CN106677827A - Alarming system for abnormal work and disaster of coal cutter based on infrared image - Google Patents
Alarming system for abnormal work and disaster of coal cutter based on infrared image Download PDFInfo
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- CN106677827A CN106677827A CN201710118121.XA CN201710118121A CN106677827A CN 106677827 A CN106677827 A CN 106677827A CN 201710118121 A CN201710118121 A CN 201710118121A CN 106677827 A CN106677827 A CN 106677827A
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- 239000003245 coal Substances 0.000 title claims abstract description 51
- 230000002159 abnormal effect Effects 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 45
- 238000005065 mining Methods 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 20
- 239000011159 matrix material Substances 0.000 claims description 11
- 230000007812 deficiency Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000006424 Flood reaction Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 4
- 230000015556 catabolic process Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000004891 communication Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method 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
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003610 charcoal Substances 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
- 238000012423 maintenance Methods 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/04—Safety devices
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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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Abstract
The invention discloses an alarming system for abnormal work and a disaster of a coal cutter based on an infrared image. An infrared camera is installed on a hydraulic support on the coal cutting working face under a coal mine well and collects video information, a digital video datum flow is uploaded through a video server, a coal cutter state datum is uploaded through a coal cutter controller, and a coal cutter monitoring server treats a video image, monitors a set area in the video image of the infrared camera and refers to a state datum, being memorized in a memory server, of the corresponding coal cutter; and if the alarming condition is met, signals of coal cutter abnormal working and disaster alarming are output to a monitoring terminal, on-site real-time and history videos can be checked by production management persons through the monitoring terminal, and corresponding treatment is conducted. The alarming system sufficiently takes working characteristics of the coal mine cutter into consideration, implementation is easy, corresponding measures are automatically and timely adopted, and coal cutter abnormal working and disaster can be accurately alarmed at the first time.
Description
Technical field
The present invention relates to a kind of coal-winning machine abnormal work based on infrared image and calamity forecast system, the system is related to figure
As fields such as Tracking And Communications.
Background technology
Coal is the important basic energy resource and raw material of China, 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 domestic and foreign scholars research using technology.One of maximally effective solution
It is to realize that coal production equips mechanization and automation, so as to realize underground 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 underground or Manless mining be the mechanization of down-hole coal excavation equipment,
Automate and to its monitor in real time.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.
Current coal-winning machine monitoring function is realized completing by sensor more.The existing mode sensor overwhelming majority uses wired company
Connect, in actual applications because space is limited, operating mode severe, more energy can be put into work arrangement and maintenance, and often
Can be because the damage of mechanical movement generation connection line, influences the precision of sensor.In machine start-up operation, can produce a large amount of
Electromagnetic interference, influence signal of communication propagation.Meanwhile, in the case of actually mining, fallen 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 influenceed.The coal-face down-hole coal excavation, it is necessary to new is influenceed for what collision free, mechanical oscillation brought
Machine abnormal work monitor and alarm system, can alarm coal-winning machine abnormal work the very first time exactly, be silo shearer
Safety work provides a guarantee.Therefore the present invention proposes a kind of coal-winning machine exception work based on infrared image tracking and monitoring equipment
Make and calamity forecast system, according to the different abnormal operations of coal-winning machine, the system can send different alarm, 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.By prison
The temperature of coal-winning machine each several part is surveyed, coal-winning machine heat condition is judged, according to judged result, the system can send different alarm signals
Number, including：Left end roller temperature alarm；Right-hand member roller temperature alarm；Mainframe temperature alarm.According to coal mining
Machine tracking monitors picture grey values result after losing, and the system can send different alarm, including：Burst floods alarm
