CN215624882U - Belt foreign matter monitoring devices in pit based on machine vision - Google Patents
Belt foreign matter monitoring devices in pit based on machine vision Download PDFInfo
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- CN215624882U CN215624882U CN202120119241.3U CN202120119241U CN215624882U CN 215624882 U CN215624882 U CN 215624882U CN 202120119241 U CN202120119241 U CN 202120119241U CN 215624882 U CN215624882 U CN 215624882U
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Abstract
The utility model provides a machine vision-based underground belt foreign matter monitoring device, which belongs to the technical field of underground safety equipment of a coal mine and comprises a plurality of image acquisition assemblies, a foreign matter identification assembly and a control response assembly, wherein the image acquisition assemblies are arranged along the running direction of a belt conveyor and are used for acquiring coal flow images on the belt conveyor; the spacing distance between two adjacent image acquisition assemblies is 3-5 m. On the one hand, can judge whether there is the foreign matter to exist according to the coal flow image that a plurality of different image acquisition subassemblies gathered, prevent that sudden strong light shines and leads to the coal flow surface reflection of light, influence the accuracy of foreign matter judgement in flowing to the coal, cause the wrong report to police or the mistake is shut down. On the other hand, the coal flow images acquired through the plurality of different image acquisition assemblies can effectively identify the foreign matters possibly exposed due to the influences of belt vibration, coal block slippage and the like, and the detection rate of the foreign matters is improved.
Description
Technical Field
The utility model belongs to the technical field of coal mine underground safety equipment, and particularly relates to an underground belt foreign matter monitoring device based on machine vision.
Background
The belt conveyor is one of important transportation equipment in a coal mine, and if foreign matters such as dropped anchor rods, reinforcing steel bars, cutting picks of a coal mining machine, gangue and the like exist on the belt conveyor in the process of high-speed operation of the belt conveyor, the belt conveyor or surrounding personnel can be injured if the foreign matters are discovered and cleaned in time, and safety accidents are caused.
In the prior art, for example, chinese patent No. 201810591811.1 discloses a coal flow monitoring method based on image information acquisition, which includes acquiring a coal flow image on a belt conveyor, analyzing pixels in the coal flow image, identifying enclosed white pixels or continuous white pixels from black pixels, and identifying whether an anchor rod, gangue, and the like are present in the coal flow. However, the underground illumination environment of the coal mine is complex, the surface of the coal flow is reflected due to sudden strong light irradiation, the accuracy of judging foreign matters in the coal flow is influenced, and false alarm or error halt is caused. Meanwhile, part of foreign matters are buried inside the coal flow and cannot be identified when passing through the collection area, but are influenced by belt vibration, coal block slippage and the like when running along with the belt and possibly exposed, and the part of foreign matters cannot be found in time, so that potential safety hazards exist.
Disclosure of Invention
In view of the above, the utility model provides a machine vision-based underground belt foreign matter monitoring device, so as to solve the technical problems that in the prior art, the accuracy of monitoring foreign matters on a belt conveyor is low, and the foreign matters are difficult to find and then exposed.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
a downhole belt foreign matter monitoring device based on machine vision, comprising:
the image acquisition assemblies are arranged along the running direction of the belt conveyor and are used for acquiring coal flow images on the belt conveyor; the spacing distance between two adjacent image acquisition assemblies is 3-5 m;
the foreign matter identification component is electrically connected with the image acquisition component and used for receiving the coal flow image and judging whether foreign matters exist in the coal flow according to the pixel information of the coal flow image to obtain a judgment result; and
and the control response component is electrically connected with the foreign matter identification component and is used for executing control action according to the judgment result.
Preferably, the downhole belt foreign matter monitoring device based on machine vision further comprises a camera control assembly, wherein the camera control assembly comprises a belt speed acquisition module and a delay control module, and the belt speed acquisition module is used for acquiring the running linear speed of the belt conveyor; the delay control module is used for acquiring the exposure time difference of two adjacent image acquisition assemblies according to the running linear speed of the belt conveyor and the distance between the two adjacent image acquisition assemblies;
the image acquisition assembly is electrically connected with the delay control module and used for acquiring the coal flow image on the belt conveyor according to the exposure time difference.
