CN112855266B - Intelligent monitoring and autonomous collaborative machine following device of coal mining machine and inspection platform system - Google Patents
Intelligent monitoring and autonomous collaborative machine following device of coal mining machine and inspection platform system Download PDFInfo
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Abstract
The application discloses coal-winning machine intelligent monitoring and independently cooperate with quick-witted device and inspection platform system, include: the acquisition module is used for acquiring the current position of the coal cutter roller in the visual field of the inspection robot; the first tracking module is used for determining the target moving direction of the coal mining machine according to the current position and controlling the inspection robot to track the movement of the coal mining machine along the target moving direction at a first preset speed; and the second tracking module is used for controlling the inspection robot to reversely advance when detecting that the inspection robot reaches the end head or the end tail region of the inspection track and gradually reducing the moving speed of the inspection robot according to the distance between the inspection robot and the end head or the end tail until the distance meets the stop condition. According to the intelligent monitoring and autonomous collaborative tracking device for the coal mining machine based on the inspection vision, the battery cruising capacity and the body reliability of the underground inspection robot are improved. Meanwhile, the real-time intelligent monitoring of the coal mining machine is realized based on inspection.
Description
Technical Field
The application relates to the technical field of coal mining machine monitoring, in particular to an intelligent monitoring and autonomous collaborative tracking device of a coal mining machine and a patrol platform system.
Background
In recent years, with rapid development of coal mine automation technology, some automatic monitoring devices are widely used under coal mine. The visual remote intervention intelligent coal mining control system is formed in the aspects of automatic and intelligent unmanned mining in the current coal mine field, and remote manual intervention automatic mining is realized on mine ground with relatively ideal geological conditions to a certain extent. On the fully-mechanized mining face, the coal mining machine is used as one of key equipment of the fully-mechanized mining face, and the working condition (such as the height of a roller and the posture of a rocker arm) and the surrounding environment state of the coal mining machine are required to be grasped in real time in the fully-mechanized mining process, so that manual or unmanned automatic equipment is required to monitor the working condition of the coal mining machine and the space state of the working surrounding environment in real time.
Because the underground fully-mechanized coal mining face environment of the coal mine is complex, particularly under the production condition, the self condition and the surrounding environment of the coal cutter in the coal cutting state are worse. Therefore, in the process of automatic and intelligent unmanned mining technology, related academia and industry at home and abroad conduct intensive research on the automatic and intelligent monitoring and control technology of the fully mechanized mining face coal mining machine, and a series of technical methods are provided. One of the typical methods is to install a corresponding sensor device on the coal mining machine body to monitor the condition of the coal mining machine and the condition of the surrounding environment of the operation in real time, and manually and remotely control the coal mining machine, but the reliability of the monitoring device is often not guaranteed due to the destructive power of working conditions and the influence of severe environments, and the remote monitoring and manual control effects are not ideal. In this case, the relevant research institutions and the mining units cooperate to develop the fully mechanized mining face inspection robot device and the inspection system platform. The method is characterized in that a walking track is built on the outer side of a working face scraper conveyor, a patrol robot system platform is carried on the walking track, a camera sensor is arranged on the patrol robot system platform, and a manual underground or ground remote control patrol robot is used for remotely and manually tracking and visualizing the working condition and the surrounding environment state of the coal mining machine in real time on the basis of patrol.
According to the method, although real-time monitoring of the working condition and the environmental state of the fully mechanized coal mining face coal machine is realized remotely through manual intervention based on visual vision, in the fully mechanized coal mining production process, the urgent requirements of intelligent perception, dynamic prediction and cooperative control of an unmanned intelligent coal mine production system are difficult to be met through remote manual real-time monitoring, manual perception judgment, manual decision-making, intervention control of the coal mining machine and a corresponding inspection robot. Therefore, in the process of analyzing the specificity of the underground fully-mechanized coal mining face scene, the intelligent monitoring and automatic self-following method and system of the fully-mechanized coal mining face based on inspection vision are designed, the intelligent sensing of the working conditions and the surrounding environment states of the coal mining machine is realized, the automatic cooperative control operation of the coal mining machine and the inspection robot of the fully-mechanized unmanned production system is realized, and the intelligent unmanned coal mining process is assisted.
Content of the application
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, a first object of the present invention is to provide an intelligent monitoring and autonomous collaborative tracking device for a coal mining machine based on inspection vision, which improves battery cruising ability and body reliability of a downhole inspection robot. Meanwhile, the real-time intelligent monitoring of the coal mining machine is realized based on inspection.
A second object of the present invention is to provide a patrol platform system.
The third aim of the invention is to provide an intelligent monitoring and autonomous collaborative follow-up method of the coal mining machine based on inspection vision.
