WO2018214197A1 - 一种煤矿主井立井提升箕斗安全启动监控装置及监控方法 - Google Patents

一种煤矿主井立井提升箕斗安全启动监控装置及监控方法 Download PDF

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WO2018214197A1
WO2018214197A1 PCT/CN2017/089143 CN2017089143W WO2018214197A1 WO 2018214197 A1 WO2018214197 A1 WO 2018214197A1 CN 2017089143 W CN2017089143 W CN 2017089143W WO 2018214197 A1 WO2018214197 A1 WO 2018214197A1
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bucket
infrared camera
main shaft
signal processor
image
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PCT/CN2017/089143
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English (en)
French (fr)
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牛强
王重秋
陈朋朋
李鸣
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中国矿业大学
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Publication of WO2018214197A1 publication Critical patent/WO2018214197A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B19/00—Mining-hoist operation
    • B66B19/06—Applications of signalling devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system

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  • the invention relates to a safety start monitoring device and a monitoring method suitable for a coal mine main shaft vertical shaft lifting bucket.
  • the main well is a key channel for coal mines to upgrade coal. Its safety performance is directly related to the safe production of coal mines. Due to the heavy production tasks of the main well and the accumulation of coal slime and cinder on the loading equipment and the bucket during the work process, the working efficiency of the loading equipment and the bucket is reduced, and the bucket and the loading equipment are prone to failure. Maintenance personnel are required to frequently clean and overhaul loading equipment and buckets. On the other hand, in the process of lifting the coal in the vertical shaft, the hoist will inevitably sprinkle coal and coal. The falling coal is continuously accumulated in the bottom of the well.
  • the monitoring research on the safe start of the main well is mainly for the electromechanical control.
  • the control strategy of low-speed soft start is used to reduce the electrical impact when the bucket starts, and the abnormality of the detection current and wire rope tension is judged. Monitoring research.
  • patent application number is CN 201610430945.6 infrared pedestrian detection method, based on the image block depth learning feature to detect whether there is someone in the infrared image; patent authorization number is ZL 201220521452.0 number of people statistical detection device, using human body infrared sensor The number of classrooms is detected; the patent application number is CN 201410662745.4, and a network transmission device, a number of tags and a positioning base station are installed in a specific monitoring area to track the position of the personnel and complete the monitoring of the maintenance personnel of the elevator.
  • the present invention provides a simple structure and a reliable sexual and convenient coal mine main shaft vertical shaft lifting bucket safety start monitoring device and monitoring method.
  • the utility model relates to a safety start monitoring device for a main shaft vertical shaft raising bucket of a coal mine, which mainly comprises an infrared camera group I, an infrared camera II, a signal processor and an sound and light alarm device; two cameras of the infrared camera group I are arranged oppositely, respectively arranged in the main well The lower part of the derrick enters the coal side and the non-injection side. The two cameras are set at the same height and slightly lower than the bucket parking point. The lenses of the two cameras face the bottom of the bucket and are used to capture the bottom hole image at the bottom of the bucket; The infrared camera II is placed on the non-inlet side of the main derrick and slightly above the load port.
  • the lens of the camera faces the loading device and the side of the bucket, and is used to capture the image of the loading device and the top of the bucket; the signal processor is set at the main The well winch room is connected with the infrared camera group I, the infrared camera II and the sound and light alarm device.
  • the signal processor collects the images of the bottom hole, the loading device and the bucket through the infrared camera group I and the infrared camera II respectively, and adopts an edge detection algorithm. Process the image, distinguish the lifting mechanism and personnel with the rules and irregular contours presented in the edge image, and control the sound and light Police's shutter.
  • the infrared camera group I and the infrared camera II need to be equipped with a thermal imaging detector in front of the lens to obtain an overall temperature distribution state of the target to be measured.
  • the lens viewing angle ⁇ of the infrared camera group I and the infrared camera II is 50° to 90°, which ensures that the infrared camera group I and the infrared camera II can capture images of the bottom hole, the loading device and the bucket.