Preferably, the foreign matter identification component comprises a plurality of image receiving modules, a plurality of image identification modules and a foreign matter judgment module, wherein the image receiving modules are used for respectively receiving coal flow images from different image acquisition components; the image identification module is used for respectively carrying out pixel analysis on the coal flow image to obtain a pixel analysis result; the foreign matter judging module is used for judging whether foreign matters exist in the coal flow according to at least two pixel analysis results.
Preferably, the control response component comprises at least one of an early warning module, an emergency shutdown module and a foreign matter capture control module, and the early warning module is used for sending out an early warning signal according to a judgment result; the emergency stop module is used for controlling the belt conveyor to be in emergency stop according to the judgment result; and the foreign matter grabbing control module is used for controlling the foreign matter grabbing device to work according to the judgment result.
Preferably, the downhole belt foreign matter monitoring device based on machine vision further comprises a display assembly, wherein the display assembly is electrically connected with the image acquisition assembly and used for receiving and visualizing the coal flow image.
Preferably, the image acquisition assembly is a binocular stereo camera and is provided with a structured light source module.
According to the technical scheme, the utility model provides the underground belt foreign matter monitoring device based on machine vision, which has the beneficial effects that: and a plurality of image acquisition assemblies are arranged at intervals of 3-5 m along the running direction of the belt conveyor, and are used for acquiring coal flow images on the belt conveyor and uploading the images to the foreign matter identification assembly. The foreign matter identification assembly judges whether foreign matters such as anchor rods, reinforcing steel bars, cutting teeth of a coal mining machine, gangue exist in the coal flow according to pixel information in the coal flow image, and when the foreign matters exist in the coal flow, the control response assembly executes corresponding actions, sends out early warning information, controls the belt conveyor to be in emergency shutdown or controls the operation of a foreign matter gripping device, removes the foreign matters, eliminates potential safety hazards, reduces safety risks, and prevents the foreign matters from cutting belts or scratching people in the high-speed running state of the belt conveyor. Because the traffic direction along the belt feeder sets up a plurality of image acquisition subassemblies, on the one hand, can judge whether there is the foreign matter to exist according to the coal flow image that a plurality of different image acquisition subassemblies were gathered, prevent that sudden strong light shines and leads to the coal flow surface reflection of light, influence the accuracy of foreign matter judgement in the coal flow, cause the wrong report to police or the mistake is shut down. On the other hand, the coal flow images acquired through the plurality of different image acquisition assemblies can effectively identify the foreign matters possibly exposed due to the influences of belt vibration, coal block slippage and the like, and the detection rate of the foreign matters is improved.
Drawings
FIG. 1 is a functional schematic diagram of a downhole belt foreign object monitoring device based on machine vision.
In the figure: the device comprises a machine vision-based underground belt foreign matter monitoring device 10, an image acquisition assembly 100, a foreign matter identification assembly 200, an image receiving module 210, an image identification module 220, a foreign matter judgment module 230, a control response assembly 300, an early warning module 310, an emergency shutdown module 320, a foreign matter grabbing control module 330, a photographing control assembly 400, a belt speed acquisition module 410, a time delay control module 420 and a display assembly 500.
Detailed Description
The technical scheme and the technical effect of the utility model are further elaborated in the following by combining the drawings of the utility model.
Referring to fig. 1, in an embodiment, a machine vision-based device 10 for monitoring foreign matters in an underground belt is used for monitoring whether foreign matters such as anchor rods, reinforcing steel bars, cutting picks of a coal mining machine, gangue and the like exist on the belt, and preventing the belt from being torn or scratching personnel due to the foreign matters in the high-speed operation process of the belt.
The underground belt foreign matter monitoring device 10 based on machine vision comprises a plurality of image acquisition assemblies 100, a foreign matter identification assembly 200 and a control response assembly 300, wherein the image acquisition assemblies 100 are arranged along the running direction of a belt conveyor and used for acquiring coal flow images on the belt conveyor, and the spacing distance between every two adjacent image acquisition assemblies 100 is 3-5 m. The foreign matter identification component 200 is electrically connected to the image acquisition component 100, and is configured to receive the coal flow image, and determine whether there is a foreign matter in the coal flow according to the pixel information of the coal flow image, so as to obtain a determination result. The control response component 300 is electrically connected to the foreign object identification component 200, and is configured to execute a control action according to the determination result.