Signal；Gas reveals 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 infrared image, and the system is main
Including：Thermal camera, video server, coal mining machine controller, substation, mining Ethernet, storage server, coal-winning machine monitoring
Server, monitor terminal；Wherein thermal camera, video server, substation and coal mining machine controller are installed in underground, storage clothes
Business device, coal-winning machine monitoring server and monitor terminal are installed on well；Thermal camera is installed on the coal work of underground coal mine
On the hydraulic support in face, infrared camera scan coal-face live video analog image；Coal-winning machine monitoring server will connect
The infrared image for receiving is spliced into a width infrared image, and tracking and monitoring coal-winning machine left end cylinder position IA, tracking and monitoring coal mining
Machine right-hand member cylinder position IB, tracking and monitoring coal-winning machine main frame rack position IO, founding mathematical models, the left rocking bar of calculating parameter lifts height
Degree αA, right rocking bar raising height αB, left rocker lifter angular velocity omegaA, right rocker lifter angular velocity omegaB, coal-winning machine mainframe movement
Speed V, 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；System detectio IAPlace's temperature, monitors IBPlace
Temperature, monitors IOPlace's temperature, and according to IA、IB、IOPlace's temperature monitoring result carries out coal-winning machine breakdown judge, if judging coal-winning machine
Failure, then send alarm signal；The system is monitored picture grey values result and is happened suddenly after being lost according to coal-winning machine tracking
Disaster judgement, if judgement has burst fire-disaster, sends alarm signal；Alarm signal transmits to well monitoring by mining Ethernet
Terminal；Monitor terminal is responsible for display alarm information, live video is obtained by accessing video server, by accessing storage service
Device obtains history live video.Specific method includes：
1. video camera is contour equally distributed on coal face hydraulic support；The camera of video camera is provided with
Infrared filter disc, the infrared picture for gathering the coal-winning machine work；Infrared light compensating lamp, light projection direction are installed by video camera
It is consistent with camera video collection direction.
2. coal mining machine controller collection coal-winning machine left rocker height etc. sets data；Substation is received on coal mining machine controller
The coal-winning machine of biography sets data, and being uploaded to storage server, coal-winning machine by mining Ethernet monitors server and monitor terminal.
3. coal-winning machine monitoring server is located on well, and the digital of digital video data and coal-winning machine that will be received set data output
To core processor, the infrared image of collection is spliced into a width infrared image by processor, and is stored in a storage module.
4. coal-winning machine left end roller A in thermal camera monitoring range is set respectively, take its center for IA；
Coal-winning machine right-hand member cylinder position B is set, its center is taken for IB；Coal-winning machine main frame rack position O is set, is taken
Its center is IO；During k frames, respectively in IA、IB、IOSurrounding 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、IOThe sample position of surrounding collection；
Make DαIt is positive sample (roller image), Dδ, βIt is negative sample (background image) that 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 multi-scale transform is carried out to sample image, class Harr features is calculated, by above-mentioned calculation matrix to multi-scale image feature
Dimensionality reduction is carried out, expectation and the standard deviation of the positive and negative sample characteristics after dimensionality reduction is calculated, and uses it to train Naive Bayes Classifier；
When k+1 frames, the n scanning of surrounding sample for the target location for being traced into previous frame in image setting region A, B, O respectively
Window, by same sparseness measuring matrix to the window dimensionality reduction sampled, extracts feature, the simple shellfish for then being trained with k frames
Leaf this grader is classified, and the maximum window of order classification fraction is denoted as target window, and updates I respectivelyA、IB、IO。
5. the center for setting the figure long that splicing is obtained is origin, and picture position is transformed into coordinate system by founding mathematical models
In, IABe converted to (xA,yA), IBBe converted to (xB,yB), IOBe converted to (xO,yO), if the instantaneous raising height of left rocking bar is αa, the right side shakes
The instantaneous raising height of 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、IOCoordinate (xAk,yAk)、(xBk,yBk)、(xOk,yOk), during k+T frames,
IA、IB、IOCoordinate (xAk+1,yAk+1)、(xBk+1,yBk+1)、(xOk+1,yOk+1), the T frame period times are t；Calculate L is
Coal-winning machine mainframe center is to left rocking bar and mainframe junction distance；At interval of time T0, calculate α in the timeaAverage,
Draw αA, calculate α in the timebAverage, draw αB, calculate ω in the timeaAverage, draw ωA, calculate in the time
ωbAverage, draw ωB, the average of υ in the time is calculated, draw the numerical value of V；T0, T by measure setting or be manually set.
