CN106677827B - Coalcutter abnormal work based on infrared image and calamity forecast system - Google Patents
Coalcutter abnormal work based on infrared image and calamity forecast system Download PDFInfo
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- 230000002159 abnormal effect Effects 0.000 title claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 53
- 239000003245 coal Substances 0.000 claims abstract description 51
- 238000005065 mining Methods 0.000 claims abstract description 33
- 238000003860 storage Methods 0.000 claims abstract description 23
- 239000011159 matrix material Substances 0.000 claims description 11
- 230000007812 deficiency Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 238000006424 Flood reaction Methods 0.000 claims description 6
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- 238000005516 engineering process Methods 0.000 description 5
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- 238000009412 basement excavation Methods 0.000 description 3
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- 238000004458 analytical method Methods 0.000 description 2
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- 239000003610 charcoal Substances 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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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
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Abstract
The invention discloses a kind of coalcutter abnormal work and calamity forecast system based on infrared image.Thermal camera, infrared camera scan video information are installed on underground coal mine coal face hydraulic support；Video server upload digital video flowing, coal mining machine controller uploads coalcutter status data, coalcutter monitoring server handles video image, monitor setting regions in thermal camera video image, and with reference to the corresponding coalcutter status data of storage server storage, coalcutter abnormal work and calamity forecast signal are exported to monitor terminal if meeting alert if, production management personnel can check live real-time and history video by monitor terminal, and make respective handling；This alarm system has fully considered coal mining machine work characteristics, implements simply, to take corresponding measure in time automatically, can accurately alarm at the first time coalcutter abnormal work and disaster.
Description
Technical field
The present invention relates to a kind of coalcutter abnormal work and calamity forecast system based on infrared image, the system are related to figure
As fields such as Tracking And Communications.
Background technology
Coal is the important basic energy resource and raw material in 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 most effective solution
It is to realize coal production equipment mechanization and automation, to realize underground nobody or few people's exploitation.
With the raising of safety of coal mines importance and the development of technology, down-hole coal excavation working face realize few people or
Person's Manless mining is inexorable trend, realize necessary condition that people or Manless mining lack in underground be down-hole coal excavation equip mechanization,
It automates and to its real time monitoring.Coalcutter is one of most important equipment of fully-mechanized mining working, and normal operation is entire comprehensive
Mining face completes the basis of digging operation, therefore is one of underground coal mine fully-mechanized mining working to the monitoring of coalcutter working condition
Vital task.
Coalcutter monitoring function is mostly realized by sensor and is completed at present.The existing mode sensor overwhelming majority uses wired company
It connects, in practical applications since space is limited, operating mode is severe, more energy can be put into work arrangement and maintenance, and often
The damage that connection line can be generated because of mechanical movement, influences the precision of sensor.In machine start-up operation, it will produce a large amount of
Electromagnetic interference, influence the propagation of signal of communication.Meanwhile actually mining, it falls, installs along with a large amount of coal cinder
Sensor on coalcutter is inevitably collided, although there is corresponding safeguard procedures, prolonged collision is still
The precision of sensor can so be influenced.To avoid collision, the influence that mechanical oscillation are brought, need new coal working face down-hole coal excavation
Machine abnormal work monitor and alarm system can at the first time accurately alarm to coalcutter abnormal work, be silo shearer
Safety work provides a ensure.Therefore the present invention proposes a kind of coalcutter exception work based on infrared image tracking and monitoring equipment
Work and calamity forecast system, according to the different abnormal operations of coalcutter, which can send out 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；
Speed alarming decrease signal is turned up in rocking arm；Alarm signal cannot be turned up in rocking arm；Shearer haulage power alarming decrease signal.Pass through prison
The temperature for surveying coalcutter each section, judges coalcutter heat condition, according to judging result, which can send out different alarm signals
Number, including：Left end roller temperature alarm；Right end roller temperature alarm；Mainframe temperature alarm.According to coal mining
Machine tracking monitors picture grey values handling result after losing, which can send out different alarm, including：Happen suddenly floods alarm
Signal；Gas reveals alarm signal.
