CN106657935A - Coal cutter abnormal work and disaster alarm system based on images - Google Patents
Coal cutter abnormal work and disaster alarm system based on images Download PDFInfo
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- 239000003245 coal Substances 0.000 title claims abstract description 56
- 230000002159 abnormal effect Effects 0.000 title claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 40
- 238000003860 storage Methods 0.000 claims abstract description 21
- 238000005065 mining Methods 0.000 claims description 29
- 238000005259 measurement Methods 0.000 claims description 17
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- 238000004519 manufacturing process Methods 0.000 abstract description 8
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- 238000004891 communication Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 238000012546 transfer Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
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- 239000003610 charcoal Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003818 cinder Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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- 239000002994 raw material Substances 0.000 description 1
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- 238000005507 spraying Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
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Abstract
The invention discloses a coal cutter abnormal work and disaster alarm system based on images. A camera is installed on a hydraulic bracket on an underground coal face of a coal mine, and the camera collects video information; a video server uploads digital video streams, a coal cutter controller uploads coal cutter state data, a coal cutter monitoring server processes a video image, monitors a set area in the video image of the camera and outputs a coal cutter abnormal work and disaster alarm signal to a monitoring terminal if an alarm condition is satisfied with reference to corresponding coal cutter state data stored in a storage server, and production and management personnel can check real-time and historical videos of the field through the monitoring terminal and carry out corresponding processing; and the alarm system fully considers the working features of the coal cutter in the coal mines, is simple to implement, automatically takes measures in time, and can accurately alarm the coal cutter abnormal work and disaster at the first time.
Description
Technical field
The present invention relates to a kind of coal-winning machine abnormal work and calamity forecast system based on image, the system be related to image with
The field such as track and communication.
Background technology
Coal is the important basic energy resource of China and raw material, and the energy resource structure based on coal will not change within the long duration
Become, with the development of national economy, the demand of coal is increasing, and adjoint mine safety accidents are also being on the increase.Coal
Charcoal resource security Efficient Development becomes the hot fields of Chinese scholars research using technology.One of maximally effective solution
It is to realize coal production equipment mechanization and automation, so as to realize down-hole nobody or few people's exploitation.
With the raising and the development of technology of safety of coal mines importance, down-hole coal excavation working face realize few people or
Person's Manless mining is inexorable trend, the necessary condition for realizing the few people in down-hole or Manless mining be down-hole coal excavation equipment mechanization,
Automation and the monitor in real time to it.Coal-winning machine is one of most important equipment of fully-mechanized mining working, and its normal operation is whole comprehensive
Mining face completes the basis of digging operation, therefore is one of underground coal mine fully-mechanized mining working to the monitoring of coal-winning machine working condition
Vital task.
At present coal-winning machine monitoring function is realized completing by sensor more.The existing mode sensor overwhelming majority adopts wired company
Connect, in actual applications because limited space, operating mode are severe, more energy can be put into work arrangement and maintenance, and often
Can be because the damage of mechanical movement generation connection line, affects the precision of sensor.In machine is started working, can produce a large amount of
Electromagnetic interference, affect signal of communication propagation.Meanwhile, in the case of actually mining, fall along with substantial amounts of coal cinder, install
Sensor on coal-winning machine is inevitably collided, although have corresponding safeguard procedures, but prolonged collision is still
The precision of sensor can so be affected.For the impact that collision free, mechanical oscillation bring, new coal-face down-hole coal excavation is needed
Machine abnormal work monitor and alarm system, can report to the police coal-winning machine abnormal work exactly the very first time, be silo shearer
Safety work provides a guarantee.Therefore the present invention proposes a kind of coal-winning machine abnormal work and calamity forecast system based on image
System, according to the different abnormal operations of coal-winning machine, the system can send different alarm, including：Rocking arm automatic lifting report
Alert signal；Rocking arm can't lock, and have sinkage alarm signal；Shearer haulage power deficiency alarm signal；Rocking arm is heightened under speed
Drop alarm signal；Rocking arm can not heighten alarm signal；Shearer haulage power alarming decrease signal.After being lost according to coal-winning machine tracking
Monitoring picture grey values result, the system can send different alarm, including：Burst floods alarm signal；Gas is let out
Dew alarm signal.
