CN116567186A - Mining machine panoramic monitoring display system and position identification method thereof - Google Patents
Mining machine panoramic monitoring display system and position identification method thereof Download PDFInfo
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- CN116567186A CN116567186A CN202310612627.1A CN202310612627A CN116567186A CN 116567186 A CN116567186 A CN 116567186A CN 202310612627 A CN202310612627 A CN 202310612627A CN 116567186 A CN116567186 A CN 116567186A
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- 238000005065 mining Methods 0.000 title claims abstract description 90
- 238000012544 monitoring process Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 3
- 238000003909 pattern recognition Methods 0.000 claims description 2
- 239000003245 coal Substances 0.000 description 22
- 230000008569 process Effects 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000012806 monitoring device Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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Abstract
The invention relates to a mining machine panoramic monitoring display system and a position identification method thereof, wherein the mining machine panoramic monitoring display system comprises a video monitoring unit, a communication unit, a background control system and a display device, the video monitoring unit comprises at least two full-scene cameras, the full-scene cameras are used for monitoring mining equipment, the background control system can sequentially receive monitoring pictures transmitted by a plurality of full-scene cameras, automatically switch the display pictures according to the best full-scene camera position corresponding to a monitored object, and display the monitoring pictures through the display device.
Description
Technical Field
The invention relates to the technical field of mining equipment monitoring, in particular to a mining machine panoramic monitoring display system and a position identification method thereof.
Background
At present, the mining industry performs little or no humanization on a powerful pushing site, video monitoring is an important link in the mining industry, and the mining industry plays a role in replacing human eyes, so that people do not work in a severe site environment, but remote control and various sudden problem treatment are realized in a monitoring room with comfortable environment through videos. This requires the deployment of a set of solutions on site that can monitor the panorama and compromise the details to support remote control, and in addition there is currently no good solution for short range and wide range scenarios (see below), such as mining scenarios on long and narrow aisles.
The prior video monitoring technology mainly comprises the following schemes: scheme one, install the camera on mining equipment, like patent number: CN201010532278.5, a novel wireless mobile video monitoring device for coal mining machine is disclosed, this novel wireless mobile video monitoring device for coal mining machine includes industrial computer (1), optical switch (2), underground switch (3), optical cable (4), wireless network basic station (5), coal mining machine (6), network camera (7), directional antenna (8), characterized by: this novel wireless mobile video monitoring device of coal-winning machine is equipped with an industrial computer (1), industrial computer (1) is connected through optical cable (4) with optical port switch (2) at the aboveground working face, is equipped with a wireless network basic station (5) at the working face in the pit evenly apart from a section distance, wireless network basic station (5) are connected with switch (3) in the pit through optical cable (4), and this novel wireless mobile video monitoring device of coal-winning machine is equipped with coal-winning machine (6) of installing network camera (7) of a removal in addition in the pit, and this technical scheme is because mining vibration is big, very high to the reliability requirement of equipment, and equipment is extremely fragile, and can not panorama monitoring whole operation scene.
In the second scheme, cameras are installed at fixed points around the mining equipment, all scenes which cannot be detected and states of key detail parts cannot be provided for supporting remote control, and in addition, an operator is required to have a certain adaptation time for picture content mutation caused by picture switching, so that real-time control is not facilitated.
The scheme III is that a track is designed on site, a patrol robot with a camera is placed, mining equipment is tracked in real time, the track needs to be cleaned frequently and is easy to pass under the environment, wireless transmission is needed, the transmission instantaneity and reliability are low, the transmission cost is high, battery power is supplied independently, the battery needs to be replaced regularly, and in addition, the control scheme is too complex.
Disclosure of Invention
The invention aims to provide a mining machine panoramic monitoring display system and a position identification method thereof, which can provide a whole working face monitoring picture in a long and narrow working space, provide support for remote control, intelligently switch the monitoring picture and quickly identify the position of mining equipment.
In order to achieve the above purpose, the present invention provides the following technical solutions: a mining machine panoramic monitoring display system, comprising;
a video monitoring unit; the video monitoring unit comprises at least two full-scene cameras, the full-scene cameras are arranged on the fixed installation positions, and the full-scene cameras are used for monitoring mobile mining equipment;
a communication unit; the data transmission device is used for constructing a video monitoring unit and a background;
a background control system; the background control system is used for receiving and processing the data of the video monitoring unit;
a display device; the background control system presents the analyzed and processed video stream to a display device.