Invention content
The present invention proposes that a kind of coalcutter abnormal work and calamity forecast system based on infrared image, the system are main
Including：Thermal camera, video server, coal mining machine controller, substation, mining Ethernet, storage server, coalcutter monitoring
Server, monitor terminal；Wherein thermal camera, video server, substation and coal mining machine controller are installed in underground, storage clothes
Business device, coalcutter 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 working face live video analog image；Coalcutter monitoring server will connect
The infrared image received is spliced into a width infrared image, and tracking and monitoring coalcutter left end cylinder position IA, tracking and monitoring coal mining
Machine right end cylinder position IB, tracking and monitoring coalcutter host rack position IO, founding mathematical models, the left rocking bar of calculating parameter lifts height
Spend αA, right rocking bar raising height αB, left rocker lifter angular velocity omegaA, right rocker lifter angular velocity omegaB, coalcutter mainframe movement
Speed V, to obtain coalcutter working condition；The system carries out coalcutter exception work according to coalcutter working state monitoring result
Make condition adjudgement, coalcutter working condition is abnormal if judging, sends out alarm signal；System detectio IALocate temperature, monitors IBPlace
Temperature monitors IOLocate temperature, and according to IA、IB、IOLocate temperature monitoring result and carry out coalcutter breakdown judge, if judging coalcutter
Failure then sends out alarm signal；Monitoring picture grey values handling result happens suddenly after the system is lost according to coalcutter tracking
Disaster judges, if judging there is burst fire-disaster, sends out alarm signal；Alarm signal is transmitted on well by mining Ethernet and is monitored
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 equipped with
Infrared filter disc, the infrared picture for acquiring the coalcutter work；Infrared light compensating lamp, light projection direction are installed by video camera
It is consistent with camera video acquisition direction.
2. coal mining machine controller acquires the setting data such as coalcutter left rocker height；Substation receives on coal mining machine controller
Data are arranged in the coalcutter of biography, and storage server, coalcutter monitoring server and monitor terminal are uploaded to by mining Ethernet.
3. coalcutter monitoring server is located on well, the digital video data received and coalcutter setting data are exported
To core processor, the infrared image of acquisition is spliced into a width infrared image by processor, and is stored in a storage module.
4. being set respectively to coalcutter left end roller A in thermal camera monitoring range, it is I to take its centerA；
Coalcutter right end cylinder position B is set, it is I to take its centerB；Coalcutter host rack position O is set, is taken
Its center is IO；When k frames, respectively in IA、IB、IOSurrounding acquires two sample set Dα=z | | | IN-Iz||<α } and Dδ,β=
{z|δ<||IN-Iz||<β }, wherein α<δ<β, IzIndicate sample position, INIt indicates in IA、IB、IOThe sample position that surrounding acquires；
Enable DαFor positive sample (roller image), Dδ, βFor negative sample (background image), random measurement matrix is calculated according to following equation：rijIndicate that element, the s of random measurement matrix take 2 or 3,Indicate 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 are calculated, and uses it to train Naive Bayes Classifier；
When k+1 frames, the n scanning of surrounding sample for the target location that previous frame in image setting region A, B, O is traced into respectively
Window extracts feature by same sparseness measuring matrix to the window dimensionality reduction of sampling, then uses the trained simple shellfish of k frames
This grader of leaf is classified, and enables the classification maximum window of score be denoted as target window, and update I respectivelyA、IB、IO。
5. the center that the long figure that splicing obtains is arranged is origin, 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, instantaneously to lift angular speed be ω for left rocking bara, instantaneously to lift angular speed be ω for right rocking barb, coalcutter
The instantaneous movement speed of mainframe is υ, when remembering k frames, IA、IB、IOCoordinate (xAk,yAk)、(xBk,yBk)、(xOk,yOk), when 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；It calculates
L is coalcutter mainframe center to left rocking bar and mainframe junction distance；At interval of time T0, calculate α in the timeaIt is equal
Value, obtains αA, calculate α in the timebMean value, obtain αB, calculate ω in the timeaMean value, obtain ωA, calculate the time
Interior ωbMean value, obtain ωB, the mean value of υ in the time is calculated, obtains the numerical value of V；T0, T by measure set or artificially set
It is fixed.