6. frequency n=m=0 is set, when coal-winning machine is started working, at interval of time T3, the value of V, n and m is detected, by sentencing
Disconnected V, n, m, αA、αB、ωA、ωBValue, judge the working condition of coal-winning machine, according to judged result, the system can send inhomogeneity
The alarm signal of type；By monitoring IA、IB、IOPlace's temperature, judges coal-winning machine heat condition, and according to judged result, the system can be sent out
Go out different types of alarm 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 floods, gas leakage there is, and 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；Left end roller temperature alarm；Right-hand member roller temperature alarm；Mainframe temperature alarm is believed
Number；Burst floods alarm signal；Gas reveals alarm signal.
Brief description of the drawings
Fig. 1 is based on the coal-winning machine abnormal work and calamity forecast system schematic of infrared 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
Coal-winning machine abnormal work and calamity forecast system composition based on infrared image is as shown in Figure 1：
1. thermal camera (101), using the mining video camera for meeting coal mine flame-proof requirement, with infrared light compensating lamp, take the photograph
The camera of camera is provided with infrared filter disc, and video camera is arranged on the hydraulic support of coal-face, by coaxial cable with
Video server (104) is connected.
2. coal mining machine controller (102), are responsible for collection coal-winning machine and set 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 is 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 to 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 underground interchanger,
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 exported by thermal camera (101)
Signal, is digitized and compressed encoding, and server and prison are monitored to storage server, coal-winning machine on well by mining Ethernet
Control terminal transmitting video data.Haikang DS-6701HW one-way network video servers are selected in the present embodiment, are set to group
Broadcast mode.
5. underground interchanger (105), are the underground 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 are generally RJ45 interfaces, and looped network continues
It is optical interface to hold, and with flameproof enclosure, meets 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 monitors 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 sets data, and video image is processed, and is set in monitoring thermal camera video image
Region, and with reference to storage server storage corresponding coal-winning machine set data, as met alert if if to monitor terminal (109)
Output coal-winning machine exceptional state alarm signal.
9. monitor terminal (109), with sound and light of alarm, receive the alarm 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 underground 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 thermal camera position for monitoring alarm can be automatically shown when coal-winning machine operation irregularity is alarmed.
The course of work of coal-winning machine abnormal work and calamity forecast system is as shown in Figure 2：
1. (201) infrared camera scan video image, the in-site modeling vision signal that will be collected passes through coaxial cable
It is transferred to 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 set data by netting twine by data be uploaded to storage server (107),
Coal-winning machine monitors server (108) and monitor terminal (109).
5. (205) storage server (107) receives vision signal and coal-winning machine sets data and stored.
6. (206) coal-winning machine is monitored server (108) and receives vision signal and coal-winning machine and sets 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, ties to analysis
Fruit is judged.
7. (207) are then led to alert data using TCP communication mode when monitoring result meets alert if by network
Letter module (204) sends monitor terminal (109) to.
8. it is aobvious by map automatically according to thermal camera numbering after (208) monitor terminal (108) receives alert data
Show that engine shows coal winning machine position over the display, 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 alarm
Generating process and presence states situation.
After 11. (211) production management personnel confirm alarm, 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 is as shown in Figure 3：
1. the monitor area R parameters related to all monitoring computings is transferred when (301) image trace monitoring device starts.
2. (302) set to coal-winning machine left end roller A in thermal camera monitoring range respectively, take its center
It is IA；Coal-winning machine right-hand member cylinder position B is set, its center is taken for IB；Coal-winning machine main frame rack position O is set
It is fixed, its center is taken for IO；During k frames, respectively in IA、IB、IOSurrounding 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、IOThe sample of surrounding collection
Position；Make DαIt is positive sample (roller image), Dδ, βIt is negative sample (background image) that random measurement square is calculated according to following equation
Battle array： 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 features are 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 the target location for being traced into previous frame in image setting region A, B, O respectively sweeps
Window is retouched, by same sparseness measuring matrix to the window dimensionality reduction sampled, feature, the simplicity for then being trained with k frames is extracted
Bayes classifier is classified, and the maximum window of order classification fraction is denoted as target window, and updates I respectivelyA、IB、IO。
3. (303) judge whether image tracks loss, if lost, perform (332), otherwise perform (304).
