vehicle arrives at the monitoring blind area 1 and the monitoring blind area 2 in sequence to respectively collect first monitoring information, meanwhile, the unmanned aerial vehicle can pass through the position to be detected 1 and the position to be detected 2 in the process of going to the monitoring blind area 1 and the monitoring blind area 2, and the unmanned aerial vehicle can respectively collect third monitoring information when passing through the position to be detected 1 and the position to be detected 2.
In addition, after the unmanned aerial vehicle collects the first monitoring information of the monitoring blind area 1 and the monitoring blind area 2 and returns, if the terminal equipment detects a new monitoring blind area 3 and needs to control the unmanned aerial vehicle to go to collect the second monitoring information, the terminal equipment determines a second cruising route according to the first cruising route after determining the position information of the monitoring blind area 3, so that the overlapping route of the second cruising route and the first cruising route is minimum. In addition, the user can set a new waiting position after the terminal device determines the second cruising route.
Fig. 4 is a schematic diagram of an exemplary scenario in which a sensor monitoring blind area occurs on a fully-mechanized coal mining face in an embodiment of the present application.
Wherein, figure (a) is an exemplary scene diagram of a mining displacement sensor of a fully mechanized coal mining face for detecting displacement data of a coal mine; FIG. 2 (b) is a schematic diagram of an exemplary scenario in which a mine displacement sensor detects displacement data of a coal mine in the presence of a mine obstruction on a fully mechanized face of the coal mine.
Specifically, as shown in fig. 4 (a), the mining coal level sensor detects the displacement data of the coal mine under normal conditions, but the structure and equipment of the fully-mechanized coal mining face of the coal mine are continuously changed, if a worker installs a pillar on the fully-mechanized coal mining face of the coal mine according to actual construction requirements, the pillar blocks the normal detection of the mining coal level sensor on the coal displacement data, and a monitoring blind area appears at the position of the mining coal level sensor.
Fig. 5 is a schematic diagram of an exemplary scenario in which a camera monitoring blind area occurs on a fully-mechanized coal mining face in an embodiment of the present application.
Wherein, figure (a) is an exemplary scene diagram of a camera of a fully-mechanized coal mining face for normally acquiring video information of the fully-mechanized coal mining face; FIG. 2 (b) is a schematic diagram of an exemplary scenario in which a camera is blocked from normally acquiring video information of a fully-mechanized coal mining face in the presence of an obstacle on the fully-mechanized coal mining face; fig. c is a schematic diagram of an exemplary scenario in which a terminal device controls a drone to arrive at a monitoring blind area to collect monitoring information.
Specifically, as shown in fig. 5 (a), a schematic view of a scene where a camera at the channel position of the fully-mechanized coal mining face acquires video information under normal conditions is shown, and the camera can acquire complete video information of the channel region of the fully-mechanized coal mining face. However, if an obstacle is temporarily placed in the fully-mechanized coal mining face channel due to construction requirements, as shown in fig. 5 (b), the obstacle blocks the camera from acquiring video information of the complete fully-mechanized coal mining face channel, a black shadow area in the figure is a monitoring blind area, and if the black shadow area is not in the monitoring range for a long time, potential safety hazards may exist. Therefore, after the terminal device detects the monitoring blind area, the unmanned aerial vehicle is controlled to arrive at the monitoring blind area to acquire information, specifically as shown in (c) of fig. 5, the unmanned aerial vehicle acquires second monitoring information of the monitoring blind area through the carried camera and sensor, and sends the second monitoring information to the terminal device.
The monitoring information integration method for the fully-mechanized coal mining face can realize the following beneficial effects:
through the technical scheme, the terminal equipment can identify the monitoring blind area of the fully-mechanized coal mining face and control the unmanned aerial vehicle to reach the monitoring blind area for information acquisition, and then integrated monitoring information is generated according to the acquired second monitoring information and the known first monitoring information, so that potential safety hazards possibly caused by the existence of the monitoring blind area are further reduced.