Preferably, the N full-scene cameras are respectively and correspondingly arranged on the uniformly-spaced fixed mounting positions, the background control system can receive the monitoring pictures transmitted by the N full-scene cameras, analyze and then switch the pictures monitored by the full-scene cameras, and automatically switch the display pictures through the display device. The number of the full scene cameras is set according to actual needs, and according to the distance and angle conditions of the mining equipment and the N full scene cameras, the N full scene cameras can automatically analyze and judge in the background, so that the most suitable pictures are switched for display.
Preferably, the full scene camera is formed by splicing at least two movements, and the movements comprise a photosensitive device and a lens. Two or more movements with small angle of view and low distortion are spliced into a camera with large angle of view and low distortion, so that the definition of the pictures of the camera can meet the requirements after distortion correction.
Preferably, the installation position of the full scene camera corresponds to the center of the monitored mining equipment or is higher than the mining equipment, so that the whole monitoring picture is conveniently displayed.
Preferably, the communication unit comprises a switch and a network server, the full-field Jing Xiangji is connected with the switch through a network cable or an optical fiber, and the full-field camera is also internally provided with a 4G, 5G or/and Wifi wireless communication module. The signal transmission is stable, the transmission instantaneity and reliability are high, and the transmission cost is reduced.
Preferably, the background control system comprises an image acquisition module, an image processing module and a display control module, wherein the image acquisition module is used for acquiring monitoring pictures of N cameras and comprises detail pictures, analyzing and processing each path of monitoring pictures, feeding back to the display control module and then outputting the monitoring pictures to the display device. The image processing module is used for analyzing and combining the algorithm, so that the optimal picture and detail monitoring picture can be effectively obtained, panoramic monitoring is realized, and details are considered.
Preferably, the background control system further comprises an abnormality alarm module and a storage module. The method is used for storing the operation process picture of the whole mining equipment, and is convenient to be called when required.
A mining equipment location identification method characterized by the steps of:
s1, moving mining equipment, monitoring N full-scene cameras, and feeding back the position of the mining equipment to a background control system through a full-scene camera pattern intelligent recognition algorithm or a built-in position feedback unit of the mining equipment;
s2, analyzing and processing through a control system, selecting a full-scene camera video stream with an optimal display view angle, and displaying the video stream on a display device for judging the corresponding position of mining equipment;
s3, directly obtaining the material from mining equipment.
Preferably, the full scene cameras automatically identify the full scene camera which needs to pay attention to the part closest through a graphic intelligent identification algorithm or relative position relation, automatically intercept high-definition pictures of the important attention part in the full scene cameras, superimpose and display the pictures into a panoramic picture, and realize detail monitoring through a display device.
Preferably, the pattern intelligent recognition algorithm includes identifying a mining equipment contour or mark points on the mining equipment to identify a location of the mining equipment in the screen and uploading the location to the background control system
Compared with the prior art, the invention has the beneficial effects that:
1. the method is suitable for long and narrow mining scenes, provides an ultra-wide view angle full-scene camera with a transverse angle of more than 150 degrees, has small distortion of pictures, clear, large and visual image quality, can monitor the whole mining equipment without a plurality of cameras, and has a simple scheme and high reliability;
2. when the mining equipment enters the field of view of the full-scene camera adjacent to the field of view of the full-scene camera from the field of view of the full-scene camera, the display picture is automatically switched, the picture is not interrupted in the mining process, no dead angle monitoring is carried out in the real-time tracking mining process, and the switching picture is natural and smooth.
3. And automatically acquiring the optimal camera position from the key part, and acquiring a detail monitoring picture by acquiring a monitoring video of the optimal camera position and superposing the monitoring video to the monitoring picture so as to realize panoramic monitoring and give consideration to details.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of a full scene camera surveillance system according to the present invention;
FIG. 2 is a schematic diagram of a whole view of a full scene camera monitoring system according to the present invention;
fig. 3 shows the control principle of the present invention.
In the figure: 1. full field Jing Xiangji; 2. a coal mining machine.
Detailed Description
The technical solutions of the various embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings 1-3, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The utility model provides a mining machine panorama monitoring display system, includes video monitoring unit, communication unit, backstage control system and display device, the video monitoring unit includes two at least full scene cameras, and full scene camera refers to the horizontal angle of view and is greater than or equal to 150 camera, and full scene camera is used for monitoring mining equipment, and backstage control system can receive the control picture that many full scene cameras transmitted in proper order, and according to judging the best full scene camera position automatic switch display picture that is corresponded by the monitored object, through display device display.