  • a monitoring method based on the above-mentioned coal mine main shaft vertical shaft lifting bucket safety starting monitoring device comprises the following steps:
  • the two cameras of the infrared camera group I are arranged oppositely, respectively installed on the coal inlet side and the non-flow side of the lower part of the main shaft derrick, and the two cameras are set at the same height and slightly lower than the bucket parking point, two The camera's lens faces the bottom of the bucket and is used to capture the bottom image of the bottom of the bucket; the infrared camera II is mounted on the non-inlet side of the main derrick and slightly above the load port, and the lens of the camera faces the loading device and the bucket One side, used to capture the image of the loading device and the top of the bucket; the signal processor is installed in the main shaft winch room, and is connected with the infrared camera group I, the infrared camera II and the sound and light alarm;
  • the infrared camera group I and the infrared camera II respectively collect images of the bottom hole, the loading device and the bucket, and then send the influence to the signal processor, the signal processor decodes the infrared image, and uses the canny The operator detects the edge of the image and obtains the edge image of the bottom and top of the bucket;
  • the signal processor identifies the lifting mechanisms and personnel in the edge image of the bottom and top of the bucket: based on the bucket, the main derrick and the loading equipment are mainly horizontal, vertical and angular mechanical structures, which will be in the edge image
  • the detected regular contour including the line segment and the curve is determined as a lifting mechanism;
  • the contour of the human body is an irregular curve,
  • the irregular contour detected in the edge image is determined as a person; at the same time, the reliability of the recognition is improved based on the infrared temperature difference between the person and the lifting mechanism;
  • step (d) according to the recognition result, whether there is a person around the loading device and the bucket is determined, and the specific process is as follows:
  • the safe start monitoring device and monitoring method for the main shaft vertical shaft lifting bucket of the coal mine provided by the invention adopts infrared camera to solve the problem of insufficient illumination around the bucket of the vertical shaft hoist; the image is processed based on the edge detection algorithm, and the edge is utilized
  • the rules and irregular contours presented in the image distinguish the hoist components and personnel, and have high recognition accuracy, and do not need to use a large amount of data set training like deep learning and classifier; based on the penetration of infrared imaging, use Contour difference discriminating personnel only need to capture a part of the human body in the image to identify the person, which will greatly improve the reliability of identifying the personnel in the complicated equipment structure, and avoid the misjudgment caused by the partial occlusion of the person.
  • the invention has the advantages of cleverness, reliable performance, simple structure and low safety operation cost, and can effectively monitor the situation of the personnel around the bucket when the bucket starts, thereby ensuring that the bucket can be safely started, ensuring that the maintenance worker can safely operate and upgrading the main well. Increased safety and obvious economic benefits.
  • Figure 1 is a schematic view of the structure of the present invention
  • FIG. 2 is a schematic view of the bottom working of the maintenance worker of the present invention.
  • Figure 3 is a schematic view showing the operation of the maintenance worker's bucket and loading equipment of the present invention.
  • a safe start monitoring device for the main shaft of the coal mine including the infrared camera group I8, the infrared camera II5, the signal processor 1 and the sound and light alarm 2; the infrared camera
  • the two cameras of group I8 are arranged opposite each other, respectively arranged on the coal inlet side and the non-flow side of the lower part of the main shaft derrick 3.
  • the two cameras are set at the same height and slightly lower than the bucket parking point, and the lens orientation of the two cameras is respectively
  • the bottom of the bucket 7 is used to capture the bottom hole image at the bottom of the bucket 7;
  • the infrared camera II5 is disposed on the non-inlet side of the main shaft derrick 3 and slightly above the loading port, and the lens of the camera faces the loading device 6 and the bucket 7 Side, used to capture the image of the loading device 6 and the top of the bucket 7;
  • the signal processor 1 is arranged in the main shaft winch room, and is connected with the infrared camera group I8, the infrared camera II5 and the sound and light alarm 2, and the signal processor 1 passes
  • the infrared camera group I8 and the infrared camera II5 respectively collect images of the bottom of the well, the loading device 6 and the bucket 7, and use the edge detection algorithm to process the image, using the rules and irregularities presented in the edge image. Distinguishing means and personnel lift profile 9, and controls the shutter sound and light alarm 2.