For example, the image capturing assembly 100 is a binocular stereo camera and has a structured light source module. The binocular stereo camera adopting the structured light as the light source can adapt to the environment of dark and much dust in the coal mine, and can acquire coal flow images with high resolution and high identifiability in the coal mine.
For example, the control response component 300 includes at least one of an early warning module 310, an emergency shutdown module 320, and a foreign object capture control module 330. The early warning module 310 is configured to send an early warning signal according to the determination result. The emergency stop module 320 is configured to control the belt conveyor to perform emergency stop according to the determination result. The foreign object capture control module 330 is used for controlling the foreign object capture device to work according to the judgment result.
A plurality of image acquisition assemblies 100 are arranged at intervals of 3-5 m along the running direction of the belt conveyor, acquire coal flow images on the belt conveyor and upload the coal flow images to a foreign matter identification assembly 200. The foreign matter identification assembly 200 judges whether foreign matters such as anchor rods, reinforcing steel bars, cutting teeth of a coal mining machine, gangue exist in the coal flow according to pixel information in the coal flow image, and when the foreign matters exist in the coal flow, the control response assembly 300 executes corresponding actions, sends out early warning information, controls the belt conveyor to be in emergency shutdown or controls the operation of a foreign matter gripping device, removes the foreign matters, eliminates potential safety hazards, reduces safety risks, and prevents the foreign matters from belt cutting or scratching people in the high-speed running state of the belt conveyor. Because the traffic direction along the belt feeder sets up a plurality of image acquisition subassemblies 100, on the one hand, can judge whether there is the foreign matter to exist according to the coal flow image that a plurality of different image acquisition subassemblies 100 gathered, prevent that sudden strong light shines and leads to the coal flow surface reflection of light, influence the accuracy of judging the foreign matter in the coal flow, cause the wrong report to police or the mistake is shut down. On the other hand, the coal flow images acquired by the plurality of different image acquisition assemblies 100 can effectively identify the foreign matters possibly exposed due to the influences of belt vibration, coal block slippage and the like, and the detection rate of the foreign matters is improved.
Further, in order to further eliminate the influence of sudden strong light, improve the accuracy of foreign matter detection, and reduce the false detection rate, the machine vision-based downhole belt foreign matter monitoring device 10 further includes a camera control assembly 400, the camera control assembly 400 includes a belt speed obtaining module 410 and a delay control module 420, and the belt speed obtaining module 410 is configured to obtain the linear speed of belt conveyor operation. The delay control module 420 is configured to obtain an exposure time difference between two adjacent image capturing assemblies 100 according to an operation linear speed of the belt conveyor and a distance between two adjacent image capturing assemblies 100. The image collecting assembly 100 is electrically connected to the delay control module 420, and is configured to collect the coal flow image on the belt conveyor according to the exposure time difference. In this embodiment, the image capturing assemblies 100 continuously obtain a series of photos, for example, when a first image capturing assembly 100 obtains a coal flow image, the delay control module operates to obtain an exposure time difference between two adjacent image capturing assemblies 100 according to a belt conveyor running linear velocity and a distance between two adjacent image capturing assemblies 100, that is, obtain an exposure time difference between a second image capturing assembly 100 and the second image capturing assembly 100, so that the second image capturing assembly 100 delays capturing, and so on, so that the plurality of image capturing assemblies 100 can obtain the coal flow image at the same position on the belt conveyor, and thus, whether a false alarm exists or not and whether a foreign object exposed later exists or not is determined according to a difference between the coal flow images obtained by different image capturing assemblies 100.
In one embodiment, the foreign object identification module 200 includes a plurality of image receiving modules 210, a plurality of image identification modules 220, and a foreign object determination module 230, wherein the image receiving modules 210 are configured to receive coal flow images from different image capturing assemblies 100 respectively. The image recognition module 220 is configured to perform pixel analysis on the coal flow image to obtain a pixel analysis result. The foreign object determining module 230 is configured to determine whether a foreign object exists in the coal flow according to at least two pixel analysis results. On the one hand, whether foreign matters exist in the coal flow is judged according to at least two pixel analysis results, so that the phenomenon that the surface of the coal flow is reflected due to sudden strong light irradiation to influence the accuracy of judging the foreign matters in the coal flow and cause false alarm or error halt can be effectively avoided. On the other hand, whether foreign matters exist in the coal flow or not is judged according to at least two pixel analysis results, the exposed foreign matters can be effectively detected, and the foreign matter detection rate is improved.