6. frequency n=m=0 is arranged, when coalcutter is started to work, at interval of time T3, the value of V, n and m are detected, by sentencing
Disconnected V, n, m, αA、αB、ωA、ωBValue, judge the working condition of coalcutter, according to judging result, which can send out inhomogeneity
The alarm signal of type；By monitoring IA、IB、IOLocate temperature, judges coalcutter heat condition, according to judging result, which can send out
Go out different types of alarm signal.
7. after coalcutter tracking is lost, carrying out gray value extraction to subsequent image and calculating, according to result of calculation, judge
Whether floods, gas leakage are occurred, and according to judging result, which can send out 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；It adopts
Coal machine travel power deficiency alarm signal；Speed alarming decrease signal is turned up in rocking arm；Alarm signal cannot be turned up in rocking arm；Coalcutter is led
Gravitation alarming decrease signal；Left end roller temperature alarm；Right end roller temperature alarm；Mainframe temperature alarm is believed
Number；Happen suddenly floods alarm signal；Gas reveals alarm signal.
Description of the drawings
Coalcutter abnormal work and calamity forecast system schematic of the Fig. 1 based on infrared image.
The workflow schematic diagram of Fig. 2 coalcutters abnormal work and calamity forecast system.
Fig. 3 coalcutter monitoring servers monitor flow diagram.
Specific implementation mode
Coalcutter abnormal work and calamity forecast system composition based on infrared image are as shown in Figure 1：
1. thermal camera (101) is carried infrared light compensating lamp, is taken the photograph using the mining video camera for meeting coal mine flame-proof requirement
The camera of camera is equipped with infrared filter disc, and video camera is mounted on the hydraulic support of coal working face, by coaxial cable with
Video server (104) connects.
2. coal mining machine controller (102) is responsible for acquisition coalcutter and data are arranged, data are transmitted to by Industrial Ethernet and are deposited
Server is stored up, using programmable controller (PLC), programmable controller has communication interface or communication module.In this embodiment party
Siemens SIMATIC S7-300 are used in case.
3. substation (103), also referred to as data collection station are responsible for receiving the coalcutter setting that coal mining machine controller (102) uploads
Data, and data are uploaded to storage server, coalcutter monitoring server and monitor terminal.Substation and coal mining machine controller
(102) twisted-pair communication is passed through using RS-485 standards；Substation is connect by twisted-pair feeder or optical cable with nearest underground interchanger,
It is communicated with the storage server on well using TCP modes, there is 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, by mining Ethernet on well storage server, coalcutter monitoring server and prison
Control terminal transmitting video data.Haikang DS-6701HW one-way network video servers are selected in the present embodiment, are set as group
Broadcast mode.
5. underground interchanger (105) is the underground access device of mining Ethernet, concatenation forms looped network, is 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 connects
End is optical interface, has flameproof enclosure, meets underground coal mine flame proof requirement.
6. the network switch (106) is the hard core control equipment of mining Ethernet, it is responsible for the equipment of all access networks
Management and data exchange.
7. storage server (107), it is responsible for receiving the video data uploaded by video server and storage, for monitor terminal
Live historical query is provided and transfers service.
8. coalcutter monitoring server (108) receives digital video frequency flow and coalcutter control that video server (104) uploads
Data are arranged in the coalcutter that device (102) processed uploads, and handle video image, monitor and are set in thermal camera video image
Region, and data are set with reference to the corresponding coalcutter of storage server storage, to monitor terminal (109) if meeting alert if
Export coalcutter exceptional state alarm signal.