  • the infrared camera group I8 and the infrared camera II5 need to be equipped with a thermal imaging detector in front of the lens to obtain the overall temperature distribution state of the measured object; the lens viewing angle ⁇ of the infrared camera group I8 and the infrared camera II5 is 50 ° ⁇ 90 °, to ensure that the infrared camera group I8 and infrared camera II5 can capture the image of the bottom of the well, loading equipment 6 and the bucket 7.
  • the monitoring method for the safety start monitoring device of the lifting shaft of the main shaft of the coal mine is specifically as follows:
  • the two cameras of the infrared camera group I8 are arranged opposite each other, and are respectively installed on the coal inlet side and the non-flow side of the lower part of the main shaft derrick 3, and the two cameras are set at the same height and slightly lower than the bucket parking point.
  • the cameras of the two cameras face the bottom of the bucket 7 and are used to capture the bottom image of the bottom of the bucket 7;
  • the infrared camera II5 is mounted on the non-injecting side of the main shaft derrick 3 and slightly above the loading port, and the lens of the camera is facing the loading
  • the device 6 and the side of the bucket 7 are used to capture images of the loading device 6 and the top of the bucket 7;
  • the signal processor 1 is installed in the main shaft winch room, and the infrared camera group I8, the infrared camera II5 and the sound and light alarm 2 Communication connection
  • the infrared camera group I8 and the infrared camera II5 respectively collect images of the bottom hole, the loading device 6 and the bucket 7, and then transmit the influence to the signal processor 1, and the signal processor 1 decodes the infrared Image, and use the canny operator to detect the edge of the image to obtain the edge image of the bottom and top of the bucket 7;