To achieve the above objective, an embodiment of a first aspect of the present application provides an intelligent monitoring and autonomous collaborative follow-up device for a coal mining machine based on inspection vision, including:
the acquisition module is used for acquiring the current position of the coal cutter roller in the visual field of the inspection robot;
the first tracking module is used for determining a target moving direction of the coal mining machine according to the current position and controlling the inspection robot to track the movement of the coal mining machine along the target moving direction at a first preset speed; and
and the second tracking module is used for gradually reducing the moving speed of the inspection robot according to the distance between the inspection robot and the end head or the end tail when the inspection robot is detected to reach the end head or the end tail region of the inspection track, and controlling the inspection robot to reversely move forward until the distance meets a stop condition.
In addition, the intelligent monitoring and autonomous collaborative follow-up device of the coal mining machine based on the inspection vision according to the embodiment of the invention can also have the following additional technical characteristics:
optionally, the acquisition module includes:
the acquisition unit is used for acquiring visual data of the working process of the coal mining machine;
the analysis unit is used for analyzing and obtaining visual characteristics of a roller target object under the condition of coal cutting in the advancing direction of the coal mining machine according to the visual data;
and the acquisition unit is used for inputting the visual characteristics into a preset target object intelligent detection model and acquiring the current position.
Optionally, the first tracking module includes:
the reading unit is used for reading the visual video stream of the coal wall of the inspection robot and detecting whether the drum target of the coal cutter exists in the current image frame;
the first control unit is used for controlling the inspection robot to move at a second preset speed on the track at a uniform speed when the roller target of the coal mining machine is not detected, and simultaneously obtaining the distance between the inspection robot and the end head or the end tail;
the judging unit is used for judging whether the inspection robot is in a state of following a machine mode or not when the coal cutter roller target is detected;
the second control unit is used for controlling the inspection robot to decelerate until stopping in a positioning mode state when the inspection robot is not in the machine following mode state and entering the machine following mode state;
and the tracking unit is used for tracking the movement of the coal mining machine along the target running direction at the first preset speed according to the target moving direction when the tracking unit is not in the following mode state.
Optionally, the method further comprises:
and the switching module is used for controlling the mode state of the inspection robot to be switched from the machine following mode to the positioning mode state if the coal cutter roller target is not detected in continuous preset frames in the image frames of the coal wall visual video stream.
In order to achieve the above objective, an embodiment of a second aspect of the present application provides a patrol platform system, which includes the above intelligent monitoring and autonomous collaborative follow-up device for a coal mining machine based on patrol vision.
To achieve the above objective, an embodiment of a third aspect of the present application provides a method for intelligent monitoring and autonomous collaborative follow-up of a coal mining machine based on inspection vision, including the following steps:
acquiring the current position of the drum of the coal mining machine in the visual field of the inspection robot;
determining a target moving direction of the coal mining machine according to the current position, and controlling the inspection robot to track the movement of the coal mining machine along the target moving direction at a first preset speed; and
when the inspection robot is detected to reach the end head or the end tail region of the inspection track, gradually reducing the moving speed of the inspection robot according to the distance between the inspection robot and the end head or the end tail until the distance meets the stop condition, and controlling the inspection robot to reversely move forward.
In addition, the intelligent monitoring and autonomous collaborative tracking method for the coal mining machine based on the inspection vision according to the embodiment of the invention can also have the following additional technical characteristics:
optionally, the acquiring acquires a current position of the shearer drum in the view of the inspection robot, including:
visual data of the working process of the coal mining machine are collected;
analyzing and obtaining visual characteristics of a roller target object under the condition of coal cutting in the advancing direction of the coal cutter according to the visual data;
and inputting the visual characteristics into a preset target object intelligent detection model to obtain the current position.
Optionally, the controlling the inspection robot to track the movement of the shearer along the target movement direction at a first preset speed includes:
reading the visual video stream of the coal wall of the inspection robot, and detecting whether the drum target of the coal cutter exists in the current image frame;
if the roller target of the coal mining machine is not detected, controlling the inspection robot to move at a second preset speed on a track at a uniform speed, and collecting the distance between the inspection robot and the end head or the end tail;
if the roller target of the coal mining machine is detected, judging whether the inspection robot is in a machine following mode state or not;
if the inspection robot is not in the following mode state, controlling the inspection robot to decelerate until stopping in the positioning mode state, and entering the following mode state;
and if the state is not in the following mode, tracking the movement of the coal mining machine along the target running direction at the first preset speed according to the target moving direction.
Optionally, the method further comprises:
and if no continuous preset frame in the image frames of the coal wall visual video stream detects the drum target of the coal mining machine, controlling the mode state of the inspection robot to be switched from the machine following mode to the positioning mode state.