9. monitor terminal (109) has sound and light of alarm, receives the alarm number of coalcutter monitoring server (108)
According to then sound-light alarm；Monitor terminal has the function of that real-time video monitoring and history video are transferred, and production management personnel pass through 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 out alarm signal by Technology for Communication System of Coal Mine, and emergency scheduling instruction is issued to related personnel.Prison
Underground geography information built in control terminal, and there is map denotation engine, the present embodiment uses the visualization of Map Info companies
Map components Map X can show the thermal camera position for monitoring alarm when coalcutter operation irregularity is alarmed automatically.
The course of work of coalcutter abnormal work and calamity forecast system is as shown in Figure 2：
1. collected in-site modeling vision signal is passed through coaxial cable by (201) infrared camera scan video image
It is transferred to video server (104).
2. (202) video server (104) digitized analog video signal and carrying out compressed encoding.
3. (203) substation (103) receive the coalcutter that coal mining machine controller (102) uploads and data are arranged.
4. (204) by vision signal and coalcutter setting data by cable by data be uploaded to storage server (107),
Coalcutter monitoring server (108) and monitor terminal (109).
5. (205) storage server (107) receives vision signal and coalcutter setting data and is stored.
6. (206) coalcutter monitoring server (108) receive vision signal and coalcutter setting data, and by core at
The built-in library processing analysis video data for managing device (201), monitors coalcutter working condition in coal work plane video, is tied to analysis
Fruit is judged.
7. (207) when monitoring result meets alert if, then alert data is led to using TCP communication mode by network
Letter module (204) sends monitor terminal (109) to.
Aobvious by map automatically according to thermal camera number after 8. (208) monitor terminal (108) receives alert data
Show that engine shows coal winning machine position over the display, and sound-light alarm prompt production management personnel are handled.
9. (209) production management personnel transfer live history by monitor terminal (109) access storage server (107) and regard
Frequently.
10. (210) production management personnel watch the live video uploaded by video server (104) simultaneously, alarm is confirmed
Generating process and presence states situation.
After 11. (211) production management personnel confirm alarm, alarm signal can be sent out by Technology for Communication System of Coal Mine, to correlation
Personnel issue emergency scheduling instruction.
It is as shown in Figure 3 that coalcutter monitoring server monitors flow：
Monitoring area R and the relevant parameter of all monitoring operations are transferred when 1. (301) image trace monitoring device starting.
2. (302) being set respectively to coalcutter left end roller A in thermal camera monitoring range, its center is taken
For IA；Coalcutter right end cylinder position B is set, it is I to take its centerB；Coalcutter host rack position O is set
Fixed, it is I to take its centerO；When k frames, respectively in IA、IB、IOSurrounding acquires two sample set Dα=z | | | IN-Iz||<α } and
Dδ,β=z | δ<||IN-Iz||<β }, wherein α<δ<β, IzIndicate sample position, INIt indicates in IA、IB、IOThe sample that surrounding acquires
Position；Enable DαFor positive sample (roller image), Dδ, βFor negative sample (background image), random measurement square is calculated according to following equation
Battle array： rijIndicate that element, the s of random measurement matrix take 2 or 3,It indicates general
Rate；Then multi-scale transform is carried out to sample image, calculates class Harr features, by above-mentioned calculation matrix to multi-scale image spy
Sign 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 traced into respectively to previous frame in image setting region A, B, O is swept
Window is retouched, by same sparseness measuring matrix to the window dimensionality reduction of sampling, feature is extracted, then uses the trained simplicity of k frames
Bayes classifier is classified, and enables the classification maximum window of score be denoted as target window, and update I respectivelyA、IB、IO。
3. (303) judging whether image tracks loss, if lost, (332) are executed, otherwise execute (304).