In this embodiment, the mining device uses a coal mining machine as an example, the full-scene cameras are installed on a fixed installation position, in a coal mining scene, the fixed installation position adopts hydraulic supports, the number of the full-scene cameras is set according to the moving distance and actual needs of the actual coal mining machine, and the invention is not particularly limited, for example, one full-scene camera is installed on one hydraulic support or on a plurality of hydraulic supports at intervals, the standard distance between the hydraulic supports is 1.75 meters, and the full-scene camera is used for monitoring the moving coal mining machine.
In this embodiment, there are multiple full-field Jing Xiangji, for example, when the coal mining machine enters a full-field camera visual field range adjacent to the full-field camera visual field range from the full-field camera visual field range, the display frames are automatically switched, so that the monitored object frames are ensured not to be interrupted, no dead angle monitoring is performed in the real-time tracking mining process, and the switched frames are natural and smooth.
In this embodiment, the communication unit is used to construct data transmission between the video monitoring unit and the background, where the communication unit includes a switch and a network server, and the full-field Jing Xiangji is connected to the switch through a network cable or an optical fiber. The network cable is used for connecting signal transmission stably, the transmission instantaneity and reliability are high, and the transmission cost is reduced.
In this embodiment, the full-scene camera is further built with a 4G, 5G or/and Wifi wireless communication module, and can be directly connected with a background control system for transmission, and the mode can be used in a scene that a local network fails or three operators can cover signals.
In this embodiment, the background control system is used for receiving and processing data of the video monitoring unit, and includes an image acquisition module, an image processing module and a display control module, the image acquisition module is used for acquiring monitoring pictures of N cameras, and includes a detail video picture, for example, as shown in fig. 2, a current nth full-scene camera corresponding to a center of the coal mining machine is used for monitoring the panorama of the coal mining machine, and N-5 th full-scene cameras corresponding to n+5 th full-scene cameras on two sides of the coal mining machine are used for shooting and monitoring the front roller and the rear roller, and the acquired data are automatically or manually transmitted to the background control system, and the image processing module analyzes and processes each path of monitoring pictures and feeds back to the display control module. According to the invention, the image processing module analyzes and combines with the algorithm to automatically acquire the optimal camera position from the key position, and the detail monitoring picture is acquired by acquiring the monitoring video of the optimal camera position and superposing the monitoring video into the monitoring picture, so that panoramic monitoring is realized and the detail is considered.
The background control system also comprises an abnormality alarm module and a storage module, and is used for storing the picture of the whole working process of the coal mining machine, so that the picture can be conveniently called when needed.
In this embodiment, the display device is used for displaying panorama and detail parts of the mining machine, the background control system presents the analyzed and processed video stream on the display device, the display device can support simultaneous multi-screen display and full-screen display, the full-scene camera is formed by splicing at least two cores, the cores comprise a photosensitive device and a lens, and specifically, two or more cores with low distortion in small field angle are spliced into a camera with low distortion in large market field angle, so that the definition of the picture of the camera can meet the requirements after distortion correction.
The display device can enable the coal mining machine to stay in the middle of the picture and move in the background, so that the abrupt change effect of the video is greatly relieved in the switching process of different cameras. The method is suitable for long and narrow mining scenes, provides a full scene camera with an ultra-wide field angle of more than 150 degrees transversely, has small picture distortion, clear, macro and visual image quality, can monitor the whole coal mining machine without a plurality of cameras, and has a simple scheme and high reliability.
The installation position of the full-scene camera corresponds to the center of the monitored coal mining machine or is higher than the center of the monitored coal mining machine, the presentation of the whole monitoring picture is facilitated, and according to the distance angle condition of the coal mining machine and N full-scene cameras, the N full-scene cameras can automatically analyze and judge in the background, so that the most suitable picture is switched for display.
Example 2
A mining machine position identification method, comprising the following steps:
s1, moving mining equipment, monitoring N full-scene cameras, and feeding back the position of the mining equipment to a background control system through a full-scene camera pattern intelligent recognition algorithm or a built-in position feedback unit of the mining equipment;
s2, analyzing and processing through a control system, selecting a full-scene camera video stream with an optimal display view angle, and displaying the video stream on a display device for judging the corresponding position of mining equipment;
s3, directly obtaining the material from mining equipment.
The full scene cameras automatically identify the full scene cameras needing to pay attention to the parts closest through a graph intelligent identification algorithm or relative position relation, automatically intercept high-definition pictures of the important attention parts in the full scene cameras, superimpose and display the pictures into a panoramic picture, and realize detail monitoring through a display device.