The content of the invention
The present invention proposes a kind of coal-winning machine abnormal work and calamity forecast system based on image, and the system is mainly wrapped
Include：Video camera, video server, coal mining machine controller, substation, mining Ethernet, storage server, coal-winning machine monitoring service
Device, monitor terminal；Wherein video camera, video server, substation and coal mining machine controller are installed in down-hole, storage server, are adopted
Coal machine monitors server and monitor terminal is installed on well；Video camera is installed on the hydraulic support of the coal-face of underground coal mine
On, camera acquisition coal-face live video analog image；Coal-winning machine monitors server
Piece image, and tracking and monitoring coal-winning machine left end cylinder and left rocking bar junction position IA, the left rocking bar of tracking and monitoring coal-winning machine with
Mainframe junction position IC, tracking and monitoring coal-winning machine right-hand member cylinder and right rocking bar junction position IB, the tracking and monitoring coal-winning machine right side
Rocking bar and mainframe junction position ID, founding mathematical models calculate left rocking bar and lift angle [alpha]AAngle [alpha] is lifted with right rocking barB,
Coal-winning machine is calculated in horizontal plane translational speed V, the left rocking bar angular velocity omega of coal-winning machine is calculatedAWith right rocking bar angular velocity omegaB, calculate and adopt
Put I in coal seat in the plane0, so as to draw coal-winning machine working condition；The system carries out coal-winning machine according to coal-winning machine working state monitoring result
Abnormal operation judgement, if judging coal-winning machine working condition exception, sends alarm signal；The system is tracked according to coal-winning machine
Picture grey values result is monitored after loss carries out burst fire-disaster judgement, if judging there is burst fire-disaster, sends alarm signal；
Alarm signal is sent to monitor terminal by mining Ethernet；Monitor terminal is responsible for display alarm information, by accessing video clothes
Business device obtains live video, and by accessing storage server history live video is obtained.Concrete grammar includes：
1. video camera is contour equally distributed on coal face hydraulic support；Fill-in light is installed by video camera
Source, light projection direction is consistent with camera video collection direction.
2. coal mining machine controller collection coal-winning machine left rocker height etc. arranges data；Substation is received on coal mining machine controller
The coal-winning machine of biography arranges data, is transmitted to storage server, coal-winning machine by mining Ethernet and monitors server and monitor terminal.
3. coal-winning machine monitoring server is located on well, and the digital of digital video data for receiving and coal-winning machine are arranged into data output
To core processor, the picture of collection is spliced into piece image by processor, and is stored in a storage module.
4. the left end cylinder in camera supervised scope and left rocking bar junction A set respectively, to camera supervised
In the range of right-hand member cylinder and right rocking bar junction B set, the left rocking bar in camera supervised scope and mainframe connected
The place of connecing C is set, the right rocking bar in camera supervised scope and mainframe junction D is set；During k frames, exist respectively
IA、IB、IC、IDSurrounding gathers two sample set Dα=z | | | IN-Iz||<α } and Dδ,β=z | δ<||IN-Iz||<β }, wherein, α<
δ<β, IzRepresent sample position, INRepresent in IA、IB、IC、IDThe sample position of surrounding collection；Make DαFor positive sample (cylinder figure
Picture), Dδ, βFor negative sample (background image), random measurement matrix is calculated according to following equation：
rijRepresent that the element of random measurement matrix, s take 2 or 3,Represent probability；Then many chis are carried out to sample image
Degree conversion, calculates class Harr feature, and dimensionality reduction is carried out to multi-scale image feature by above-mentioned calculation matrix, calculates after dimensionality reduction just
The expectation of negative sample feature and standard deviation, and use it to train Naive Bayes Classifier；When k+1 frames, respectively to image
N scanning window of the surrounding sample of the target location that previous frame is traced into setting regions A, B, C, D, by same sparse survey
Moment matrix extracts feature to the window dimensionality reduction sampled, and the Naive Bayes Classifier for then being trained with k frames is classified, and makes
The maximum window of classification fraction is denoted as target window, and updates I respectivelyA、IB、IC、ID。
5. coal winning machine position I is set0For origin, founding mathematical models, picture position is transformed into coordinate system, IABe converted to
(xA,yA), IBBe converted to (xB,yB), ICBe converted to (xC,yC), IDBe converted to (xD,yD), if the instantaneous raising height of left rocking bar is αa, it is right
The instantaneous raising height of rocking bar is αb, left rocking bar instantaneously lift angular speed for ωa, right rocking bar instantaneously lift angular speed for ωb, coal-winning machine
The instantaneous translational speed of mainframe is υ, during note k frames, IA、IB、IC、IDCoordinate (xAk,yAk)、(xBk,yBk)、(xCk,yCk)、(xDk,yDk), k+
During T frames, IA、IB、IC、IDCoordinate (xAk+1,yAk+1)、(xBk+1,yBk+1)、(xCk+1,yCk+1)、(xDk+1,yDk+1), the T frame period times are t；
Calculate At interval of time T0, calculate α in the timea's
Average, draws αA, calculate α in the timebAverage, draw αB, calculate ω in the timeaAverage, draw ωA, when calculating this
Interior ωbAverage, draw ωB, the average of υ in the time is calculated, draw the numerical value of V；T0, T by measurement setting or artificially set
It is fixed.