Therefore, the intelligent tracking system has the characteristics of intelligent sensing, autonomous and repositioning of tracking targets, and cooperative control operation of the inspection robot and the coal mining machine. The problem of the manual control inspection robot working mode down, manual control instruction issue is too early, or the uncertainty of visual target monitoring state that the data channel's unreliable lead to is avoided is solved. The system is used for intelligently sensing and tracking the target of the coal mining machine, the automatic control inspection robot stably tracks the coal mining movement, so that on one hand, the battery cruising capacity and the body reliability of the underground inspection robot are improved, on the other hand, the working intensity of the underground limited space underground coal mine workers for manually controlling the inspection robot is reduced, the existing post of underground working face coal machine operators can be reduced or completely replaced to a certain extent, the real-time dynamic monitoring of the working condition and the surrounding environment state of the coal mining machine is provided for the intelligent unmanned mining system of the coal mine, the comprehensive mining production effect of personnel reduction and synergy is truly achieved, and the intelligent unmanned mining process of the coal mine is assisted.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic block diagram of a coal mining machine intelligent monitoring and autonomous collaborative follow-up device based on inspection vision according to an embodiment of the present application;
FIG. 2 is a schematic layout diagram of a visual system of a fully-mechanized mining face inspection robot, according to one embodiment of the present application;
FIG. 3 is a schematic diagram of automatic detection results of a coal mining drum based on a vision sensing system of a patrol robot according to one embodiment of the present application;
FIG. 4 is a flow chart of a method for autonomous collaborative tracking of a shearer by a patrol robot according to one embodiment of the present application;
FIG. 5 is a schematic diagram of a change state of a shearer drum in a coal wall vision system in a tracking robot following condition according to one embodiment of the present application;
fig. 6 is a flowchart of a method for intelligent monitoring and autonomous collaborative follow-up of a shearer based on inspection vision according to an embodiment of the application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The intelligent monitoring and autonomous cooperation following device and the inspection platform system of the coal mining machine according to the embodiment of the invention are described below with reference to the accompanying drawings, and the intelligent monitoring and autonomous cooperation following device of the coal mining machine based on inspection vision according to the embodiment of the invention is described first with reference to the accompanying drawings.
Before introducing the intelligent monitoring and autonomous collaborative follow-up device of the coal mining machine based on the inspection vision in the embodiment of the application, the following disadvantages in the related art are briefly introduced.
In the related art, a corresponding sensor device is arranged on a coal cutter body to monitor the condition of the coal cutter and the condition of the surrounding environment of the operation in real time, and the coal cutter is controlled in a manual remote visual mode. The method is affected by working condition destructive power and severe environment, the reliability of a monitoring device is often not guaranteed, the remote monitoring and manual intervention control effects are not ideal enough, and the existing post of an underground working face coal machine operator cannot be completely replaced or reduced to a certain extent. The technical method of the inspection system platform based on the fully mechanized mining face inspection robot device is characterized in that an underground manual or ground remote control inspection robot is used for remotely and manually tracking and visualizing the working condition and the surrounding environment state of a dynamic monitoring coal mining machine based on the inspection robot vision. However, in order to ensure that the underground inspection robot captures the working condition and the surrounding environment state of the coal mining machine in real time and completely in a visual manner in the inspection process, a worker is usually specially required to monitor the working condition and the surrounding environment state of the coal mining machine in real time in an underground or ground remote manual visual manner, and the inspection robot is manually controlled to realize tracking and monitoring of the coal mining machine. Under the condition, on one hand, the inspection robot is manually controlled according to experience by a worker, the uncertainty of the position of the coal mining machine in the visual monitoring video image can be caused by the early or untimely issuing of a control instruction, and even if the coal mining machine is completely out of the monitoring visual field at certain moments, the effect of tracking the coal mining machine and the reliability of video image data are greatly reduced. On the other hand, the movement speed of the coal mining machine is small, an operator of the inspection robot often needs to wait for the coal mining machine to advance, walking and operation with the operator can become extremely difficult for a working face with low coal seam thickness, frequent starting and stopping of the trolley are caused, accordingly, the operation endurance of the inspection robot is greatly reduced, and the reliability and the service life of the body of the inspection robot are even affected for a long time.
Specifically, fig. 1 is a schematic block diagram of a coal mining machine intelligent monitoring and autonomous collaborative follow-up device based on inspection vision according to an embodiment of the present application.
As shown in fig. 1, the intelligent monitoring and autonomous collaborative follow-up method device of the coal mining machine based on inspection vision comprises the following steps:
the acquisition module 100 is used for acquiring the current position of the shearer drum in the visual field of the inspection robot.