By the technical scheme, the third monitoring information of the position to be detected on the first routing route can be obtained, and the third monitoring information is compared with the corresponding first monitoring information, so that whether the equipment for obtaining the first monitoring information has faults or not is judged; judging whether the sensor has faults according to the self-diagnosis data of the sensor, and controlling the unmanned aerial vehicle to go to the sensor existing area to acquire information after detecting that the sensor has faults; the unmanned aerial vehicle can also enter the monitoring blind area of the fully-mechanized coal mining face for information acquisition in the process of controlling the unmanned aerial vehicle to enter the monitoring blind area of the fully-mechanized coal mining face for multiple times, so that the cruising routes of the unmanned aerial vehicle reaching the monitoring blind area each time are different as far as possible, and the unmanned aerial vehicle can verify first monitoring information of multiple positions on the cruising route.
By the technical scheme, the unmanned aerial vehicle can be controlled to bypass the privacy zone of the worker in the privacy time period of the worker, so that the personal privacy of the worker on the fully mechanized mining face of the coal mine is protected as much as possible on the premise that the normal work of the unmanned aerial vehicle is not affected; the information acquisition of the privacy area of the worker can be completed on the premise of protecting the personal privacy of the worker on the fully mechanized coal mining face, the probability of potential safety hazards in the privacy area of the worker is reduced, and the safety of the worker is improved; the unmanned aerial vehicle can be controlled to find the target personnel on the coal mine fully-mechanized mining face according to the position information of the identification card of the target personnel, and the behavior of the target personnel is monitored, so that potential safety hazards possibly caused by abnormal behaviors of the target personnel are reduced.
The following describes a terminal device provided in this embodiment of the present application, where the terminal device may implement the above-mentioned method for integrating monitoring information of a fully-mechanized coal mining face, and as shown in fig. 6, is a schematic module structure of the terminal device in this embodiment of the present application, and specifically includes:
the information acquisition module 601 is configured to acquire topographic information and first monitoring information of a fully-mechanized coal mining face, where the monitoring information includes video information and detection information of a plurality of sensors;
the position determining module 602 is configured to determine position information of a monitoring blind area according to the topographic information and the monitoring information of the fully-mechanized coal mining face;
the route determining module 603 is configured to determine a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, where the first cruising route refers to a flight route of the unmanned aerial vehicle reaching the monitoring blind area;
the information acquisition module 604 is configured to control the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to perform information acquisition, so as to obtain second monitoring information;
the information integration module 605 is configured to generate integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
The terminal device provided in this embodiment may implement the method for integrating monitoring information of a fully-mechanized coal mining face provided in the foregoing embodiment, which is not described herein again.
The terminal device according to the embodiment of the present invention is an electronic device, and fig. 7 shows a schematic architecture diagram of an electronic device suitable for implementing the embodiment of the present invention.
It should be noted that the electronic device shown in fig. 7 is only an example, and should not impose any limitation on the functions and application scope of the embodiments of the present invention.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions (computer programs) or by control of associated hardware by instructions (computer programs), which may be stored in a computer-readable storage medium and loaded and executed by a processor. The electronic device of the present embodiment includes a storage medium and a processor, where the storage medium stores a plurality of instructions that can be loaded by the processor to perform any of the steps of the methods provided by the embodiments of the present invention.
In particular, the storage medium and the processor are electrically connected, either directly or indirectly, to enable transmission or interaction of data. For example, the elements may be electrically connected to each other by one or more signal lines. The storage medium has stored therein computer-executable instructions for implementing the data access control method, including at least one software functional module that may be stored in the storage medium in the form of software or firmware, and the processor executes the software programs and modules stored in the storage medium to perform various functional applications and data processing. The storage medium may be, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), programmable Read Only Memory (PROM), erasable read only memory (EPROM), electrically erasable read only memory (EEPROM), etc. The storage medium is used for storing a program, and the processor executes the program after receiving the execution instruction.