  • the signal processor 1 identifies the lifting mechanism and the person 9 in the edge image of the bottom and top of the bucket 7: the machine based on the bucket 7, the main shaft derrick 3 and the loading device 6 is mainly horizontal and vertical, with sharp edges and corners.
  • the structure determines the regular contour including the line segment and the curve detected in the edge image as a lifting mechanism; based on the contour of the human body as an irregular curve, the irregular contour detected in the edge image is determined as a person 9; 9 and mention The difference in infrared temperature of the lifting mechanism improves the reliability of identification;

Abstract

本发明公开了一种煤矿主井立井提升箕斗安全启动监控装置及监控方法，主要包括红外摄像头组Ⅰ、红外摄像头Ⅱ、信号处理器和声光报警器；红外摄像头组Ⅰ用来拍摄箕斗底部的井底影像，红外摄像头Ⅱ用来拍摄装载设备和箕斗顶部的影像，信号处理器与红外摄像头组Ⅰ、红外摄像头Ⅱ和声光报警器通信连接，信号处理器通过红外摄像头组Ⅰ和红外摄像头Ⅱ分别采集井底、装载设备和箕斗的影像，采用边缘检测算法对影像进行处理，利用边缘影像中呈现出的规则和不规则轮廓区分提升机构和人员，并控制声光报警器的开闭。本发明原理巧妙、性能可靠、结构简单、安全运行成本低廉，能够有效监控箕斗启动时箕斗周围的人员情况，提升了主井提升的安全性。

Description

一种煤矿主井立井提升箕斗安全启动监控装置及监控方法 技术领域
本发明涉及一种适用于煤矿主井立井提升箕斗安全启动监控装置及监控方法。
背景技术
煤炭在我国经济发展中占据重要作用，而立井提升是煤炭生产的主导形式。主井是煤矿提升煤炭的关键通道，其安全性能直接关系着煤矿的安全生产。由于主井生产任务繁重，且工作过程中会有煤泥、煤渣等不断积聚在装载设备和箕斗上，降低了装载设备和箕斗的工作效率，导致箕斗和装载设备易于发生故障，因而需要检修工经常清理和检修装载设备和箕斗。另一方面，在立井提升装载煤的过程中，提升机不可避免地会发生煤块、煤泥的洒落。落煤不断积存在井底，当达到一定高度时，会出现落煤“托底”现象，造成提升机发生装卸载事故，因而需要检修工经常清理井底积煤。信号工在启动箕斗时，需要快速准确地判断装载设备以及箕斗周围是否存在检修工，否则容易导致严重的人员伤亡。如某煤矿某年3月31日，主井操作工未能发现正在作业的检修工而启动提升机，导致1名检修工坠井身亡。因而，研究立井提升箕斗安全启动监控装置及方法，对于提高立井提升安全性具有重要意义。
目前，针对主井提升安全启动的监控研究，主要针对机电控制方面，如采用低速软启动的控制策略降低箕斗启动时的电气冲击，检测电流和钢丝绳张力异常判断卡罐情况，缺乏直接对检修工的监控研究。拓展到特定空间的人员监控研究，专利申请号为CN 201610430945.6的红外行人检测方法，基于图像块深度学习特征检测红外图像中是否有人；专利授权号为ZL 201220521452.0的人数统计检测装置，利用人体红外传感器检测教室人数；专利申请号为CN 201410662745.4的人员安全监控系统，在特定监测区域中安装一个网络传输装置、若干个标签和定位基站，对人员的位置进行跟踪，完成提升机检修人员的监控。