6. frequency n=m=0 is set, during start-up operation, at interval of time T3, detect V, n and m value, by judge V, n,
m、αA、αB、ωA、ωBValue, judge the working condition of coal-winning machine, according to judged result, the system can send different types of report
Alert signal.
7. after coal-winning machine tracking is lost, gray value is carried out to subsequent image and is extracted and is calculated, according to result of calculation, judged
Whether there is floods, gas to reveal, according to judged result, the system can send different types of alarm signal.
8. alarm signal includes：Rocking arm automatic lifting alarm signal；Rocking arm can't lock, and have sinkage alarm signal；Adopt
Coal machine travel power deficiency alarm signal；Rocking arm heightens speed alarming decrease signal；Rocking arm can not heighten alarm signal；Coal-winning machine leads
Gravitation alarming decrease signal；Burst floods alarm signal；Gas reveals alarm signal.
Description of the drawings
Coal-winning machine abnormal works and calamity forecast system schematic of the Fig. 1 based on image.
The workflow schematic diagram of Fig. 2 coal-winning machines abnormal work and calamity forecast system.
Fig. 3 coal-winning machines monitor monitoring server schematic flow sheet.
Specific embodiment
As shown in figure 1, the coal-winning machine abnormal work warning system composition for monitoring server based on coal-winning machine mainly includes：
1. video camera (101), using the mining video camera for meeting coal mine flame-proof requirement, with secondary light source, installed in adopting
On the hydraulic support of coal working face, it is connected with video server (104) by coaxial cable.
2. coal mining machine controller (102), are responsible for collection coal-winning machine and arrange data, and data are transmitted to depositing by EPA
Storage server, using Programmable Logic Controller (PLC), Programmable Logic Controller has communication interface or communication module.In this embodiment party
Siemens SIMATIC S7-300 used in case.
3. substation (103), also referred to as data collection station, are responsible for receiving the coal-winning machine setting that coal mining machine controller (102) is uploaded
Data, and data are uploaded into storage server, coal-winning machine monitoring server and monitor terminal.Substation and coal mining machine controller
(102) twisted-pair communication is passed through using RS-485 standards；Substation is connected by twisted-pair feeder or optical cable with nearest down-hole switch,
Communicated with the storage server on well using TCP modes, with flameproof enclosure, meet underground coal mine flame proof requirement.
4. video server (104), also referred to as video encoder, receive the analog video signal exported by video camera (101),
Digitized and compressed encoding, server is monitored to storage server, coal-winning machine on well by mining Ethernet and monitoring is whole
End transmitting video data.Haikang DS-6701HW one-way network video servers are selected in the present embodiment, are set to multicast side
Formula.
5. down-hole switch (105), are the down-hole access devices of mining Ethernet, and concatenation forms looped network, are responsible for video clothes
Business device and other accesses and data exchange by network communication equipment, equipment incoming end is generally RJ45 interfaces, and looped network continues
Hold as optical interface, with flameproof enclosure, meet underground coal mine flame proof requirement.
6. the network switch (106), are the hard core control equipment of mining Ethernet, are responsible for the equipment of all access networks
Management and data exchange.
7. storage server (107), are responsible for reception by the video data of video server upload and store, and are monitor terminal
Live historical query is provided and transfers service.