4. (304) store data in memory module.
5. (305) image trace monitoring device founding mathematical models, horizontal direction is left negative right just, under vertical direction to be born
Just, by IABe converted to (xA,yA), IBBe converted to (xB,yB), IOBe converted to (xO,yO)。
6. it is α that (306) set the instantaneous raising height of left rocking bara, the right instantaneous raising height of rocking bar be αb, left rocking bar instantaneously rises
Drop angular speed is ωa, right rocking bar instantaneously lift angular speed for ωb, the instantaneous translational speed of coal-winning machine mainframe be υ, remember k frames
When, IA、IB、IOCoordinate (xAk,yAk)、(xBk,yBk)、(xOk,yOk), during k+T frames, IA、IB、IOCoordinate
(xAk+1,yAk+1)、(xBk+1,yBk+1)、(xOk+1,yOk+1), the T frame period times are t；Calculate L be coal-winning machine mainframe center to left rocking bar and
Mainframe junction distance；At interval of time T0, calculate α in the timeaAverage, draw αA, calculate α in the timebIt is equal
Value, draws αB, calculate ω in the timeaAverage, draw ωA, calculate ω in the timebAverage, draw ωBIf, Q1<ωA<
Q2, then ω is madeA=0, if Q1<ωB<Q2, then ωB=0, wherein Q1<0<Q2, ω>0 represents that roller is rising, and ω=0 represents roller
It is highly constant, ω<0 represents that roller is declining；At interval of time T1, the average of υ in the time is calculated, the numerical value of V is drawn, 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 that coal-winning machine is moved to the left, V=0,
Represent coal-winning machine in adjustment roller height；T、T0、T1、Q1、Q2、Q3、Q4By measuring setting or being manually set.
7. whether (307) judge speed V more than threshold value Q5, if greater than Q5, then (308) are performed, otherwise perform (311).Q5
By measuring setting or being manually set.
8. whether (308) judge left and right roller angle difference less than threshold value Q6, if less than Q6, then (309) are performed, otherwise
Perform (302).Q6By measuring setting or being manually set.
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 (340) and send rocking arm automatic lifting report
Alert signal, otherwise performs (340) 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).
Q7By measuring setting or being manually set.
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).
Q8By measuring setting or being manually set.
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 (340) and sending
Shearer haulage power deficiency alarm signal, otherwise performs (316).Q9、Q10By measuring setting or being manually set.
Whether 16. (316) judge angular velocity omega more than threshold value Q11, if greater than Q11, then (317) are performed, otherwise perform
(320)。Q11By measuring setting or being manually set.
17. (317) cancel early warning.
18. (318) frequency ns, m set to 0.
19. (319) store in memory module frequency n, m.
Whether 20. (320) judge angular velocity omega more than 0, and if greater than 0, then execution (340) sends rocking arm and heightens under speed
Drop alarm signal, otherwise execution (340) 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)。Q12By measuring setting or being manually set.
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 (340) and sending
Shearer haulage power alarming decrease signal, otherwise performs (317).Q13、Q14By measuring setting or being manually set.
25. (325) set to coal-winning machine left end roller A in thermal camera monitoring range respectively, take its centre bit
It is set to IA, with IAIt is the center of circle, r is radius, takes border circular areas RA；Coal-winning machine right-hand member cylinder position B is set, Qu Qi centers
Position is IB, with IBIt is the center of circle, r is radius, takes border circular areas RB；Coal-winning machine main frame rack position O is set, Qu Qi centers
Position is IO, with IOIt is the center of circle, r is radius, takes border circular areas RO；At interval of time T1, extract in subsequent K two field pictures this at three
The gray value of position, and computing is carried out respectively.Ask for I in K two field picturesA、IB、IOPixel arithmetic mean of instantaneous value at three, obtains pixel value
DA、DB、DO；.