针对煤矿主井立井提升箕斗安全启动监控主要存在以下问题：第一，在照明条件十分有限、井筒狭窄、组成构件多、结构复杂的矿井中，信号工通过肉眼观察或常规摄像头难以判断箕斗周围是否存在检修工，且工作效率低下；第二，利用图像深度学习及分类器进行红外识别时，针对井筒狭窄复杂空间的人员图像的数据集规模过小，识别效率和可靠性低，容易出现误判；第三，通过标签传感网络进行人员定位监控，需要在箕斗和矿工上安装网络传输装置和标签，带来较大的安装成本和运营负担，不具备实用性。
发明内容
发明目的：为了克服现有技术中存在的不足，本发明提供一种结构简单、兼具可靠 性和便捷性的煤矿主井立井提升箕斗安全启动监控装置及监控方法。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种煤矿主井立井提升箕斗安全启动监控装置，主要包括红外摄像头组Ⅰ、红外摄像头Ⅱ、信号处理器和声光报警器；红外摄像头组Ⅰ的两个摄像头相对布置，分别设置在主井井架下部进煤一侧和非进煤一侧，两个摄像头设置在同一高度且略低于箕斗停车点，两个摄像头的镜头朝向箕斗底部，用来拍摄箕斗底部的井底影像；红外摄像头Ⅱ设置在主井井架非进煤一侧且略高于装载口，摄像头的镜头朝向装载设备和箕斗一侧，用来拍摄装载设备和箕斗顶部的影像；信号处理器设置在主井绞车房，与红外摄像头组Ⅰ、红外摄像头Ⅱ和声光报警器通信连接，信号处理器通过红外摄像头组Ⅰ和红外摄像头Ⅱ分别采集井底、装载设备和箕斗的影像，采用边缘检测算法对影像进行处理，利用边缘影像中呈现出的规则和不规则轮廓区分提升机构和人员，并控制声光报警器的开闭。
具体的，所述红外摄像头组Ⅰ、红外摄像头Ⅱ的镜头前均需要加装热成像探测器，用以获得被测目标的整体温度分布状态。
具体的，所述红外摄像头组Ⅰ和红外摄像头Ⅱ的镜头视角角度α为50°～90°，确保红外摄像头组Ⅰ和红外摄像头Ⅱ能够拍摄到井底、装载设备和箕斗的影像。
一种基于上述煤矿主井立井提升箕斗安全启动监控装置的监控方法，包括如下步骤：
(a)将红外摄像头组Ⅰ的两个摄像头相对布置，分别安装在主井井架下部进煤一侧和非进煤一侧，两个摄像头设置在同一高度且略低于箕斗停车点，两个摄像头的镜头朝向箕斗底部，用来拍摄箕斗底部的井底影像；将红外摄像头Ⅱ安装在主井井架非进煤一侧且略高于装载口，摄像头的镜头朝向装载设备和箕斗一侧，用来拍摄装载设备和箕斗顶部的影像；将信号处理器安装在主井绞车房，与红外摄像头组Ⅰ、红外摄像头Ⅱ和声光报警器通信连接；
(b)当箕斗需要启动时，红外摄像头组Ⅰ和红外摄像头Ⅱ分别采集井底、装载设备和箕斗的影像，然后将影响发送给信号处理器，信号处理器解码红外影像，并利用canny算子检测图像边缘，获得箕斗底部和顶部的边缘影像；
(c)信号处理器对箕斗底部和顶部的边缘影像中的提升机构和人员进行识别：基于箕斗、主井井架和装载设备主要为横平竖直、棱角鲜明的机械结构，将边缘影像中检测出的包括线段和曲线在内的规则轮廓判定为提升机构；基于人体轮廓为不规则曲线， 将边缘影像中检测出的不规则轮廓判定为人员；同时，基于人员与提升机构的红外温度差异，提高识别的可靠性；
(d)根据识别结果，对装载设备和箕斗周围是否存在人员进行判断，并控制声光报警器的开闭。
具体的，所述步骤(d)中，根据识别结果，对装载设备和箕斗周围是否存在人员进行判断，具体过程如下：
①当红外摄像头组Ⅰ采集的图像中存在不规则轮廓时，则表示此时有人员正在清理井底积煤，信号处理器触发声光报警器亮黄灯提示箕斗底部有人员，禁止启动箕斗；
②当红外摄像头Ⅱ采集的图像中存在不规则轮廓时，则表示此时有人员在箕斗或者装载设备处从事检修或者清理作业，信号处理器触发声光报警器亮红灯提示箕斗顶部有人员，禁止启动箕斗；
③当红外摄像头组Ⅰ和红外摄像头Ⅱ采集的图像中均只有规则轮廓时，则表示此时箕斗底部和顶部都没有人员作业，信号处理器触发声光报警器亮绿灯提示可以正常启动箕斗。
