CN107770491A - Coal mine down-hole personnel exception track detection system and method based on machine vision - Google Patents
Coal mine down-hole personnel exception track detection system and method based on machine vision Download PDFInfo
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- CN107770491A CN107770491A CN201710940585.9A CN201710940585A CN107770491A CN 107770491 A CN107770491 A CN 107770491A CN 201710940585 A CN201710940585 A CN 201710940585A CN 107770491 A CN107770491 A CN 107770491A
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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Abstract
The invention discloses a kind of coal mine down-hole personnel exception track detection system based on machine vision, including taking module, video transmission module, surface control module, display module, warning module.Taking module catches mark and underground real time video image on personnel in the pit's safety cap；Video transmission module is by Ethernet by video signal transmission to ground control centre；Surface control module quickly handles image, determines work post and corresponding desired guiding trajectory, generates the contrast images signal of real-time movement track and desired guiding trajectory；Display module shows track comparison diagram and the realtime graphic of all downhole video cameras；Warning module is to prompt personnel in the pit correct track when detecting track exception, and informs ground maneuvers personnel's abnormal conditions.This detection method is scientific, practicality is taken into account, and has replenished the blank of personnel in the pit's track detection, working specification, succession, integrality under winding shaft, effectively evade because business is not yet done or personal experience's doctrine caused by security incident.
Description
Technical field
The present invention relates to image procossing and automatic detection field, more particularly, to a kind of underground coal mine based on machine vision
Personnel's exception track detection system and method.
Background technology
In the developed country of rich in mineral resources, coal mine machinery degree is up to 95%, and staff's accounting is very under real well
It is small, injures and deaths number can be controlled in terms of personnel's radix, and also mechanized operation is efficient, specification, and tunnel is unobstructed to facilitate machinery overhaul
With maintenance, cause danger and be easy to withdraw.China's coal-mine Industry is reviewed, mechanical automation degree is not high, gas explosion, colliery
Permeable or coal mine roadway such as collapses at the Frequent Accidents.Security incident, which occurs, for underground coal mine mainly following reason：First, coal mining
Belong to high-risk special work post, but downhole operations worker's schooling is low, and professional training is limited, easily ignores safety regulation system；
Secondly, underground work identity distance is remote from the ground, the landform after exploitation wriggle it is rugged, personnel in the pit exchanged with ground maneuvers it is not smooth, with
This reduces the supervision to personnel in the pit simultaneously.To solve the above problems, want to realize well by following the trail of personnel in the pit's movement locus
Lower operating process specification and personnel are accurately positioned.At present, to the record and space orientation technique of people's movement locus in daily life
It is progressively ripe, but in underground coal mine bad environments, light condition is poor, and metal machinery and tunnel shelter-clad are to nothing in addition
The interference of line signal, blank is still to miner track automatic detection in underground, miner track examined without a kind of so far
The method of survey.Personnel in the pit can only carry tag card, swipe the card on the ground such as well head, important area gateway, restricted area that come in and go out
Position monitoring.
If using the coal mine down-hole personnel exception track detection system based on machine vision, not only ground supervisor can
With Real Time Observation labour movement track and underground work situation is directly acquainted with, and energy specification personnel in the pit's operating process, ensure
Operating efficiency.From safety of coal mines angle, specification personnel in the pit's operating process, can be prevented from root because business is not yet done and warp
Security incident caused by testing doctrine；Once the accident of generation, can also be rescued safely according to movement locus to underground work personnel positioning
Efficiency high is protected, it is good to search and rescue effect.
The content of the invention
It is an object of the invention to solve the problems, such as in underground coal mine not to miner's track record and space orientation, there is provided
Coal mine down-hole personnel exception track detection system and method based on computer vision, makes ground maneuvers personnel to down-hole miner
Position real-time monitoring, the specification operating process of miner, prevent trouble before it happens, greatly ensure miner life security.Coal mining
There is respective fixed workflow in each department, corresponding to produce relatively more fixed movement track.