26. (326) judge DA、DBWhether given threshold M is more than or equal to1, if greater than M1, then (327) are performed, otherwise hold
Row (302).M1By measuring setting or being manually set.
27. (327) number of times p set to 0, and number of times q adds 1.
Whether 28. (328) judge q more than or equal to given threshold M3, if greater than M3, then (340) are performed, send left end rolling
Cylinder temperature alarm；Or right-hand member roller temperature alarm, otherwise perform (302).M3By measuring setting or being manually set.
29. (329) judge DOWhether given threshold M is more than or equal to2, if greater than M2, then (330) are performed, otherwise perform
(302)。M2By measuring setting or being manually set.
30. (330) number of times q set to 0, and number of times p adds 1.
Whether 31. (331) judge p more than or equal to given threshold M4, if greater than M4, then (340) are performed, send mainframe
Temperature alarm, otherwise performs (302).M4By measuring setting or being manually set.
32. (332) lose preceding last frame image I to coal-winning machine trackingA、IB、IOPlace's mark, extracts in subsequent K two field pictures
The gray value of this position at three, and computing is carried out respectively.Ask in K two field pictures more than or equal to given threshold N1Pixel arithmetic put down
Average, 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。
33. (333) judge DHWhether given threshold N is more than or equal to3, if greater than N3, then (334) are performed, otherwise perform
(337)。
34. (334) judge whether spraying opens, if opened, perform (301), otherwise perform (335).
35. (335) 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 treatment is carried out, by after accumulated deficiency calculation process Y frames, asking more than or equal to setting gray value T1Pixel summation
DW。
36. (336) judge DWWhether given threshold N is more than or equal to4, if greater than equal to N4, then perform (340) and send water
Calamity alarm signal, otherwise performs (301).
37. (337) judge DLWhether given threshold N is more than or equal to5, if greater than N5, then (338) are performed, otherwise perform
(301)。
38. (338) by after accumulated deficiency calculation process Y frames, asking more than or equal to setting gray value T2Pixel summation DF。
39. (339) judge DFWhether given threshold N is more than or equal to6, if greater than equal to N6, then perform (340) and send watt
This leakage alarm signal, otherwise performs (301).
40. (340) 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；Left end roller temperature alarm；Right-hand member roller temperature alarm；Mainframe
Temperature alarm；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 infrared image, and the system is mainly wrapped
Include：Thermal camera, video server, coal mining machine controller, substation, mining Ethernet, storage server, coal-winning machine monitoring clothes
Business device, monitor terminal；Wherein thermal camera, video server, substation and coal mining machine controller are installed in underground, storage service
Device, coal-winning machine monitoring server and monitor terminal are installed on well；Thermal camera is installed on the coal-face of underground coal mine
Hydraulic support on, infrared camera scan coal-face live video analog image；Coal-winning machine monitoring server will be received
To infrared image be spliced into a width infrared image, and tracking and monitoring coal-winning machine left end cylinder position IA, tracking and monitoring coal-winning machine
Right-hand member cylinder position IB, tracking and monitoring coal-winning machine main frame rack position IO, founding mathematical models, the left rocking bar raising height of calculating parameter
αA, right rocking bar raising height αB, left rocker lifter angular velocity omegaA, right rocker lifter angular velocity omegaB, coal-winning machine mainframe movement speed
Degree V, so as to draw coal-winning machine working condition；The system carries out coal-winning machine abnormal work according to coal-winning machine working state monitoring result
Condition adjudgement, if judging coal-winning machine working condition exception, sends alarm signal；System detectio IAPlace's temperature, monitors IBPlace's temperature
Degree, monitors IOPlace's temperature, and according to IA、IB、IOPlace's temperature monitoring result carries out coal-winning machine breakdown judge, if judging coal-winning machine event
Barrier, then send alarm signal；The system is monitored picture grey values result and carries out burst calamity after being lost according to coal-winning machine tracking
Evil judgement, if judgement has burst fire-disaster, sends alarm signal；Alarm signal transmits to well monitoring eventually by mining Ethernet
End；Monitor terminal is responsible for display alarm information, live video is obtained by accessing video server, by accessing storage server
Obtain history live video.