In an embodiment, the device 10 for monitoring foreign matters in the downhole belt based on machine vision further comprises a display component 500, wherein the display component 500 is electrically connected with the image acquisition component 100 and used for receiving and visualizing the coal flow image so as to identify the foreign matters through manual assistance, and further improve the accuracy and the detectable rate.
While the utility model has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the utility model.
Claims (6)
1. A downhole belt foreign matter monitoring device based on machine vision, comprising:
the image acquisition assemblies are arranged along the running direction of the belt conveyor and are used for acquiring coal flow images on the belt conveyor; the spacing distance between two adjacent image acquisition assemblies is 3-5 m;
the foreign matter identification component is electrically connected with the image acquisition component and used for receiving the coal flow image and judging whether foreign matters exist in the coal flow according to the pixel information of the coal flow image to obtain a judgment result; and
and the control response component is electrically connected with the foreign matter identification component and is used for executing control action according to the judgment result.
2. The machine vision-based downhole belt foreign matter monitoring device according to claim 1, further comprising a camera control assembly, wherein the camera control assembly comprises a belt speed obtaining module and a time delay control module, and the belt speed obtaining module is used for obtaining the running linear speed of the belt conveyor; the delay control module is used for acquiring the exposure time difference of two adjacent image acquisition assemblies according to the running linear speed of the belt conveyor and the distance between the two adjacent image acquisition assemblies;
the image acquisition assembly is electrically connected with the delay control module and used for acquiring the coal flow image on the belt conveyor according to the exposure time difference.
3. The machine vision-based downhole belt foreign matter monitoring device according to claim 2, wherein the foreign matter identification component comprises a plurality of image receiving modules, a plurality of image identification modules and a foreign matter judgment module, wherein the image receiving modules are used for respectively receiving coal flow images from different image acquisition components; the image identification module is used for respectively carrying out pixel analysis on the coal flow image to obtain a pixel analysis result; the foreign matter judging module is used for judging whether foreign matters exist in the coal flow according to at least two pixel analysis results.
4. The machine vision based downhole belt foreign matter monitoring device according to claim 1, wherein the control response component comprises at least one of an early warning module, an emergency shutdown module and a foreign matter grabbing control module, and the early warning module is used for sending out an early warning signal according to a judgment result; the emergency stop module is used for controlling the belt conveyor to be in emergency stop according to the judgment result; and the foreign matter grabbing control module is used for controlling the foreign matter grabbing device to work according to the judgment result.
5. The machine vision-based downhole belt foreign object monitoring device of claim 1, further comprising a display component electrically connected to the image acquisition component for receiving and visualizing the coal flow image.
6. The machine vision-based downhole belt foreign matter monitoring device according to claim 1, wherein the image acquisition assembly is a binocular stereo camera and has a structured light source module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180364A (en) * | 2022-08-01 | 2022-10-14 | 宁夏广天夏科技股份有限公司 | GMI magnetic sensor-based mining conveying belt foreign matter monitoring device and method |
| CN116142723A (en) * | 2023-03-20 | 2023-05-23 | 淮南市万维机电有限公司 | Belt feeder intelligent protection early warning system based on chip intelligent control |
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2021
- 2021-01-15 CN CN202120119241.3U patent/CN215624882U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180364A (en) * | 2022-08-01 | 2022-10-14 | 宁夏广天夏科技股份有限公司 | GMI magnetic sensor-based mining conveying belt foreign matter monitoring device and method |
| CN115180364B (en) * | 2022-08-01 | 2024-02-27 | 宁夏广天夏科技股份有限公司 | Mining conveyor belt foreign matter monitoring device and method based on GMI magnetic sensor |
| CN116142723A (en) * | 2023-03-20 | 2023-05-23 | 淮南市万维机电有限公司 | Belt feeder intelligent protection early warning system based on chip intelligent control |
| CN116142723B (en) * | 2023-03-20 | 2023-08-08 | 淮南市万维机电有限公司 | Belt feeder intelligent protection early warning system based on chip intelligent control |
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