Further, the software programs and modules within the storage media described above may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components. The processor may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc., which may implement or execute the methods, steps, and logic flow diagrams disclosed in the embodiments. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Because the instructions stored in the storage medium may perform steps in any of the methods provided in the embodiments of the present invention, the beneficial effects of any of the methods provided in the embodiments of the present invention may be achieved, and detailed descriptions of the foregoing embodiments are omitted herein.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (10)
1. The monitoring information integration method for the fully mechanized coal mining face is characterized by comprising the following steps of:
the method comprises the steps of obtaining terrain information and first monitoring information of a fully-mechanized coal mining face, wherein the first monitoring information comprises first video information and first sensor monitoring data obtained by cameras and sensors at all preset positions of the fully-mechanized coal mining face, and the sensors comprise a mining temperature sensor, a mining coal level sensor and a mining smoke sensor;
determining the position information of a monitoring blind area according to the topographic information and the monitoring information of the fully mechanized coal mining face;
determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the first cruising route refers to a flight route of the unmanned aerial vehicle reaching the monitoring blind area;
the unmanned aerial vehicle is controlled to arrive at the monitoring blind area according to the first cruising route to acquire information, second monitoring information is obtained, the unmanned aerial vehicle is provided with a camera and a sensor, the sensor comprises a mining temperature sensor, a mining coal level sensor and a mining smoke sensor, and the second monitoring information comprises second video information and second sensor monitoring data acquired by the unmanned aerial vehicle;
and generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
2. The method of claim 1, further comprising, after the step of determining the first cruising route of the unmanned aerial vehicle based on the position information of the blind spot:
controlling the unmanned aerial vehicle to acquire third monitoring information of a position to be detected on the first routing route;
judging whether the error between the third monitoring information and the corresponding first monitoring information is within a preset range or not;
if not, sending out fault early warning information.
3. The method of claim 1, further comprising, after the step of determining location information of a monitoring blind zone based on the topographical information and the monitoring information of the fully-mechanized coal mining face:
receiving self-checking data information of a sensor;
judging whether the sensor is abnormal or not according to the self-checking data information;
if yes, temporarily setting the monitoring area corresponding to the sensor as a monitoring blind area.
4. The method of claim 1, further comprising, prior to the step of controlling the unmanned aerial vehicle to arrive at the monitoring blind zone according to the first cruising route for information collection to obtain second monitoring information:
receiving a worker privacy area and a privacy time period set by a user;
and controlling the unmanned aerial vehicle to bypass the worker privacy area in the privacy time period.
5. The method of claim 4, further comprising, after the step of controlling the drone to bypass the worker privacy zone during the privacy period:
and after the privacy time period is exceeded, if the flight time is not finished, controlling the unmanned aerial vehicle to reach the worker privacy area for information acquisition.
6. The method according to claim 1, further comprising, after the step of controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to perform information collection to obtain second monitoring information:
after a preset time period passes, determining a second cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the second cruising route is not identical to the first cruising route;
and controlling the unmanned aerial vehicle to reach the monitoring blind area according to the second cruising route to acquire second monitoring information again.
7. The method of claim 1, further comprising, after the step of obtaining the topographical information and the first monitoring information for the fully-mechanized coal mining face:
acquiring position information of an identification card of a target person, wherein a positioning device and an identity recognition device are arranged in the identification card;
and controlling the unmanned aerial vehicle to reach the position of the identification card to monitor the behavior of the target personnel.
8. The utility model provides a monitoring information integrated system of colliery comprehensive exploitation working face, is applied to terminal equipment, its characterized in that includes:
the information acquisition module is used for acquiring the topographic information and the first monitoring information of the fully-mechanized coal mining face, wherein the monitoring information comprises video information and detection information of a plurality of sensors;
the position determining module is used for determining the position information of the monitoring blind area according to the topographic information and the monitoring information of the fully-mechanized coal mining face;
the route determining module is used for determining a first cruising route of the unmanned aerial vehicle according to the position information of the monitoring blind area, wherein the first cruising route refers to a flight route of the unmanned aerial vehicle reaching the monitoring blind area;
the information acquisition module is used for controlling the unmanned aerial vehicle to arrive at the monitoring blind area according to the first cruising route to acquire information so as to obtain second monitoring information;
and the information integration module is used for generating integrated monitoring information of the fully-mechanized coal mining face according to the first monitoring information and the second monitoring information.
9. A terminal device, comprising: one or more processors and memory;
the memory is coupled with the one or more processors, the memory for storing computer program code comprising computer instructions that are invoked by the one or more processors to cause the terminal device to perform the method of any of claims 1-7.
10. A computer readable storage medium comprising instructions which, when run on a terminal device, cause the terminal device to perform the method of any of claims 1-7.
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