Optionally, in some embodiments, the acquisition module 100 comprises: the acquisition unit is used for acquiring visual data of the working process of the coal mining machine; the analysis unit is used for analyzing and obtaining visual characteristics of a roller target object under the condition of coal cutting in the advancing direction of the coal mining machine according to the visual data; the acquisition unit is used for inputting the visual characteristics into a preset target object intelligent detection model and acquiring the current position.
It can be appreciated that, because the body structure of the shearer is relatively large, the complete working condition of the shearer cannot be captured in the field of view of the camera of the visual video system in the process of following the shearer at a short distance under normal conditions. Meanwhile, in the whole process of fully-mechanized coal mining operation, the vision of a coal machine operator and a control system does not need to pay attention to the running condition of the whole machine body part of the coal machine all the time, but pay attention to the rocker arm lifting of the coal mining machine and the coal cutting condition of the roller of the coal mining machine, so that the coal cutting can be completed safely and effectively. Therefore, according to the comprehensive mining process characteristics of the coal mine, a vision system of the inspection robot is designed based on the inspection platform system, and the construction schematic diagram of the vision system is shown in the following figure 2. The inspection robot vision system consists of three cameras, namely a camera 1, a camera 2 and a camera 3. The cameras 1 and 2 are the front and rear vision of walking of the inspection robot, and the main vision range is the walking track of the inspection robot and the front and rear working surface bracket areas. The camera 3 is the coal wall vision of the inspection robot, and the visual field range is the coal wall area. When the coal mining machine circulates back to operate in the fully mechanized mining face, the camera 3 is mainly responsible for visual monitoring of working conditions of rocker arms and rollers in the advancing direction of the coal mining machine.
Based on the construction of the inspection robot vision system, video image data related to the tracking of the working process of the coal mining machine are collected and tidied based on the inspection robot vision, and vision characteristic analysis is carried out on a roller target object under the condition of cutting coal in the advancing direction of the coal mining machine. This is because under the condition of cutting coal, the environment is relatively complicated and severe, the coal dust pollution is serious, and the rocker arm of the coal machine is usually in a shielding state of the coal dust splashed during operation. Under the condition, the visual characteristics of the rocker arm of the coal machine are not obvious enough, and the automatic state detection effect is not reasonable enough, so that the automatic detection and tracking of the target object of the roller of the coal machine are focused.
The first tracking module 200 is configured to determine a target moving direction of the shearer according to the current position, and control the inspection robot to track the shearer along the target moving direction at a first preset speed.
Optionally, in some embodiments, the first tracking module 200 includes: the reading unit is used for reading the visual video stream of the coal wall of the inspection robot and detecting whether a coal cutter roller target exists in the current image frame; the first control unit is used for controlling the inspection robot to move at a second preset speed on the track at a uniform speed when the roller target of the coal mining machine is not detected, and simultaneously obtaining the distance between the inspection robot and the end head or the end tail; the judging unit is used for judging whether the inspection robot is in a state of a machine following mode when the roller target of the coal mining machine is detected; the second control unit is used for controlling the inspection robot to slow down until stopping in a positioning mode state when the inspection robot is not in a machine following mode state, and entering the machine following mode state; and the tracking unit is used for tracking the movement of the coal mining machine along the target running direction at a first preset speed according to the target moving direction when the tracking unit is not in the following mode state.
It can be understood that the embodiment of the application firstly establishes an architecture with conditions and gesture distribution aiming at underground scene environments of coal mines, particularly fully mechanized coal mining working face environments and main equipment, the system analyzes and generalizes influence rules of factors such as illumination change, coal dust influence and shielding on visual perception, combines the influence rules of three influence elements such as illumination change, coal dust influence and shielding, and establishes a coal machine drum machine learning training sample image database set with strong diversity and a certain scale on fully mechanized coal mining working face based on inspection vision related working conditions of coal mining machines through arrangement and labeling, thereby providing a data important basis for intelligent perception of the coal mining machines and drum automatic detection algorithm model training establishment based on inspection vision.
And then constructing an intelligent sensing and roller automatic detection algorithm model of the coal mining machine. On the basis of building a coal cutter drum machine learning training sample image database set based on inspection vision related to the working condition of the coal cutter, carrying out machine learning on sample image data through a convolutional neural network, extracting visual characteristics of a target object of the coal cutter drum, and realizing implicit characterization of the visual characteristics of the target object of the coal cutter drum; and establishing an automatic detection and identification model of the target object of the coal cutter drum through a Region Proposal network, pooling operation and classification network. On the basis of the establishment of an automatic detection and identification model of a target object of a roller target object of the coal mining machine, other sensor information data are fused and based on a vision perception system of the inspection robot, so that intelligent real-time perception of the target of the coal mining machine of the fully mechanized mining face is realized.
Through testing, the intelligent sensing automatic detection rate of the coal mining roller based on the visual sensing system of the inspection robot reaches a real-time detection rate of more than 25 frames per second, the detection accuracy is ensured to be more than 95%, and a visual result is shown in fig. 3.