有益效果：本发明提供的煤矿主井立井提升箕斗安全启动监控装置及监控方法，采用红外摄像，解决了立井提升机箕斗周围照明不足的问题；基于边缘检测算法对图像进行处理，利用边缘影像中呈现出的规则和不规则轮廓区分提升机构件和人员，具备较高的识别准确性，且不需要像深度学习及分类器使用大量的数据集训练；基于红外摄像的穿透性，利用轮廓差异辨别人员，只需要影像中拍摄到人员身体的一部分就能识别人员，将大为提高在复杂的设备结构中识别人员的可靠性，避免人员被部分遮挡导致误判。本发明原理巧妙、性能可靠、结构简单、安全运行成本低廉，能够有效监控箕斗启动时箕斗周围的人员情况，从而保证箕斗能够安全启动，保证了检修工能够安全作业，提升了主井提升的安全性，经济效益明显。
附图说明
图1为本发明的结构示意图；
图2为本发明的检修工井底作业示意图；
图3为本发明的检修工箕斗和装载设备作业示意图；
图中：1-信号处理器，2-声光报警器，3-主井井架，4-钢丝绳，5-红外摄像头组Ⅱ，6-装载设备，7-箕斗，8-红外摄像头组Ⅰ，9-人员。
具体实施方式
下面结合附图对本发明作更进一步的说明。
如图1、图2和图3所示为一种煤矿主井立井提升箕斗安全启动监控装置，主要包括红外摄像头组Ⅰ8、红外摄像头Ⅱ5、信号处理器1和声光报警器2；红外摄像头组Ⅰ8的两个摄像头相对布置，分别设置在主井井架3下部进煤一侧和非进煤一侧，两个摄像头设置在同一高度且略低于箕斗停车点，两个摄像头的镜头朝向箕斗7底部，用来拍摄箕斗7底部的井底影像；红外摄像头Ⅱ5设置在主井井架3非进煤一侧且略高于装载口，摄像头的镜头朝向装载设备6和箕斗7一侧，用来拍摄装载设备6和箕斗7顶部的影像；信号处理器1设置在主井绞车房，与红外摄像头组Ⅰ8、红外摄像头Ⅱ5和声光报警器2通信连接，信号处理器1通过红外摄像头组Ⅰ8和红外摄像头Ⅱ5分别采集井底、装载设备6和箕斗7的影像，采用边缘检测算法对影像进行处理，利用边缘影像中呈现出的规则和不规则轮廓区分提升机构和人员9，并控制声光报警器2的开闭。
所述红外摄像头组Ⅰ8、红外摄像头Ⅱ5的镜头前均需要加装热成像探测器，用以获得被测目标的整体温度分布状态；所述红外摄像头组Ⅰ8和红外摄像头Ⅱ5的镜头视角角度α为50°～90°，确保红外摄像头组Ⅰ8和红外摄像头Ⅱ5能够拍摄到井底、装载设备6和箕斗7的影像。
上述煤矿主井立井提升箕斗安全启动监控装置的监控方法，具体包括如下步骤：
(a)将红外摄像头组Ⅰ8的两个摄像头相对布置，分别安装在主井井架3下部进煤一侧和非进煤一侧，两个摄像头设置在同一高度且略低于箕斗停车点，两个摄像头的镜头朝向箕斗7底部，用来拍摄箕斗7底部的井底影像；将红外摄像头Ⅱ5安装在主井井架3非进煤一侧且略高于装载口，摄像头的镜头朝向装载设备6和箕斗7一侧，用来拍摄装载设备6和箕斗7顶部的影像；将信号处理器1安装在主井绞车房，与红外摄像头组Ⅰ8、红外摄像头Ⅱ5和声光报警器2通信连接；
(b)当箕斗7需要启动时，红外摄像头组Ⅰ8和红外摄像头Ⅱ5分别采集井底、装载设备6和箕斗7的影像，然后将影响发送给信号处理器1，信号处理器1解码红外影像，并利用canny算子检测图像边缘，获得箕斗7底部和顶部的边缘影像；
(c)信号处理器1对箕斗7底部和顶部的边缘影像中的提升机构和人员9进行识别：基于箕斗7、主井井架3和装载设备6主要为横平竖直、棱角鲜明的机械结构，将边缘影像中检测出的包括线段和曲线在内的规则轮廓判定为提升机构；基于人体轮廓为不规则曲线，将边缘影像中检测出的不规则轮廓判定为人员9；同时，基于人员9与提 升机构的红外温度差异，提高识别的可靠性；
(d)根据识别结果，对装载设备6和箕斗7周围是否存在人员9进行判断，具体过程如下：
①当红外摄像头组Ⅰ8采集的图像中存在不规则轮廓时，则表示此时有人员9正在清理井底积煤，信号处理器1触发声光报警器2亮黄灯提示箕斗7底部有人员9，禁止启动箕斗7；
②当红外摄像头Ⅱ5采集的图像中存在不规则轮廓时，则表示此时有人员9在箕斗7或者装载设备6处从事检修或者清理作业，信号处理器1触发声光报警器2亮红灯提示箕斗7顶部有人员9，禁止启动箕斗7；