8. coal-winning machine monitoring server (108), receives digital video frequency flow and coal-winning machine control that video server (104) is uploaded
The coal-winning machine that device (102) processed uploads arranges data, and video image is processed, and in monitoring camera video image area is set
Domain, and with reference to storage server storage corresponding coal-winning machine arrange data, as met alert if if it is defeated to monitor terminal (109)
Go out coal-winning machine exceptional state alarm signal.
9. monitor terminal (109), with sound and light of alarm, receive the warning number of coal-winning machine monitoring server (108)
According to then sound and light alarm；Monitor terminal has real-time video monitoring and history video transfers function, and production management personnel are by monitoring
Terminal checks the live video image uploaded by video server (104), also can transfer history video from storage server (107)
Data.Production management personnel can send alarm signal by Technology for Communication System of Coal Mine, and emergency scheduling instruction is issued to related personnel.Prison
The built-in down-hole geography information of control terminal, and with map denotation engine, the present embodiment uses the visualization of Map Info companies
Map components Map X, the camera position for monitoring to report to the police can be automatically shown when coal-winning machine operation irregularity is reported to the police.
The course of work of coal-winning machine abnormal work warning system is as shown in Figure 2：
1. (201) camera acquisition video image, the in-site modeling vision signal for collecting is transmitted by coaxial cable
Give video server (104).
2. (202) video server (104) digitized analog video signal and compressed encoding is carried out.
3. (203) substation (103), receives the coal-winning machine setting data that coal mining machine controller (102) is uploaded.
4. (204) by vision signal and coal-winning machine arrange data by netting twine by data be uploaded to storage server (107),
Coal-winning machine monitoring server (108) and monitor terminal (109).
5. (205) storage server (107) receives vision signal and coal-winning machine arranges data and stored.
6. (206) coal-winning machine monitoring server (108) receives vision signal and coal-winning machine and arranges data, and by core at
The built-in storehouse Treatment Analysis video data of reason device (201), coal-winning machine working condition in monitoring coal work plane video, to analysis knot
Fruit is judged.
7. (207) are then led to alert data by network when monitoring result meets alert if using TCP communication mode
Letter module (204) sends monitor terminal (109) to.
8. after (208) monitor terminal (108) receives alert data, drawn by map denotation automatically according to camera number
Hold up and show over the display coal winning machine position, and sound and light alarm prompting production management personnel are processed.
9. (209) production management personnel transfer live history and regard by monitor terminal (109) access storage server (107)
Frequently.
10. (210) production management personnel watch the live video uploaded by video server (104) simultaneously, confirm to report to the police
Generating process and presence states situation.
After 11. (211) production management personnel confirm to report to the police, alarm signal can be sent by Technology for Communication System of Coal Mine, to correlation
Personnel issue emergency scheduling instruction.
Coal-winning machine monitoring monitoring server flow process is as shown in Figure 3：
1. the monitor area R parameter related to all monitoring computings is transferred when (301) image trace monitoring device starts.
2. (302) the left end cylinder in camera supervised scope and left rocking bar junction A are set respectively, to shooting
Right-hand member cylinder in the range of machine monitoring and right rocking bar junction B set, to the left rocking bar in camera supervised scope and master
Frame junction C is set, the right rocking bar in camera supervised scope and mainframe junction D is set；During k frames,
Respectively in IA、IB、IC、IDSurrounding gathers two sample set Dα=z | | | IN-Iz||<α } and Dδ,β=z | δ<||IN-Iz||<β },
Wherein, α<δ<β, IzRepresent sample position, INRepresent in IA、IB、IC、IDThe sample position of surrounding collection；Make DαFor positive sample (rolling
Sketch drawing picture), Dδ, βFor negative sample (background image), random measurement matrix is calculated according to following equation：rijRepresent that the element of random measurement matrix, s take 2 or 3,Represent general
Rate；Then multi-scale transform is carried out to sample image, class Harr feature is calculated, it is special to multi-scale image by above-mentioned calculation matrix
Levying carries out dimensionality reduction, calculates expectation and the standard deviation of the positive and negative sample characteristics after dimensionality reduction, and uses it to train Naive Bayes Classification
Device；When k+1 frames, surrounding sample n of previous frame in image setting region A, B, C, D is traced into target location respectively
Scanning window, by same sparseness measuring matrix to the window dimensionality reduction sampled, extracts feature, the Piao for then being trained with k frames
Plain Bayes classifier is classified, and the maximum window of order classification fraction is denoted as target window, and updates I respectivelyA、IB、IC、ID。
3. (303) judge whether image tracks loss, if lost, perform (325), otherwise perform (304).