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；The camera of video camera is provided with infrared filter disc, the infrared picture for gathering the coal-winning machine work；
Infrared light compensating lamp is installed on video camera side, and 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 is highly
Deng setting data；Substation receives the coal-winning machine setting data that coal mining machine controller is uploaded, and storage is uploaded to by mining Ethernet
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 infrared image of collection is spliced into one by processor
Width infrared image, and store in a storage module.
5. warning system as claimed in claim 1, it is characterised in that：It is left to coal-winning machine in thermal camera monitoring range respectively
End roller A is set, and takes its center for IA；Coal-winning machine right-hand member cylinder position B is set, taking its center is
IB；Coal-winning machine main frame rack position O is set, its center is taken for IO；During k frames, respectively in IA、IB、IOSurrounding collection two
Individual 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、IOThe sample position of surrounding collection；Make DαIt is positive sample (roller image), Dδ, βIt is negative sample (Background
Picture), random measurement matrix is calculated according to following equation： rijRepresent random measurement matrix
Element, s take 2 or 3,Represent probability；Then multi-scale transform is carried out to sample image, class Harr is calculated special
Levy, dimensionality reduction carried out to multi-scale image feature by above-mentioned calculation matrix, calculate the positive and negative sample characteristics after dimensionality reduction expectation and
Standard deviation, and use it to train Naive Bayes Classifier；When k+1 frames, respectively in image setting region A, B, O upper one
The n scanning window of surrounding sample for the target location that frame is traced into, is dropped by same sparseness measuring matrix to the window sampled
Dimension, extracts feature, and the Naive Bayes Classifier for then being trained with k frames is classified, the maximum window note of order classification fraction
Make target window, and update I respectivelyA、IB、IO。
6. warning system as claimed in claim 1, it is characterised in that：The center of the figure long that splicing is obtained is set for origin, is built
Vertical Mathematical Modeling, picture position is transformed into coordinate system, IABe converted to (xA,yA), IBBe converted to (xB,yB), IOBe converted to (xO,
yO), if the instantaneous raising height of left rocking bar is αa, the right instantaneous raising height of rocking bar be αb, left rocking bar instantaneously lift angular speed for ωa, it is right
Rocking bar instantaneously lifts angular speed for ωb, the instantaneous translational speed of coal-winning machine mainframe be υ, note k frames when, IA、IB、IOCoordinate (xAk,yAk)、
(xBk,yBk)、(xOk,yOk), during k+T frames, IA、IB、IOCoordinate (xAk+1,yAk+1)、(xBk+1,yBk+1)、(xOk+1,yOk+1), during T frame periods
Between be t；Calculate L is coal-winning machine mainframe center to left rocking bar and mainframe
Junction distance；At interval of time T0, calculate α in the timeaAverage, draw αA, calculate α in the timebAverage, draw
αB, calculate ω in the timeaAverage, draw ωA, calculate ω in the timebAverage, draw ωB, calculate υ in the time
Average, draws the numerical value of V；T0, T by measure setting or be manually set.
7. warning system as claimed in claim 1, it is characterised in that：Frequency n=m=0 is set, when coal-winning machine is started working,
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 work shape of coal-winning machine
State, according to judged result, the system can send different types of alarm signal；By monitoring IA、IB、IOPlace's temperature, judges to mine
Machine heat condition, 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 floods, gas leakage, 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；Left end roller temperature alarm is believed
Number；Right-hand member roller temperature alarm；Mainframe temperature alarm；Burst floods alarm signal；Gas reveals alarm signal.
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