The second tracking module 300 is configured to control the inspection robot to move reversely when it is detected that the inspection robot reaches the end or the tail end region of the inspection track, and gradually reduce the moving speed of the inspection robot according to the distance between the inspection robot and the end or the tail end until the distance meets the stop condition.
It can be understood that the embodiment of the application designs an intelligent monitoring method for coal mining working conditions and an automatic following method for the inspection robot on the basis of intelligent sensing of the coal mining roller and automatic detection of the coal mining machine roller based on the inspection robot visual sensing system. In the inspection mode, the robot intelligently senses the coal cutter roller by a vision system in the running process of the middle area of the working surface, and positions the coal cutter roller according to the dynamic position information of the coal cutter roller in a vision picture. And then the control system automatically adjusts and controls the speed of the inspection robot, automatically tracks the movement of the coal machine target, and ensures that the coal machine roller is displayed in the visual picture of the inspection vision system in real time. When the coal mining machine runs to the end head and the end tail of the working face, the inspection robot tracks and runs to the two ends of the track, and the inspection platform system performs end head and end tail positioning sensing and speed reduction and turning control operation according to the infrared positioning sensors which are arranged in advance at the end head and the end tail of the working face. The method for automatically and cooperatively tracking the coal mining machine by the inspection robot is convenient for the comprehensive mining control system to monitor the working condition and the surrounding environment of the coal mining machine, can replace the important functions of underground working face coal machine operators to a great extent, and promotes the unmanned mining of the coal mine to reduce the personnel and improve the efficiency. The flow of the method for autonomous collaborative tracking of the coal mining machine by the inspection robot is shown in fig. 4.
The specific process flow of the autonomous collaborative tracking coal mining machine of the inspection robot is described as follows:
(1) Reading a visual video stream of the coal wall of the inspection robot, and automatically detecting whether a coal cutter roller target exists in a current image frame by using an intelligent perception model;
(2) If the drum target of the coal mining machine is not detected, the inspection platform system controls the inspection robot to move on the track at a constant speed, meanwhile, the distance between the inspection robot and the end head or the end tail support is acquired, and if the distance is close to the end head or the end tail position, the inspection robot is required to be decelerated and stopped and reversely and uniformly advance;
(3) Returning to the step (1) to continuously read the visual video stream of the coal wall of the inspection robot and automatically detect the drum of the coal mining machine;
(4) If the drum target of the coal mining machine is automatically detected, indicating that the inspection robot is near the coal mining machine, and further judging whether the inspection robot is in a state of a machine following mode at the moment;
(5) If the inspection robot does not follow the machine but is positioning the position mode state of the coal mining machine, the inspection platform system automatically controls the robot to slow down until stopping;
(6) Determining the running direction of the coal mining machine;
(7) According to the running direction of the coal mining machine, the inspection platform system controls the inspection robot to start tracking the movement of the coal mining machine along the running direction of the coal mining machine at a certain speed, and updates the running mode of the inspection robot to change into a following mode state;
(8) In the process of tracking the coal mining machine by the inspection robot, the inspection platform system carries out positioning sensing of the head and the tail according to the infrared positioning sensors of the head and the tail of the working face, and if the position of the inspection platform system is close to the position of the head or the tail, the inspection robot is controlled to slow down until stopping and reversely advancing to run;
(9) And then returning to the step (1) to continuously read the visual video stream of the coal wall of the inspection robot to automatically detect the drum of the coal mining machine.
Optionally, in some embodiments, the intelligent monitoring and autonomous collaborative machine following device 10 of the present application based on inspection vision further includes: and the switching module is used for controlling the mode state of the inspection robot to be switched from the on-line mode to the positioning mode state if no coal cutter roller target is detected in continuous preset frames in the image frames of the coal wall visual video stream.
Aiming at whether the inspection robot is in a state of a positioning mode or a machine following mode of the coal mining machine, the specific process is described as follows:
when the inspection platform system starts to work, the inspection robot is in a positioning mode state of the coal mining machine. Considering that the coal cutter may be far away from the inspection robot at this time, the system controls the robot to move on the track at a uniform speed, meanwhile, the automatic detection of the target of the coal cutter drum is carried out aiming at the visual video stream frame image of the coal wall, and if the target of the coal cutter drum is detected, the inspection robot is indicated to move to the vicinity around the target of the coal cutter.