To achieve the above object, the present invention provides a kind of coal mine down-hole personnel exception track detection based on computer vision
System, including multiple downhole imaging modules of digital number, are arranged at underground specified location, for shooting the well of different work posts
The mark and the real-time underground picture of observation on safety cap that lower personnel wear；Wherein, job category comprises at least gas work and electricity
Pincers worker；Video transmission module, for by the video signal transmission that multiple downhole imaging module photographs obtain to surface control module；
Surface control module, for receiving, handling, analyzing vision signal, form the rail of the reference object corresponding to different type work post
Mark information correction data；Display module, for showing the realtime graphic of trace information correction data and all downhole video cameras, and
And pass through matrix host computer automatic switching pictures；Warning module, for when maloperation occurs in staff, informing personnel in the pit just
True track is simultaneously warned with anti-misoperation.
To achieve the above object, the invention provides a kind of coal mine down-hole personnel exception track detection based on machine vision
Method, specifically include following steps：
The personnel in the pit that different work posts are shot by the video camera for the multiple digital numbers for being arranged at underground diverse location wears
Safety cap on mark and the real-time underground picture of observation；Wherein, job category comprises at least gas work and electric pincers worker；Will shooting
Obtained video signal transmission is to ground control centre；Ground control centre receives, handled, analysis vision signal, is formed corresponding
In the trace information correction data of the reference object of different type work post；Trace information correction data and institute are shown by display
There is the realtime graphic of downhole video cameras, and pass through matrix host computer automatic switching pictures；When maloperation occurs in staff, accuse
Know the correct track of personnel in the pit and warn with anti-misoperation.
The present invention has the advantages and positive effects of：
The coal mine down-hole personnel exception track detection system based on computer vision of the present invention is taken the photograph by setting more to number
Camera and the corresponding relation of worker safety's cap sign, solve multiple cameras in the presence of a harsh environment to same position miner's
The problem of identification；Logo identification data is in real time drawn miner's positional information and underground by Ethernet by video transmission module
Surface control module is passed in face, and action trail and the both fixed tracks of miner are contrasted, ensure that the ageing and accurate of miner position
True property, integrality, the succession of miner's operation are improved, greatly reduces and triggers accident because business is unfamiliar with empiricism
Probability, invention there is the advantages of intelligent and high-efficiency.
Brief description of the drawings
Fig. 1 is a kind of flow of coal mine down-hole personnel exception track-detecting method based on machine vision provided by the invention
Schematic diagram；
Fig. 2 is a kind of embodiment of coal mine down-hole personnel exception track detection system based on machine vision provided by the invention
Middle coal mine gas measurement work exception track detection arrangement simulation schematic diagram；
Fig. 3 is a kind of embodiment of coal mine down-hole personnel exception track detection system based on machine vision provided by the invention
Middle underground coal mine electricity pincers worker exception track detection arrangement simulation schematic diagram；
Fig. 4 is a kind of embodiment of coal mine down-hole personnel exception track detection system based on machine vision provided by the invention
The structural representation that middle machine video camera and alarm modules are set.
Description of reference numerals
1----- pre-shift meetings discuss place A;Between the storage of 2----- instruments;3----- undergrounds entrance；
4----- undergrounds export；5----- work handovers place；6----- stopes；
7----- tailentries；8----- driving faces；9----- work handovers point；
10----- pre-shift meetings discuss place B;11------ control rooms doorway;12----- undergrounds gateway;
13----- down-hole switch cabinets;14----- repair apparatus region;15----- repair apparatus;
16----- voice prompting devices；17----- gunlock video cameras.
Embodiment
Make further more detailed description to technical scheme with reference to embodiment.Obviously, retouched
The embodiment stated is only the part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained on the premise of creative work is not made, should all belong to
The scope of protection of the invention.
As shown in Figure 1：
The flow of coal mine down-hole personnel exception track-detecting method provided by the invention based on computer vision is as follows：
Step 1, the device for underground man car of different work posts is shot by the video camera for the multiple digital numbers for being arranged at underground diverse location
The mark and the real-time underground picture of observation on safety cap that member wears；Wherein, job category comprises at least gas work and electric pincers worker.
Preferably, video camera uses gunlock video camera.Identification information on gunlock cameras capture safety cap；Band digital number
Gunlock shooting machine testing movement target（That is the staff of underground）, by camera number and image signal data together in real time
It is transferred to ground control centre.
Step 2, by the video signal transmission that shooting obtains to ground control centre.
Through multiplex coding device access network based on ethernet after gunlock video camera obtains view data, then by multi-channel decoder by ether
The vision signal of net changes into the analysis module that normal video signal is passed to ground control centre.