4. (304) storing data in memory module.
5. (305) image trace monitoring device founding mathematical models, the negative right side in a horizontal direction left side just, under vertical direction is born
Just, by IABe converted to (xA,yA), IBBe converted to (xB,yB), IOBe converted to (xO,yO)。
6. (306) setting the instantaneous raising height of left rocking bar as αa, the right instantaneous raising height of rocking bar be αb, left rocking bar instantaneously lifts
Angular speed is ωa, instantaneously to lift angular speed be ω for right rocking barb, the instantaneous movement speed of coalcutter mainframe be υ, remember k frames when, IA、
IB、IOCoordinate (xAk,yAk)、(xBk,yBk)、(xOk,yOk), when 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；It calculates L be coalcutter mainframe center to left rocking bar and
Mainframe junction distance；At interval of time T0, calculate α in the timeaMean value, obtain αA, calculate α in the timebIt is equal
Value, obtains αB, calculate ω in the timeaMean value, obtain ωA, calculate ω in the timebMean value, obtain ωBIf Q1<ωA<
Q2, then ω is enabledA=0, if Q1<ωB<Q2, then ωB=0, wherein Q1<0<Q2, ω>0 expression roller is rising, and ω=0 indicates roller
It is highly constant, ω<0 expression roller is declining；At interval of time T1, the mean value of υ in the time is calculated, obtains the numerical value of V, if Q3<
V<Q4, then V=0, wherein Q are enabled3<0<Q4, V>0, indicate that coalcutter moves right, V<0, indicate that coalcutter is moved to the left, V=0,
Indicate coalcutter in adjustment roller height；T,T0、T1、Q1、Q2、Q3、Q4By measuring setting or being manually set.
7. (307) judging whether speed V is more than threshold value Q5, if it is greater than Q5, then (308) are executed, otherwise execute (311).Q5
By measuring setting or being manually set.
8. (308) judging whether left and right roller angle difference is less than threshold value Q6, if it is less than Q6, then (309) are executed, otherwise
It executes (302).Q6By measuring setting or being manually set.
9. (309) triggering early warning, pre-warning mark is set.
10. (310) judging whether angular velocity omega is more than 0, if it is greater than 0, then executes (340) and send rocking arm automatic lifting report
Otherwise alert signal executes (340) transmission rocking arm and can't lock, there is sinkage alarm signal.
11. (311) judging whether speed V is more than threshold value Q7, if it is greater than Q7, then (321) are executed, otherwise execute (312).
Q7By measuring setting or being manually set.
12. (312) frequency n is set to 0, number m adds 1.
13. (313) judging whether number m is more than threshold value Q8, if it is greater than Q8, then (314) are executed, otherwise execute (319).
Q8By measuring setting or being manually set.
14. (314) triggering early warning, pre-warning mark is set.
15. (315) judging coal winning machine position I0Whether in (Q9, Q10) in, if in range, executes (340) and send out
Otherwise shearer haulage power deficiency alarm signal executes (316).Q9、Q10By measuring setting or being manually set.
16. (316) judging whether angular velocity omega is more than threshold value Q11, if it is greater than Q11, then (317) are executed, are otherwise executed
(320)。Q11By measuring setting or being manually set.
17. (317) cancelling early warning.
18. (318) frequency n, m are set to 0.
19. frequency n, m (319) are stored in memory module.
20. (320) judging whether angular velocity omega is more than 0, if it is greater than 0, then executes (340) and send out under rocking arm height-regulating speed
Alarm signal drops, and otherwise execution (340), which sends out rocking arm, cannot be turned up alarm signal.
21. (321) number m is set to 0, frequency n adds 1.
22. (322) judging whether frequency n is more than threshold value Q12, if it is greater than Q12, then (323) are executed, are otherwise executed
(319)。Q12By measuring setting or being manually set.
23. (323) triggering early warning, pre-warning mark is set.