When the inspection robot moves to the vicinity around the coal mining machine, the running direction of the coal mining machine needs to be determined before the inspection robot enters the following mode state, so that the running advancing direction of the inspection robot is ensured to be consistent with the running direction of the coal mining machine. In determining the running direction of the current tracking coal mining machine, the system is required to control the inspection robot to slow down until stopping. For example, when the coal mining machine runs leftwards, after the inspection robot stops decelerating, the pixel coordinates of the drum of the coal mining machine are automatically detected to translate from the right side to the left side in the image frames of the visual video stream of the coal wall within a certain time, and the area of the detection rectangular frame of the drum target of the coal mining machine is reduced, so that the left movement of the coal mining machine can be determined. Then the system controls the inspection robot to start tracking the coal mining machine along the advancing direction of the coal mining machine at the initial speed, and enters a machine following mode and state. When the coal mining machine runs leftwards, the condition of the coal mining machine drum visually detected by the coal wall under the deceleration and stop state of the inspection robot is shown in fig. 5.
After the inspection robot enters a state of a following mode, the system needs to dynamically control the speed of the inspection robot in real time according to the movement speed of the coal mining machine. Also taking the coal mining machine moving to the left as an example. The inspection robot starts to follow the machine at a certain speed, the pixel coordinates of the coal cutter roller target detected by the coal wall visual video image frames in the following process translate rightwards, the rectangular frame area of the coal cutter roller target gradually becomes larger, the fact that the current following speed of the inspection robot is larger than the running speed of the coal cutter is indicated, and the system should control and reduce the running speed of the inspection robot. Otherwise, the pixel coordinates of the coal cutter roller target detected in the coal wall visual video image frames in the following process translate leftwards, the rectangular frame area of the coal cutter roller target becomes smaller, and the fact that the current following speed of the inspection robot is smaller than the running speed of the coal cutter is indicated, and the movement speed of the inspection robot should be increased at the moment.
In the following mode state of the inspection robot, if the continuous multiframes in the image frames of the coal wall visual video stream do not detect the roller target of the coal mining machine, the mode state of the inspection robot is switched from the following mode to the positioning mode state.
In summary, the embodiment of the application is based on an artificial intelligence technology, realizes the construction of a target intelligent detection model of a coal cutter object in a fully-mechanized mining process through deep learning, designs a method and a system for intelligent monitoring and automatic following of the coal cutter working on the fully-mechanized mining working face based on inspection vision, and firstly, utilizes the target intelligent detection model to sense and acquire the position of a roller of the coal cutter in the field of view of an inspection robot to determine the running direction of the coal cutter in the technical method; and then, according to the autonomous and timely positioning function of the inspection platform system, the movement direction and speed of the inspection robot are dynamically and autonomously controlled, so that the coal mining machine always appears in the visual field of the inspection robot in real time, and the movement of the coal mining machine is automatically and autonomously tracked by the inspection robot. Meanwhile, the automatic deceleration and the automatic return control operation of the inspection robot at the end of the inspection track are realized based on infrared ranging at the end head and the end tail of the fully-mechanized mining face.
According to the intelligent monitoring and autonomous collaborative tracking device of the coal mining machine based on the inspection vision, which is provided by the embodiment of the application, the intelligent monitoring and autonomous and repositioning tracking target device has the characteristics of intelligent sensing, autonomous and repositioning tracking target, and collaborative control operation of the inspection robot and the coal mining machine. The problem of the manual control inspection robot working mode down, manual control instruction issue is too early, or the uncertainty of visual target monitoring state that the data channel's unreliable lead to is avoided is solved. The system is used for intelligently sensing and tracking the target of the coal mining machine, the automatic control inspection robot stably tracks the coal mining movement, so that on one hand, the battery cruising capacity and the body reliability of the underground inspection robot are improved, on the other hand, the working intensity of the underground limited space underground coal mine workers for manually controlling the inspection robot is reduced, the existing post of underground working face coal machine operators can be reduced or completely replaced to a certain extent, the real-time dynamic monitoring of the working condition and the surrounding environment state of the coal mining machine is provided for the intelligent unmanned mining system of the coal mine, the comprehensive mining production effect of personnel reduction and synergy is truly achieved, and the intelligent unmanned mining process of the coal mine is assisted.
Secondly, the intelligent monitoring and autonomous collaborative follow-up device of the coal mining machine based on the inspection vision, which is provided by the embodiment of the application, is described with reference to the accompanying drawings.
Fig. 6 is a flowchart of a method for intelligent monitoring and autonomous collaborative follow-up of a shearer based on inspection vision according to an embodiment of the application.
As shown in fig. 6, the intelligent machine monitoring and autonomous collaborative machine following method based on inspection vision comprises the following steps:
in step S101, a current position of the shearer drum in the field of view of the inspection robot is acquired.
In step S102, a target movement direction of the shearer is determined according to the current position, and the inspection robot is controlled to track the shearer movement along the target movement direction at a first preset speed.