Step 3, ground control centre receives, handles, analyzes vision signal, forms the shooting corresponding to different type work post
The trace information correction data of object.
To camera number and video image analysis；Video image is handled based on Opencv, utilizes Canny edges
The mark on safety cap is detected, mark is that Arabic numerals are formed with Roman number, and different identification defines the different work in underground
Kind, different default action trails is formulated further according to different work post operating processes.Desired guiding trajectory according to《Colliery post work post behaviour's stream
Journey security manual》Defined safety criterion, is compiled by programmable controller, by and by desired guiding trajectory according to downhole video cameras numeral
Numbering forms digital coding and is stored in a database.
Track data is matched and contrasted；Control centre's data module obtains both fixed track numbers according to the mark detected
According to, by camera number corresponding to mark and set track number set contrast, detection process analogous element and compound mapping.
Specifically, the step of matching contrast, is：Using the digital coding of desired guiding trajectory as an element set A, represent real
When path digital coding the process that track contrasts is analogized into collection as element set B, A={ X/X ∈ N* }, B={ Y/Y ∈ N* }
The element for closing B presses y=x one-to-one mappings into set A, if containing its beyond set A in the invalid set B of mapping relations
His element, then assert that track is abnormal.
Step 4, the realtime graphic of trace information correction data and all downhole video cameras is shown by display, and is led to
Cross matrix host computer automatic switching pictures.
The switching of monitored picture；Signal is conveyed to matrix host computer by control centre, can realize the intellectuality of monitored picture, when
It is abnormal to there is track, monitoring display screen show immediately the monitored picture for the video camera that reports an error, control centre intuitively go and find out what's going on after energy
Supervise or take emergency processing in time.
Monitoring screen and LED large screen displays；Monitoring screen can check the real-time pictures of any video camera manually.LED
The flow chart that large screen display is depicted as by the numbering of desired guiding trajectory and the camera number of expression actual motion track, can be directly perceived
Carry out real-time track comparison.
Step 5, when maloperation occurs in staff, inform the correct track of personnel in the pit and warn with anti-misoperation.
If video camera label is not in set track number set corresponding to mark, judge that track is abnormal, triggering is pre-
Alert module.Early warning is divided on well and underground two parts, and underground first sends prompting by the voice prompting device on video camera that reports an error
Sound, then indicate to go to correct numbering（Position）；Jing Shang control centres are then abnormal in display screen pop-up dialogue box cueing track.When
Personnel in the pit reaches correct position, that is, in the camera views for appearing in pre-set track coding, control centre receives positive exact figures
According to rear, early warning sound just releases.
The coal mine down-hole personnel exception track-detecting method based on computer vision of the present invention has been compiled by setting more
Number video camera and the corresponding relation of worker safety's cap sign, solve multiple cameras in the presence of a harsh environment to same position ore deposit
The problem of identification of work；It is by video transmission module that Logo identification data is real miner's positional information and underground by Ethernet
When picture pass to surface control module, the action trail of miner and both fixed tracks are contrasted, ensure that the ageing of miner position
And accuracy, integrality, the succession of miner's operation are improved, greatly reduces and triggers because business is unfamiliar with empiricism
The probability of accident, invention have the advantages of intelligent and high-efficiency.
Present invention is generally directed to the integrality of underground work and the succession operated is detected and early warning.
The invention provides a kind of coal mine down-hole personnel exception track detection system based on machine vision, the system bag
Include：
Multiple downhole imaging modules of digital number, are arranged at underground specified location, for shooting the device for underground man car of different work posts
The mark and the real-time underground picture of observation on safety cap that member wears；Wherein, job category comprises at least gas work and electric pincers worker；
Video transmission module, for by the video signal transmission that multiple downhole imaging module photographs obtain to surface control module；
Video transmission module by multiplex coding device by the output signal access network based on ethernet of taking module, then will be with by multi-channel decoder
The vision signal netted very much changes into normal video signal and is passed to surface control module 230.