24. (324) judging coal winning machine position I0Whether in (Q13, Q14) in, if in range, executes (340) and send out
Otherwise shearer haulage power alarming decrease signal executes (317).Q13、Q14By measuring setting or being manually set.
25. (325) being set respectively to coalcutter left end roller A in thermal camera monitoring range, its centre bit is taken
It is set to IA, with IAFor the center of circle, r is radius, takes border circular areas RA；Coalcutter right end cylinder position B is set, its center is taken
Position is IB, with IBFor the center of circle, r is radius, takes border circular areas RB；Coalcutter host rack position O is set, its center is taken
Position is IO, with IOFor the center of circle, r is radius, takes border circular areas RO；At interval of time T1, this is extracted in subsequent K frames image at three
The gray value of position, and operation is carried out respectively.Seek I in K frame imagesA、IB、IOPixel arithmetic mean of instantaneous value at three, obtains pixel value
DA、DB、DO；.
26. (326) judging DA、DBWhether given threshold M is more than or equal to1, if it is greater than M1, then (327) are executed, are otherwise held
Row (302).M1By measuring setting or being manually set.
27. (327) number p is set to 0, number q adds 1.
28. (328) judging whether q is more than or equal to given threshold M3, if it is greater than M3, then (340) are executed, left end rolling is sent out
Cylinder temperature alarm；Or right end roller temperature alarm, otherwise execute (302).M3By measuring setting or being manually set.
29. (329) judging DOWhether given threshold M is more than or equal to2, if it is greater than M2, then (330) are executed, are otherwise executed
(302)。M2By measuring setting or being manually set.
30. (330) number q is set to 0, number p adds 1.
31. (331) judging whether p is more than or equal to given threshold M4, if it is greater than M4, then (340) are executed, mainframe is sent out
Otherwise temperature alarm executes (302).M4By measuring setting or being manually set.
32. last frame image I before (332) being lost to coalcutter trackingA、IB、IOPlace's label, is extracted in subsequent K frames image
The gray value of this position at three, and operation is carried out respectively.It seeks being more than or equal to given threshold N in K frames image1Pixel arithmetic it is flat
Mean value obtains pixel value DH；It seeks being less than or equal to given threshold N in K frames2Pixel arithmetic mean of instantaneous value, obtain pixel value DL。
33. (333) judging DHWhether given threshold N is more than or equal to3, if it is greater than N3, then (334) are executed, are otherwise executed
(337)。
34. (334) judging whether spraying opens, if opened, (301) are executed, otherwise execute (335).
35. (335) at interval of X frames to the video image f (x, y) and deposited coalcutter background image g of camera acquisition (x,
Y) accumulated deficiency processing is carried out, after accumulated deficiency calculation process Y frames, is asked more than or equal to setting gray value T1Pixel summation
DW。
36. (336) judging DWWhether given threshold N is more than or equal to4, if it is larger than or equal to N4, then execute (340) and send out water
Otherwise calamity alarm signal executes (301).
37. (337) judging DLWhether given threshold N is more than or equal to5, if it is greater than N5, then (338) are executed, are otherwise executed
(301)。
38. (338) after by accumulated deficiency calculation process Y frames, asking more than or equal to setting gray value T2Pixel summation DF。
39. (339) judging DFWhether given threshold N is more than or equal to6, if it is larger than or equal to N6, then execute (340) and send out watt
This leakage alarm signal, otherwise executes (301).
40. (340) sending out 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；Speed alarming decrease signal is turned up in rocking arm；Alarm signal cannot be turned up in rocking arm
Number；Shearer haulage power alarming decrease signal；Left end roller temperature alarm；Right end roller temperature alarm；Mainframe
Temperature alarm；Happen suddenly floods alarm signal；Gas reveals alarm signal.