In step S103, when it is detected that the inspection robot reaches the end or the tail region of the inspection track, the moving speed of the inspection robot is gradually reduced according to the distance between the inspection robot and the end or the tail until the distance meets the stop condition, and the inspection robot is controlled to move reversely.
Optionally, in some embodiments, acquiring a current position of the shearer drum in the inspection robot field of view includes: visual data of the working process of the coal mining machine are collected; according to the visual data analysis, visual characteristics of a roller target object under the condition of coal cutting in the advancing direction of the coal cutter are obtained; and inputting the visual characteristics into a preset target object intelligent detection model to obtain the current position.
Optionally, in some embodiments, controlling the inspection robot to track shearer movements along the target movement direction at a first preset speed includes: reading a visual video stream of the coal wall of the inspection robot, and detecting whether a coal cutter roller target exists in a current image frame; if the roller target of the coal mining machine is not detected, controlling the inspection robot to move on the track at a second preset speed at a uniform speed, and acquiring the distance between the inspection robot and the end head or the end tail; if the drum target of the coal mining machine is detected, judging whether the inspection robot is in a state of a machine following mode; if the robot is not in the following mode state, controlling the inspection robot to slow down until stopping in the positioning mode state, and entering the following mode state; and if the state is not in the following mode, tracking the movement of the coal mining machine along the target running direction at a first preset speed according to the target moving direction.
Optionally, in some embodiments, further comprising: and if no coal cutter roller target is detected in the continuous preset frames in the image frames of the coal wall visual video stream, controlling the mode state of the inspection robot to be switched from the on-machine mode to the positioning mode state.
It should be noted that the foregoing explanation of the embodiments of the intelligent monitoring and autonomous cooperation following device for the coal mining machine based on the inspection vision is also applicable to the intelligent monitoring and autonomous cooperation following method for the coal mining machine based on the inspection vision in this embodiment, and will not be repeated here.
According to the intelligent monitoring and autonomous collaborative tracking method for the coal mining machine based on the inspection vision, which is provided by the embodiment of the application, the intelligent monitoring, autonomous and repositioning tracking target and the characteristics of collaborative control operation of the inspection robot and the coal mining machine are realized. The problem of the manual control inspection robot working mode down, manual control instruction issue is too early, or the uncertainty of visual target monitoring state that the data channel's unreliable lead to is avoided is solved. The system is used for intelligently sensing and tracking the target of the coal mining machine, the automatic control inspection robot stably tracks the coal mining movement, so that on one hand, the battery cruising capacity and the body reliability of the underground inspection robot are improved, on the other hand, the working intensity of the underground limited space underground coal mine workers for manually controlling the inspection robot is reduced, the existing post of underground working face coal machine operators can be reduced or completely replaced to a certain extent, the real-time dynamic monitoring of the working condition and the surrounding environment state of the coal mining machine is provided for the intelligent unmanned mining system of the coal mine, the comprehensive mining production effect of personnel reduction and synergy is truly achieved, and the intelligent unmanned mining process of the coal mine is assisted.
In addition, the embodiment of the application also provides a patrol platform system, which comprises the intelligent monitoring and autonomous collaborative follow-up device of the coal mining machine based on patrol vision.
According to the inspection platform system, through the intelligent monitoring and autonomous collaborative tracking device of the coal mining machine based on inspection vision, the problem of uncertainty of a visual target monitoring state caused by unreliability of a data channel is solved, wherein the problem is solved that a manual control instruction is issued too early under a manual control inspection robot working mode. The system is used for intelligently sensing and tracking the target of the coal mining machine, the automatic control inspection robot stably tracks the coal mining movement, so that on one hand, the cruising capacity of a battery of the underground inspection robot is improved, the reliability of a body is improved, on the other hand, the working intensity of a coal mine worker under a limited underground space for manually controlling the inspection robot is reduced, the existing post of a coal machine operator on an underground working face can be reduced or completely replaced to a certain extent, the real-time dynamic monitoring of the working condition of the coal mining machine and the state of the surrounding environment is provided for an intelligent unmanned mining system of a coal mine, the comprehensive mining production effect of personnel reduction and synergy is truly achieved, and the intelligent unmanned mining process of the coal mine is assisted.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (7)
1. Coal-winning machine intelligent monitoring and independently cooperate with quick-witted device based on inspection vision, its characterized in that includes:
the acquisition module is used for acquiring the current position of the coal cutter roller in the visual field of the inspection robot;
the first tracking module is used for determining a target moving direction of the coal mining machine according to the current position and controlling the inspection robot to track the movement of the coal mining machine along the target moving direction at a first preset speed;
the second tracking module is used for controlling the inspection robot to reversely advance when detecting that the inspection robot reaches the end head or the end tail region of the inspection track and gradually reducing the moving speed of the inspection robot according to the distance between the inspection robot and the end head or the end tail until the distance meets a stop condition;
the first tracking module comprises:
the reading unit is used for reading the visual video stream of the coal wall of the inspection robot and detecting whether the drum target of the coal cutter exists in the current image frame;
the first control unit is used for controlling the inspection robot to move at a second preset speed on the track at a uniform speed when the roller target of the coal mining machine is not detected, and simultaneously obtaining the distance between the inspection robot and the end head or the end tail;
the judging unit is used for judging whether the inspection robot is in a state of following a machine mode or not when the coal cutter roller target is detected;
the second control unit is used for controlling the inspection robot to decelerate until stopping in a positioning mode state when the inspection robot is not in the machine following mode state and entering the machine following mode state;
and the tracking unit is used for tracking the movement of the coal mining machine along the target moving direction at the first preset speed according to the target moving direction when the tracking unit is not in the following mode state.