4. (304) store data in memory module.
5. (305) image trace monitoring device founding mathematical models, horizontal direction it is left it is negative it is right just, bear under vertical direction
Just, by I0Be converted to (x0,y0), IABe converted to (xA,yA), IBBe converted to (xB,yB), ICBe converted to (xC,yC), IDBe converted to (xD,
yD)。
6. (306) are at interval of time T0, calculate If angular speed αA1=αB1=0, angular speed αA2=αB2=0, at interval of time T1, make αA1=αA2, αA2
=αA, αB1=αB2, αB2=αB, calculate ωA=αA2-αA1With ωB=αB2-αB1Value, if Q1<ωA<Q2, then ω is madeA=0, if Q1<
ωB<Q2, then ωB=0, wherein Q1<0<Q2, ω>0 represents that cylinder is rising, and ω=0 represents that roller height is constant, ω<0 represents rolling
Cylinder is declining；If position I01、I02And I01=I02=0, at interval of time T2, make I01=I02, I02=I0, calculate
Value.If Q3<V<Q4, then V=0, wherein Q are made3<0<Q4, V>0, represent that coal-winning machine moves right, V<0, represent coal-winning machine to the left
Mobile, V=0 represents coal-winning machine in adjustment roller height；By αA1、αA2、αB1、αB2、ωA、ωB, V be stored in memory module；T0、
T1、T2、Q1、Q2、Q3、Q4Set or be manually set by measurement.
7. whether (307) judge speed V more than threshold value Q5, if greater than Q5, then (308) are performed, otherwise perform (311).Q5
Set or be manually set by measurement.
8. whether (308) judge left and right cylinder angle difference less than threshold value Q6, if less than Q6, then (309) are performed, otherwise
Perform (302).Q6Set or be manually set by measurement.
9. (309) triggering early warning, puts pre-warning mark.
10. whether (310) judge angular velocity omega more than 0, if greater than 0, then perform (333) and send rocking arm automatic lifting report
Alert signal, otherwise performs (333) transmission rocking arm and can't lock, and has sinkage alarm signal.
Whether 11. (311) judge speed V more than threshold value Q7, if greater than Q7, then (321) are performed, otherwise perform (312).
Q7Set or be manually set by measurement.
12. (312) frequency ns set to 0, and number of times m adds 1.
Whether 13. (313) judge number of times m more than threshold value Q8, if greater than Q8, then (314) are performed, otherwise perform (319).
Q8Set or be manually set by measurement.
14. (314) triggering early warning, put pre-warning mark.
15. (315) judge coal winning machine position I0Whether in (Q9, Q10) in, if in the range of, performing (333) and sending
Shearer haulage power deficiency alarm signal, otherwise performs (316).Q9、Q10Set or be manually set by measurement.
Whether 16. (316) judge angular velocity omega more than threshold value Q11, if greater than Q11, then (317) are performed, otherwise perform
(320)。Q11Set or be manually set by measurement.
17. (317) cancel early warning.
18. (318) frequency ns, m set to 0.
Frequency n, m are stored in memory module by 19. (319).
Whether 20. (320) judge angular velocity omega more than 0, and if greater than 0, then execution (333) sends rocking arm and heightens under speed
Drop alarm signal, otherwise execution (333) sends rocking arm can not heighten alarm signal.
21. (321) number of times m set to 0, and frequency n adds 1.
Whether 22. (322) judge frequency n more than threshold value Q12, if greater than Q12, then (323) are performed, otherwise perform
(319)。Q12Set or be manually set by measurement.
23. (323) triggering early warning, put pre-warning mark.
24. (324) judge coal winning machine position I0Whether in (Q13, Q14) in, if in the range of, performing (333) and sending
Shearer haulage power alarming decrease signal, otherwise performs (317).Q13、Q14Set or be manually set by measurement.