Surface control module, for receiving, handling, analyzing vision signal, form the shooting corresponding to different type work post
The trace information correction data of object；
Wherein, surface control module includes：
Default unit, for basis《Colliery post work post behaviour's flow security manual》Defined safety criterion, by programmable controller
Compiling, form digital coding according to the digital number of the downhole imaging module by and by desired guiding trajectory and be stored in a data mould
Block；
It is basis during default unit desired guiding trajectory《Colliery post work post behaviour's flow security manual》Defined safety criterion, by compiling
Range controller compiles, and forming digital coding according to the digital number of downhole imaging module by and by desired guiding trajectory is stored in a data
Module；The identification information for the safety cap that multiple taking module numberings are worn from different work post staff simultaneously, which is integrated, to be compiled
Translate, specify the work post type of the staff shot of the taking module of diverse location setting.
Graphics processing unit, vision signal is handled for receiving vision signal, and based on Opencv, form shooting
The trace information of object；
Label detection unit, for the mark gone out by Canny rim detections on safety cap, determine the work people of safe wearing cap
The work post of member；
Comparison unit, the trace information and default unit 231 of the reference object obtained for real time contrast by image procossing are pre-
If corresponding work post correct travel track.
Specifically, comparison unit using the digital coding of desired guiding trajectory as an element set A, represents the number of real-time route
Word coding is used as element set B, A={ X/X ∈ N* }, B={ Y/Y ∈ N* } that the process that track contrasts is analogized to set B element
By y=x one-to-one mappings into set A, if containing the other elements beyond set A in the invalid set B of mapping relations,
Assert that track is abnormal.
Display module, for showing the realtime graphic of trace information correction data and all downhole video cameras, and pass through
Matrix host computer automatic switching pictures；
Warning module, for when maloperation occurs in staff, informing the correct track of personnel in the pit and warning with anti-misoperation.
Warning module is respectively arranged at the position that each taking module is set, and detects that staff walks in surface control module
During circuit exception, by sending alarm signal, there is track exception in notice underground work personnel.
By taking gas management as an example, artificial caused gas explosion, exist mostly and go through the motions, do as a mere formality, it is perfunctory, do not recognize
True investigation accident potential is half-hearted thoroughly to rectify and improve and the problems such as producing in violation of rules and regulations be present.It is complete that the present invention can supervise staff to complete
Portion works, and prevents detection from omitting, conscientiously investigates accident potential.
By taking the electricity bench work flow of underground as an example, violate flow and cause security incident mainly there are following two reasons：1st, industry
It is engaged in unskilled, operation content, program is unfamiliar with or unclear；2nd, at work, operated, violated according to personal subjective opinion
Empiricism mistake, work are not responsible, not in place.The present invention can supervise staff to complete work times by correct operating process
Business, prevent program not to producing maloperation.Specifically with Fig. 2, Fig. 3 explanation.
As shown in Figure 2：
Coal mine gas measurement work exception track detection system arrangement：
Above ground portion pre-shift meeting discusses place（1）, instrument storage between（2）One common camera is respectively set, and underground part underground goes out
Entrance（3/4）, work handover place（5）, stope（6）, tailentry（7）, driving face（8）, work hand over
Contact（9）Well gunlock video camera should all be arranged.Specific underground structure is different, simply draws position relationship illustration method.
Gas surveying work, appointed place（1）Pre-shift meeting view is participated in, task is specified, takes appointment with certificate；Between storage（2）'s
Tool shelving rack, bring all the instruments such as gas detector；Colliery entrance（3）；Assigned work place（5）Relieve, fresh air changes
Gas；Check stope（6）Ventilation equipment, measure gas density and record, gas memorial tablet is inside return airway（7）；Check
Driving face（8）Ventilation equipment, measurement gas density simultaneously fills in gas board（Complete to formulate operating point gas by task
Measurement, is not enumerated）；Video camera, data report scheduling, to appointed place（9）Relieve, upper well（4）Complete all working.
As shown in Figure 3：
Underground coal mine electricity pincers worker exception track detection system is arranged：
Above ground portion discusses place in pre-shift meeting（10）, control room doorway（11）One common camera, underground part coal are respectively set
Ore deposit gateway（12）, down-hole switch cabinet（13）Repair apparatus region（14）Repair apparatus（15）It should all arrange that well is imaged with gunlock
Machine.Specific underground structure is different, simply draws position relationship illustration method.