2. The apparatus of claim 1, wherein the acquisition module comprises:
the acquisition unit is used for acquiring visual data of the working process of the coal mining machine;
the analysis unit is used for analyzing and obtaining visual characteristics of a roller target object under the condition of coal cutting in the advancing direction of the coal mining machine according to the visual data;
and the acquisition unit is used for inputting the visual characteristics into a preset target object intelligent detection model and acquiring the current position.
3. The apparatus as recited in claim 1, further comprising:
and the switching module is used for controlling the mode state of the inspection robot to be switched from the machine following mode to the positioning mode state if the coal cutter roller target is not detected in continuous preset frames in the image frames of the coal wall visual video stream.
4. A patrol platform system, comprising: the intelligent monitoring and autonomous collaborative follow-up device for a coal mining machine based on inspection vision according to any one of claims 1-3.
5. The intelligent monitoring and autonomous collaborative tracking method for the coal mining machine based on the inspection vision is characterized by comprising the following steps of:
acquiring the current position of the drum of the coal mining machine in the visual field of the inspection robot;
determining a target moving direction of the coal mining machine according to the current position, and controlling the inspection robot to track the movement of the coal mining machine along the target moving direction at a first preset speed;
when the inspection robot is detected to reach the end head or the end tail region of the inspection track, gradually reducing the moving speed of the inspection robot according to the distance between the inspection robot and the end head or the end tail until the distance meets a stop condition, and controlling the inspection robot to reversely move forward;
the controlling the inspection robot to track the movement of the coal mining machine along the target movement direction at a first preset speed comprises the following steps:
reading the visual video stream of the coal wall of the inspection robot, and detecting whether the drum target of the coal cutter exists in the current image frame;
if the roller target of the coal mining machine is not detected, controlling the inspection robot to move on the track at a second preset speed at a uniform speed, and acquiring the distance between the inspection robot and the end head or the end tail;
if the roller target of the coal mining machine is detected, judging whether the inspection robot is in a machine following mode state or not;
if the inspection robot is not in the following mode state, controlling the inspection robot to decelerate until stopping in the positioning mode state, and entering the following mode state;
and if the state is not in the following mode, tracking the movement of the coal mining machine along the target movement direction at the first preset speed according to the target movement direction.
6. The method of claim 5, wherein the acquiring acquires a current position of the shearer drum in the inspection robot field of view, comprising:
acquiring video image data of the working process of the coal mining machine;
analyzing and obtaining visual characteristics of a roller target object under the condition of coal cutting in the advancing direction of the coal cutter according to the video image data;
and inputting the visual characteristics into a preset target object intelligent detection model to obtain the current position.
7. The method as recited in claim 5, further comprising:
and if no continuous preset frame in the image frames of the coal wall visual video stream detects the drum target of the coal mining machine, controlling the mode state of the inspection robot to be switched from the machine following mode to the positioning mode state.
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| CN113685176B (en) * | 2021-08-31 | 2022-10-04 | 煤炭科学研究总院有限公司 | Cooperative control method and device for coal mining machine and support and electronic equipment |
| CN113848900B (en) * | 2021-09-22 | 2024-04-12 | 中国国家铁路集团有限公司 | Method and device for inspecting high-speed rail inspection robot, electronic equipment and storage medium |
| CN113958320A (en) * | 2021-10-22 | 2022-01-21 | 中煤张家口煤矿机械有限责任公司 | Full-intelligent cruise system and method for coal mine fully-mechanized coal mining complete equipment |
| CN114033372B (en) * | 2021-10-25 | 2024-02-23 | 北京天玛智控科技股份有限公司 | Control method and device for fully-mechanized coal mining face |
| CN114355944B (en) * | 2022-01-05 | 2023-11-28 | 天津华宁电子有限公司 | Mining working face double-vehicle control system |
| CN116988837B (en) * | 2023-09-25 | 2024-04-05 | 太原科技大学 | Underground autonomous inspection system and method for coal mine |
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