25. (325) lose front last frame image I to coal-winning machine trackingA、IB、IC、IDPlace's mark, extracts subsequent K frames figure
As the gray value of interior this position everywhere, and computing is carried out respectively.Ask in K two field pictures more than or equal to given threshold N1Pixel calculate
Art mean value, obtains pixel value DH；K frame ins are asked for less than or equal to given threshold N2Pixel arithmetic mean of instantaneous value, obtain pixel value
DL。
26. (326) judge DHWhether given threshold N is more than or equal to3, if greater than N3, then (328) are performed, otherwise perform
(330)。
27. (326) judge whether spraying opens, if opened, perform (301), otherwise perform (328).
28. (328) at interval of X frames to video image f (x, y) of camera acquisition with deposit coal-winning machine background image g (x,
Y) accumulated deficiency process is carried out, after accumulated deficiency calculation process Y frame, is asked more than or equal to setting gray value T1Pixel summation
DW。
29. (329) judge DWWhether given threshold N is more than or equal to4, if greater than equal to N4, then perform (333) and send water
Calamity alarm signal, otherwise performs (301).
30. (330) judge DLWhether given threshold N is more than or equal to5, if greater than N5, then (331) are performed, otherwise perform
(301)。
31. (331) after accumulated deficiency calculation process Y frame, asks more than or equal to setting gray value T2Pixel summation DF。
32. (332) judge DFWhether given threshold N is more than or equal to6, if greater than equal to N6, then perform (333) and send watt
This reveals alarm signal, otherwise performs (301).
33. (333) send alarm signal.Including：Rocking arm automatic lifting alarm signal；Rocking arm can't lock, and have sinkage
Alarm signal；Shearer haulage power deficiency alarm signal；Rocking arm heightens speed alarming decrease signal；Rocking arm can not heighten alarm signal
Number；Shearer haulage power alarming decrease signal；Burst floods alarm signal；Gas reveals alarm signal.
Claims (9)
1. the present invention proposes a kind of coal-winning machine abnormal work and calamity forecast system based on image, and the system mainly includes：
Video camera, video server, coal mining machine controller, substation, mining Ethernet, storage server, coal-winning machine monitoring server, prison
Control terminal；Wherein video camera, video server, substation and coal mining machine controller are installed in down-hole, storage server, coal-winning machine prison
Survey server and monitor terminal is installed on well；Video camera is installed on the hydraulic support of the coal-face of underground coal mine, is taken the photograph
Camera gathers coal-face live video analog image；It is a width figure that coal-winning machine monitors server by the image mosaic for receiving
Picture, and tracking and monitoring coal-winning machine left end cylinder and left rocking bar junction position IA, the left rocking bar of tracking and monitoring coal-winning machine and mainframe
Junction position IC, tracking and monitoring coal-winning machine right-hand member cylinder and right rocking bar junction position IB, the right rocking bar of tracking and monitoring coal-winning machine with
Mainframe junction position ID, founding mathematical models calculate left rocking bar and lift angle [alpha]AAngle [alpha] is lifted with right rocking barB, calculate and adopt
Coal machine calculates the left rocking bar angular velocity omega of coal-winning machine in horizontal plane translational speed VAWith right rocking bar angular velocity omegaB, calculate coal mining seat in the plane
Put I0, so as to draw coal-winning machine working condition；The system carries out coal-winning machine exception work according to coal-winning machine working state monitoring result
Make condition adjudgement, if judging coal-winning machine working condition exception, send alarm signal；After the system is lost according to coal-winning machine tracking
Monitoring picture grey values result carries out burst fire-disaster judgement, if judging there is burst fire-disaster, sends alarm signal；Alarm signal
Number monitor terminal is sent to by mining Ethernet；Monitor terminal is responsible for display alarm information, is obtained by accessing video server
Live video is obtained, by accessing storage server history live video is obtained.
2. warning system as claimed in claim 1, it is characterised in that：Video camera is contour equally distributed installed in coal work
On the hydraulic support of face；Secondary light source is installed by video camera, light projection direction is consistent with camera video collection direction.
3. warning system as claimed in claim 1, it is characterised in that：Coal mining machine controller collection coal-winning machine left rocker height
Deng setting data；Substation receives the coal-winning machine setting data that coal mining machine controller is uploaded, and by mining Ethernet storage is uploaded to
Server, coal-winning machine monitoring server and monitor terminal.