Pre-shift meeting view is participated in underground electricity pincers worker, appointed place（10）, task is specified, is taken appointment with certificate；B video cameras, adjust
Spend room doorway（11）, power failure application ticket is handled, power failure work ticket, is familiar with supply line and equipment performance；Enter well head（12）；Underground
Switch cubicle（13）, ask whether scheduling can power off for instructions, latch switch, be listed；Repair apparatus region（14）, gas is checked before uncapping
Concentration, electrical verification, electric discharge, hanging earthing conductor, check repair apparatus（15）, site clearing after construction, ground wire is removed, checks inspection
Circuit personnel are repaiied all to withdraw；Return down-hole switch cabinet（13）, operating personnel's delisted power transmission in person；Upper well（12）Complete work.
If not having potential safety hazard by flow operations, maloperation is easily produced at down-hole switch cabinet, may be because of other people
Closure switch, maintainer's hotline maintenance is set to cause danger, also possible maintainer forgets closure switch hotline maintenance.The present invention
Each staff's clear stipulaties were taken action track, others' injury of the maloperation to oneself can be reduced, indicate again from
The correct track of body, improve operating efficiency and life safety.
As shown in Figure 4：
Gunlock video camera and voice prompting device structure：
On the back timbers on ground such as underground gunlock camera placements are at well head discrepancy, workbench, important area, restricted area, take the photograph
Picture head should be in 40 degree of inclination angles with ground, be advantageous to detect the mark on safety cap.Together with voice prompting device and camera placements
Can be sounded the alarm prompting personnel in the pit in time, then point out the camera number that go to, and appear in desired guiding trajectory video camera
Then prompt tone is closed in picture.
At well head discrepancy, the ground such as workbench, important area, restricted area installation video camera, and to camera number,
With this numbering personnel in the pit track being described, Digital ID distinguishes work post on safety cap, gives different work posts preset movement locus,
The diversity of various sexual satisfaction underground work post flow of Digital ID.By the collection, processing, analysis of image information, by miner
Action trail with it is expected that path matching, if control centre finds that track is abnormal, buzzer pre-alert notification personnel in the pit's is same
When inform ground maneuvers personnel, ground staff sends instruction by real-time pictures under camera inspection well, realizes two-way early warning
Accuracy rate can be improved simultaneously, reduce erroneous judgement, phenomenon of acting blindly.When in the camera lens that personnel in the pit appears in estimated track, underground
Early warning sound stops, and completes track correct.
The coal mine down-hole personnel exception track detection system based on computer vision of the present invention has been compiled by setting more
Number video camera and the corresponding relation of worker safety's cap sign, solve multiple cameras in the presence of a harsh environment to same position ore deposit
The problem of identification of work；It is by video transmission module that Logo identification data is real miner's positional information and underground by Ethernet
When picture pass to surface control module, the action trail of miner and both fixed tracks are contrasted, ensure that the ageing of miner position
And accuracy, integrality, the succession of miner's operation are improved, greatly reduces and triggers because business is unfamiliar with empiricism
The probability of accident, invention have the advantages of intelligent and high-efficiency.
Embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize the present invention
The equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other related technologies
Field, it is included within the scope of the present invention.
Claims (10)
- A kind of 1. coal mine down-hole personnel exception track detection system based on machine vision, it is characterised in that including：Multiple downhole imaging modules of digital number, are arranged at underground specified location, for shooting the device for underground man car of different work posts The mark and the real-time underground picture of observation on safety cap that member wears；Wherein, the job category comprises at least gas work and electricity Pincers worker；Video transmission module, the video signal transmission for the multiple downhole imaging module photograph to be obtained control mould to ground Block；Surface control module, for receiving, handling, analyzing the vision signal, form the shooting corresponding to different type work post The trace information correction data of object；Display module, for showing the realtime graphic of the trace information correction data and all downhole video cameras, and pass through Matrix host computer automatic switching pictures；Warning module, for when maloperation occurs in staff, informing the correct track of personnel in the pit and warning with anti-misoperation.
- 2. the coal mine down-hole personnel exception track detection system according to claim 1 based on machine vision, its feature exist In the surface control module includes：Default unit, for basis《Colliery post work post behaviour's flow security manual》Defined safety criterion, by programmable controller Compiling, form digital coding according to the digital number of the downhole imaging module by and by the desired guiding trajectory and be stored in a data Module；Graphics processing unit, the vision signal is handled for receiving the vision signal, and based on Opencv, formed The trace information of reference object；Label detection unit, for the mark gone out by Canny rim detections on safety cap, it is determined that wearing the work of the safety cap Make the work post of personnel；Comparison unit, for the trace information of reference object for obtaining scan picture and the default phase of default unit The correct travel track of work post is answered to contrast.