③当红外摄像头组Ⅰ8和红外摄像头Ⅱ5采集的图像中均只有规则轮廓时，则表示此时箕斗7底部和顶部都没有人员9作业，信号处理器1触发声光报警器2亮绿灯提示可以正常启动箕斗7。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (5)

  1. 一种煤矿主井立井提升箕斗安全启动监控装置，其特征在于：主要包括红外摄像头组Ⅰ(8)、红外摄像头Ⅱ(5)、信号处理器(1)和声光报警器(2)；红外摄像头组Ⅰ(8)的两个摄像头相对布置，分别设置在主井井架(3)下部进煤一侧和非进煤一侧，两个摄像头设置在同一高度且低于箕斗停车点，两个摄像头的镜头朝向箕斗(7)底部，用来拍摄箕斗(7)底部的井底影像；红外摄像头Ⅱ(5)设置在主井井架(3)非进煤一侧且高于装载口，摄像头的镜头朝向装载设备(6)和箕斗(7)一侧，用来拍摄装载设备(6)和箕斗(7)顶部的影像；信号处理器(1)设置在主井绞车房，与红外摄像头组Ⅰ(8)、红外摄像头Ⅱ(5)和声光报警器(2)通信连接，信号处理器(1)通过红外摄像头组Ⅰ(8)和红外摄像头Ⅱ(5)分别采集井底、装载设备(6)和箕斗(7)的影像，采用边缘检测算法对影像进行处理，利用边缘影像中呈现出的规则和不规则轮廓区分提升机构和人员(9)，并控制声光报警器(2)的开闭。
  2. 根据权利要求1所述的煤矿主井立井提升箕斗安全启动监控装置，其特征在于：所述红外摄像头组Ⅰ(8)、红外摄像头Ⅱ(5)的镜头前均需要加装热成像探测器。
  3. 根据权利要求1所述的煤矿主井立井提升箕斗安全启动监控装置，其特征在于：所述红外摄像头组Ⅰ(8)和红外摄像头Ⅱ(5)的镜头视角角度α为50°～90°，确保红外摄像头组Ⅰ(8)和红外摄像头Ⅱ(5)能够拍摄到井底、装载设备(6)和箕斗(7)的影像。
  4. 一种基于权利要求1、2或3所述的煤矿主井立井提升箕斗安全启动监控装置的监控方法，其特征在于：包括如下步骤：
    (a)将红外摄像头组Ⅰ(8)的两个摄像头相对布置，分别安装在主井井架(3)下部进煤一侧和非进煤一侧，两个摄像头设置在同一高度且低于箕斗停车点，两个摄像头的镜头朝向箕斗(7)底部，用来拍摄箕斗(7)底部的井底影像；将红外摄像头Ⅱ(5)安装在主井井架(3)非进煤一侧且高于装载口，摄像头的镜头朝向装载设备(6)和箕斗(7)一侧，用来拍摄装载设备(6)和箕斗(7)顶部的影像；将信号处理器(1)安装在主井绞车房，与红外摄像头组Ⅰ(8)、红外摄像头Ⅱ(5)和声光报警器(2)通信连接；
    (b)当箕斗(7)需要启动时，红外摄像头组Ⅰ(8)和红外摄像头Ⅱ(5)分别采集井底、装载设备(6)和箕斗(7)的影像，然后将影响发送给信号处理器(1)，信号处理器(1)解码红外影像，并利用canny算子检测图像边缘，获得箕斗(7)底部和顶部 的边缘影像；
    (c)信号处理器(1)对箕斗(7)底部和顶部的边缘影像中的提升机构和人员(9)进行识别：基于箕斗(7)、主井井架(3)和装载设备(6)主要为横平竖直、棱角鲜明的机械结构，将边缘影像中检测出的包括线段和曲线在内的规则轮廓判定为提升机构；基于人体轮廓为不规则曲线，将边缘影像中检测出的不规则轮廓判定为人员(9)；同时，基于人员(9)与提升机构的红外温度差异，提高识别的可靠性；
    (d)根据识别结果，对装载设备(6)和箕斗(7)周围是否存在人员(9)进行判断，并控制声光报警器(2)的开闭。
  5. 根据权利要求4所述的监控方法，其特征在于：所述步骤(d)中，根据识别结果，对装载设备(6)和箕斗(7)周围是否存在人员(9)进行判断，具体过程如下：
    ①当红外摄像头组Ⅰ(8)采集的图像中存在不规则轮廓时，信号处理器(1)触发声光报警器(2)亮黄灯提示箕斗(7)底部有人员(9)，禁止启动箕斗(7)；
    ②当红外摄像头Ⅱ(5)采集的图像中存在不规则轮廓时，信号处理器(1)触发声光报警器(2)亮红灯提示箕斗(7)顶部有人员(9)，禁止启动箕斗(7)；
    ③当红外摄像头组Ⅰ(8)和红外摄像头Ⅱ(5)采集的图像中均只有规则轮廓时，信号处理器(1)触发声光报警器(2)亮绿灯提示可以正常启动箕斗(7)。
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