Claims (9)
1. a kind of coalcutter abnormal work and calamity forecast system based on infrared image, the system comprises：Thermal camera,
Video server, coal mining machine controller, substation, mining Ethernet, storage server, coalcutter monitoring server, monitor terminal；
Wherein thermal camera, video server, substation and coal mining machine controller are installed in underground, storage server, coalcutter monitoring
Server and monitor terminal are installed on well；Thermal camera is installed on the hydraulic support of the coal working face of underground coal mine,
Infrared camera scan coal working face live video analog image；Coalcutter monitoring server spells the infrared image received
It is connected in one infrared long figure, and tracking and monitoring coalcutter left end cylinder position IA, tracking and monitoring coalcutter right end cylinder position IB,
Tracking and monitoring coalcutter host rack position IO, founding mathematical models, the left rocking bar raising height α of calculating parameterA, right rocking bar lift height
Spend αB, left rocker lifter angular velocity omegaA, right rocker lifter angular velocity omegaB, coalcutter mainframe movement speed V, adopted to obtain
Coal machine working condition；The system carries out coalcutter abnormal operation judgement according to coalcutter working state monitoring result, if sentencing
Disconnected coalcutter working condition is abnormal, then sends out alarm signal；System monitoring coalcutter left end cylinder position IALocate temperature, monitoring
Coalcutter right end cylinder position IBLocate temperature, monitoring coalcutter host rack position IOLocate temperature, according to coalcutter left end cylinder position
IA, coalcutter right end cylinder position IB, coalcutter host rack position IOLocate temperature monitoring result and carries out coalcutter breakdown judge, if
Judge coalcutter failure, then sends out alarm signal；Monitoring picture grey values processing knot after the system is lost according to coalcutter tracking
Fruit carries out burst fire-disaster judgement, if judging there is burst fire-disaster, sends out alarm signal；Alarm signal is transmitted by mining Ethernet
Monitor terminal on to well；Monitor terminal is responsible for display alarm information, obtains live video by accessing video server, passes through visit
Ask that storage server obtains history live video.
2. alarm system as described in claim 1, it is characterised in that：Contour equally distributed be mounted on of thermal camera is mined
On working surface hydraulic support；The camera of thermal camera is equipped with infrared filter disc, for acquiring the red of the coalcutter work
Outer picture；Infrared light compensating lamp is installed by thermal camera, light projection direction is consistent with thermal camera video acquisition direction.
3. alarm system as described in claim 1, it is characterised in that：Coal mining machine controller acquires coalcutter left rocker height
Data are set；Substation receives the coalcutter that coal mining machine controller uploads and data is arranged, and storage clothes are uploaded to by mining Ethernet
Business device, coalcutter monitoring server and monitor terminal.
4. alarm system as described in claim 1, it is characterised in that：Coalcutter monitoring server is located on well, and signal connects
The digital video data received and coalcutter setting data are input to coalcutter monitoring server core processor by receiving end mouth
In, the infrared image of input is spliced into one infrared long figure by coalcutter monitoring server core processor, and is stored in coal mining
In the temporary storage module of machine monitoring server.