In this embodiment, the mining apparatus takes a coal mining machine as an example, and the intelligent pattern recognition algorithm includes recognizing a contour of the coal mining machine or mark points on the coal mining machine to recognize a position of the coal mining machine in a screen, for example, a structure with rules attached in advance, and uploading the position to a background control system.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A mining machine panorama monitoring display system which characterized in that: comprising
A video monitoring unit; the video monitoring unit comprises at least two full-scene cameras, the full-scene cameras are arranged on the fixed installation positions, and the full-scene cameras are used for monitoring mobile mining equipment;
a communication unit; the data transmission device is used for constructing a video monitoring unit and a background;
a background control system; the background control system is used for receiving and processing the data of the video monitoring unit;
a display device; the background control system presents the analyzed and processed video stream to a display device.
2. The mining machine panoramic monitoring display system of claim 1, wherein: n full scene cameras are correspondingly arranged on evenly-spaced fixed mounting positions respectively, a background control system can receive monitoring pictures transmitted by the N full scene cameras, analyze and then switch the pictures monitored by the full scene cameras, and automatically switch the display pictures through a display device.
3. A miner panorama monitoring display system according to claim 1 or 2, wherein: the full scene camera is formed by splicing at least two machine cores, wherein each machine core comprises a photosensitive device and a lens.
4. A miner panorama monitoring display system according to claim 1 or 2, wherein: the full scene camera mounting location corresponds to or is higher than the center of the mining equipment being monitored.
5. The mining machine panoramic monitoring display system of claim 1, wherein: the communication unit comprises a switch and a network server, the full-scene camera is connected with the switch through a network cable or an optical fiber, and a 4G, 5G or/and Wifi wireless communication module is also arranged in the full-scene camera.
6. The mining machine panoramic monitoring display system of claim 1, wherein: the background control system comprises an image acquisition module, an image processing module and a display control module, wherein the image acquisition module is used for acquiring monitoring pictures of N cameras and comprises detail pictures, and the monitoring pictures are analyzed and processed and fed back to the display control module.
7. The mining machine panoramic monitoring display system of claim 6, wherein: the background control system also comprises an abnormality alarm module and a storage module.
8. A mining equipment location identification method characterized by the steps of:
s1, moving mining equipment, monitoring N full-scene cameras, and feeding back the position of the mining equipment to a background control system through a full-scene camera pattern intelligent recognition algorithm or a built-in position feedback unit of the mining equipment;
s2, analyzing and processing through a control system, selecting a full-scene camera video stream with an optimal display view angle, and displaying the video stream on a display device for judging the corresponding position of mining equipment;
s3, directly obtaining the material from mining equipment.
9. A mining equipment location identification method as claimed in claim 8, wherein: the full scene cameras automatically identify the full scene cameras needing to pay attention to the parts closest through a graph intelligent identification algorithm or relative position relation, automatically intercept high-definition pictures of the important attention parts in the full scene cameras, superimpose and display the pictures into a panoramic picture, and realize detail monitoring through a display device.
10. A mining equipment location identification method as claimed in claim 8, wherein: the pattern recognition algorithm includes identifying a mining equipment contour or mark points on the mining equipment to identify a location of the mining equipment in the screen and uploading the location to a background control system.
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| CN202310612627.1A CN116567186A (en) | 2023-05-26 | 2023-05-26 | Mining machine panoramic monitoring display system and position identification method thereof |
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| CN202310612627.1A CN116567186A (en) | 2023-05-26 | 2023-05-26 | Mining machine panoramic monitoring display system and position identification method thereof |
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| CN102291575A (en) * | 2011-09-01 | 2011-12-21 | 天地科技股份有限公司 | Intelligent video monitoring system for integrative mining working surface |
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| CN105120209A (en) * | 2015-07-31 | 2015-12-02 | 广州日滨科技发展有限公司 | Mining camera following shooting method and system for fully mechanized coal mining face |
| CN112215925A (en) * | 2020-11-05 | 2021-01-12 | 中国矿业大学 | Self-adaptive follow-up tracking multi-camera video splicing method for coal mining machine |
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- 2023-05-26 CN CN202310612627.1A patent/CN116567186A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102291575A (en) * | 2011-09-01 | 2011-12-21 | 天地科技股份有限公司 | Intelligent video monitoring system for integrative mining working surface |
| CN102619511A (en) * | 2012-04-18 | 2012-08-01 | 中国煤矿机械装备有限责任公司 | Working-face automated integrated control system for thin seam drum shearers |
| CN105120209A (en) * | 2015-07-31 | 2015-12-02 | 广州日滨科技发展有限公司 | Mining camera following shooting method and system for fully mechanized coal mining face |
| CN112215925A (en) * | 2020-11-05 | 2021-01-12 | 中国矿业大学 | Self-adaptive follow-up tracking multi-camera video splicing method for coal mining machine |
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