- 3. the coal mine down-hole personnel exception track detection system according to claim 2 based on machine vision, its feature exist In the comparison unit using the digital coding of desired guiding trajectory as an element set A, make by the digital coding for representing real-time route For element set B, the process that track contrasts is analogized to set B element by a pair of y=x by A={ X/X ∈ N* }, B={ Y/Y ∈ N* } One is mapped in set A, if containing the other elements beyond set A in the invalid set B of mapping relations, assert that track is different Often.
- 4. the coal mine down-hole personnel exception track detection system according to claim 2 based on machine vision, its feature exist In described default unit desired guiding trajectory is compiled by programmable controller, and desired guiding trajectory formation file is stored in into data Module；The identification information for the safety cap that multiple taking module numberings are worn from different work post staff simultaneously, which is integrated, to be compiled Translate, specify the work post type of the staff shot of the taking module of diverse location setting.
- 5. the coal mine down-hole personnel exception track detection system according to claim 1 based on machine vision, its feature exist In the warning module is respectively arranged at the position that each taking module is set, and by sending alarm signal, notifies underground There is track exception in staff.
- A kind of 6. coal mine down-hole personnel exception track-detecting method based on machine vision, it is characterised in that including：The personnel in the pit that different work posts are shot by the video camera for the multiple digital numbers for being arranged at underground diverse location wears Safety cap on mark and the real-time underground picture of observation；Wherein, the job category comprises at least gas work and electric pincers worker；By the video signal transmission that shooting obtains to ground control centre；The ground control centre receives, handled, analyzing the vision signal, forms the shooting pair corresponding to different type work post The trace information correction data of elephant；The realtime graphic of the trace information correction data and all downhole video cameras is shown by display, and passes through matrix Main frame automatic switching pictures；When maloperation occurs in staff, inform the correct track of personnel in the pit and warn with anti-misoperation.
- 7. the coal mine down-hole personnel exception track-detecting method according to claim 6 based on machine vision, its feature exist In receiving, handle, analyzing the vision signal, forming the trace information pair of the reference object corresponding to different type work post Than in the step of data, including step：According to《Colliery post work post behaviour's flow security manual》Defined safety criterion, is compiled by programmable controller, by and by institute Desired guiding trajectory is stated to be stored in a database according to the digital number formation digital coding of the video camera；The vision signal is received, and the vision signal is handled based on Opencv, forms the track letter of reference object Breath；The mark gone out by Canny rim detections on safety cap, it is determined that wearing the work post of the staff of the safety cap；The correct travel track of the trace information for the reference object that real time contrast obtains through image procossing and default corresponding work post.
- 8. the coal mine down-hole personnel exception track-detecting method according to claim 7 based on machine vision, its feature exist In in the trace information and the default unit default corresponding tool body kind of the reference object for obtaining scan picture In the step of correct travel track contrast, using the digital coding of desired guiding trajectory as an element set A, real-time route is represented Digital coding analogizes to the process that track contrasts set B member as element set B, A={ X/X ∈ N* }, B={ Y/Y ∈ N* } Element presses y=x one-to-one mappings into set A, if containing the other elements beyond set A in the invalid set B of mapping relations, Then assert that track is abnormal.
- 9. the coal mine down-hole personnel exception track-detecting method according to claim 7 based on machine vision, its feature exist In in the course according to work post type and counterpart staff, default corresponding different work post type of work personnel's is correct In the step of travel track, default correct travel track is compiled by programmable controller, and the desired guiding trajectory is formed into file Storage；The identification information for the safety cap that multiple camera numbers are worn from different work post staff simultaneously, which is integrated, to be compiled Translate, specify the work post type of the staff shot of the video camera of diverse location setting.
- 10. the coal mine down-hole personnel exception track-detecting method according to claim 6 based on machine vision, its feature exist In informing the correct track of personnel in the pit and warning with the step of anti-misoperation, be respectively arranged at a siren described every The set location of one video camera, by sending alarm signal, there is track exception in notice underground work personnel.
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