4. warning system as claimed in claim 1, it is characterised in that：Coal-winning machine monitoring server is located on well, will be received
Digital of digital video data and coal-winning machine data output is set to core processor, the image mosaic for gathering is a width figure by processor
Picture, and store in a storage module.
5. warning system as claimed in claim 1, it is characterised in that：Respectively to the left end cylinder in camera supervised scope with
Left rocking bar junction A set, the right-hand member cylinder in camera supervised scope and right rocking bar junction B are set, right
Left rocking bar in camera supervised scope and mainframe junction C set, to the right rocking bar in camera supervised scope with
Mainframe junction D is set；During k frames, respectively in IA、IB、IC、IDSurrounding gathers two sample set Dα=z | | | IN-Iz||
<α } and Dδ , β=z | δ<||IN-Iz||<β }, wherein, α<δ<β, IzRepresent sample position, INRepresent in IA、IB、IC、IDSurrounding is adopted
The sample position of collection；Make DαFor positive sample (cylinder image), Dδ, βFor negative sample (background image), according to following equation calculate with
Machine calculation matrix：rijRepresent that the element of random measurement matrix, s take 2 or 3,Represent probability；Then multi-scale transform is carried out to sample image, class Harr feature is calculated, by above-mentioned measurement square
Battle array carries out dimensionality reduction to multi-scale image feature, calculates expectation and the standard deviation of the positive and negative sample characteristics after dimensionality reduction, and uses it to instruction
Practice Naive Bayes Classifier；When k+1 frames, previous frame in image setting region A, B, C, D is traced into target respectively
N scanning window of surrounding sample of position, by same sparseness measuring matrix to the window dimensionality reduction sampled, extracts feature, so
The Naive Bayes Classifier for being trained with k frames afterwards is classified, and the maximum window of order classification fraction is denoted as target window, and divides
I is not updatedA、IB、IC、ID。
6. warning system as claimed in claim 1, it is characterised in that：Coal winning machine position I is set0For origin, mathematical modulo is set up
Type, picture position is transformed into coordinate system, IABe converted to (xA,yA), IBBe converted to (xB,yB), ICBe converted to (xC,yC), IDTurn
It is changed to (xD,yD), if the instantaneous raising height of left rocking bar is αa, the instantaneous raising height of right rocking bar be αb, left rocking bar instantaneously lift angle speed
Spend for ωa, right rocking bar instantaneously lift angular speed for ωb, the instantaneous translational speed of coal-winning machine mainframe be υ, note k frames when, IA、IB、IC、
IDCoordinate (xAk,yAk)、(xBk,yBk)、(xCk,yCk)、(xDk,yDk), during k+T frames, IA、IB、IC、IDCoordinate (xAk+1,yAk+1)、
(xBk+1,yBk+1)、(xCk+1,yCk+1)、(xDk+1,yDk+1), the T frame period times are t；Calculate At interval of time T0, calculate α in the timeaAverage, draw αA, calculate α in the timeb's
Average, draws αB, calculate ω in the timeaAverage, draw ωA, calculate ω in the timebAverage, draw ωB, calculating should
The average of υ in time, draws the numerical value of V；T0, T by measurement setting or be manually set.
7. warning system as claimed in claim 1, it is characterised in that：Frequency n=m=0 is set, during start-up operation, at interval of
Time T3, the value of V, n and m is detected, by judging V, n, m, αA、αB、ωA、ωBValue, judge the working condition of coal-winning machine, according to
Judged result, the system can send different types of alarm signal.
8. warning system as claimed in claim 1, it is characterised in that：After coal-winning machine tracking is lost, subsequent image is carried out
Gray value is extracted and calculated, and according to result of calculation, judges whether that floods, gas occur to be revealed, and according to judged result, the system can
Send different types of alarm signal.
9. the warning system that such as claim 1 is stated, it is characterised in that：Different alarm can be sent, including：Rocking arm automatic lifting
Alarm signal；Rocking arm can't lock, and have sinkage alarm signal；Shearer haulage power deficiency alarm signal；Rocking arm heightens speed
Alarming decrease signal；Rocking arm can not heighten alarm signal；Shearer haulage power alarming decrease signal；Burst floods alarm signal；
Gas reveals alarm signal.
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