5. alarm system as described in claim 1, it is characterised in that：It is left to coalcutter in thermal camera monitoring range respectively
End roller A is set, and it is I to take its centerA；Coalcutter right end cylinder position B is set, takes its center to be
IB；Coalcutter host rack position O is set, it is I to take its centerO；When k frames, respectively in IA、IB、IOSurrounding acquisition is just
Sample set Dα=z | | | IN-Iz||<α } and negative sample collection Dδ,β=z | δ<||IN-Iz||<β }, wherein α<δ<β, IzIndicate sample
Position, INIt indicates in IA、IB、IOThe sample position that surrounding acquires, z indicate that positive sample point, α indicate the diameter of positive sample collection, δ tables
Show that the inner ring diameter of negative sample collection, β indicate the race diameter of negative sample collection；Enable DαFor roller image, Dδ, βFor background image, root
Random measurement matrix is calculated according to following equation： rijIndicate element, the s of random measurement matrix
2 or 3 are taken,Indicate probability；Then multi-scale transform is carried out to sample image, Harr features is calculated, by making
Dimensionality reduction is carried out to multi-scale image feature with calculated random measurement matrix, calculates the expectation of the positive and negative sample characteristics after dimensionality reduction
And standard deviation, and use it to train Naive Bayes Classifier；When k+1 frames, respectively in image setting region A, B, O
N scanning window of surrounding sample for the target location that one frame traces into, by using identical random measurement matrix to sampling
Window dimensionality reduction extracts feature, is then classified with the trained Naive Bayes Classifier of k frames, enables classification score maximum
Window is denoted as target window, and updates I respectivelyA、IB、IO。
6. alarm system as described in claim 1, it is characterised in that：The center that the infrared long figure that splicing obtains is arranged is original
The infrared long figure position that splicing obtains is transformed into coordinate system, I by point, founding mathematical modelsABe converted to (xA,yA), IBConversion
For (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, a left side shakes
It is ω that bar, which instantaneously lifts angular speed,a, instantaneously to lift angular speed be ω for right rocking barb, the instantaneous movement speed of coalcutter mainframe be υ, note
When k frames, IA、IB、IOCoordinate (xAk,yAk)、(xBk,yBk)、(xOk,yOk), when 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；It calculates L is coalcutter mainframe center to left rocking bar and mainframe
Junction distance；At interval of time T0, calculate α in the timeaMean value, obtain αA, calculate α in the timebMean value, obtain
αB, calculate ω in the timeaMean value, obtain ωA, calculate ω in the timebMean value, obtain ωB, calculate υ in the time
Mean value obtains the numerical value of V；T0, T pass through measure setting or be manually set.
7. alarm system as described in claim 1, it is characterised in that：Setting judges frequency n, m, if n, m initial value are 0, mines
When machine is started to work, at interval of time T3, the value of V, n and m are detected, by judging V, n, m, αA、αB、ωA、ωBValue, judge to adopt
The working condition of coal machine, according to judging result, which can send out different types of alarm signal；By monitoring coalcutter left end
Cylinder position IA, coalcutter right end cylinder position IB, coalcutter host rack position IOLocate temperature, judges coalcutter heat condition, root
It is judged that as a result, the system can send out different types of alarm signal.
8. alarm system as described in claim 1, it is characterised in that：After coalcutter tracking is lost, subsequent image is carried out
Gray value is extracted and is calculated, and according to result of calculation, judges whether that floods, gas leakage occurs, according to judging result, which can
Send out different types of alarm signal.
9. the alarm system stated such as claim 1, it is characterised in that：Different alarm can be sent out, including：Rocking arm automatic lifting
Alarm signal；Rocking arm can't lock, and have sinkage alarm signal；Shearer haulage power deficiency alarm signal；Speed is turned up in rocking arm
Alarming decrease signal；Alarm signal cannot be turned up in rocking arm；Shearer haulage power alarming decrease signal；Left end roller temperature alarm is believed
Number；Right end roller temperature alarm；Mainframe temperature alarm；Happen suddenly floods alarm signal；Gas reveals alarm signal.
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| CN108361069B (en) * | 2018-02-23 | 2019-11-05 | 中国矿业大学(北京) | Mine explosion monitoring system based on color image monitoring device |
| CN110400448B (en) * | 2019-07-29 | 2020-07-24 | 精英数智科技股份有限公司 | Method and system for judging running state of coal mining machine and storage medium |
| CN111077816A (en) * | 2019-12-04 | 2020-04-28 | 神华神东煤炭集团有限责任公司 | Telex control method and telex control system based on data chain and super-large mining height coal mining machine |
| CN114666553B (en) * | 2022-05-18 | 2022-09-23 | 深圳酷源数联科技有限公司 | Coal mine underground large-visual-angle security monitoring system |
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