CN107860691B - Laser mine coal dust telemetry method based on machine vision technology - Google Patents
Laser mine coal dust telemetry method based on machine vision technology Download PDFInfo
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Abstract
The invention relates to a laser mine coal dust telemetry method based on a machine vision technology, which combines the machine vision technology with the laser technology, measures the coal dust concentration of a certain target point in a target area by emitting laser through a laser, compresses an obtained view field image by imaging a laser view field of the coal dust space state of the target area, analyzes the obtained view field image through a corresponding algorithm to obtain the dynamic variation trend of the coal dust concentration, and analyzes the obtained wind direction according to the high-low distribution of the coal dust concentration, thereby calculating the flowing speed of the coal dust target point and predicting the coal dust concentration at the next moment, and carrying out the real-time movement analysis of the coal dust. The method solves the problems that the existing measuring method can not judge timely and accurately when the concentration of harmful coal dust has obvious increasing trend, and causes potential harm to underground safety production and staff.
Description
Technical Field
The invention relates to a laser mine coal dust telemetry method based on a machine vision technology.
Background
Coal is known as "wujin" and occupies a major role in energy supply in China. The risks faced by coal mining are also various, and accidents such as gas, fire, roof, coal dust and the like plague the safe production of the coal mine. During the working process of coal mining operation, a large amount of coal dust can be generated in a roadway, and the coal dust is caused to cause coal lung diseases. When the coal dust reaches a certain concentration and has open fire, explosion accidents can occur, and the mine safety production is endangered. The underground coal dust monitoring and early warning is always an important direction of research in the field of coal mine safety monitoring, and has important significance for coal mine safety production and guiding post-disaster emergency rescue.
In the existing underground coal mine coal dust measuring method, coal dust can be detected only by timing and fixed-point short-time intermittent dust measurement, the concentration of the coal dust cannot be monitored in real time, a high-concentration coal dust area can be accurately positioned, and the safety of underground personnel is endangered. When the concentration of the coal dust is low and does not need to be alarmed, but the concentration of the coal dust has an obvious tendency of aggregation, the coal dust cannot be timely and accurately judged, potential harm is caused to underground safety production and staff, and the conventional measuring method cannot visualize the movement condition of the coal dust.
Disclosure of Invention
The invention aims to provide a laser mine coal dust telemetry method based on a machine vision technology, which can remotely monitor a coal dust concentration value in a longer distance range, can acquire the coal dust concentration in real time, dynamically analyze the change trend of the coal dust concentration at the next moment, visualize and position the harmful coal dust position, and timely and accurately judge when the harmful coal dust concentration has an obvious increasing trend, thereby greatly improving the personal safety of underground safety production and workers.
In order to achieve the above object, the present invention is provided with: the method combines a machine vision technology and a laser technology, measures the coal dust concentration of a certain target point in a target area by emitting laser through a laser, compresses an acquired view field image by imaging a laser view field of the coal dust space state of the target area, analyzes the acquired view field image through a corresponding algorithm to obtain a dynamic variation trend of the coal dust concentration, and analyzes to obtain a wind direction according to the height distribution of the coal dust concentration, thereby calculating the flowing speed of the coal dust target point and predicting the coal dust concentration at the next moment, and performing real-time movement analysis of the coal dust;
the specific telemetry method is as follows:
(1) Setting a pre-alarm value and an alarm threshold value for the concentration of coal dust in the mine from the salient to the abnormal;
(2) Transmitting a laser signal to a target area to be measured in real time, and measuring the coal dust flowing speed of a target point in the target area and the coal dust concentration of the target point;
(3) Collecting an image of a region of the target coal dust irradiated by the laser, compressing the collected image, and applying a computer numerical analysis method to obtain a dynamic change trend of the coal dust concentration so as to determine the wind direction;
(4) Deducing the concentration of coal dust at a certain moment according to the coal dust concentration of the target point, the wind direction change rule and the time difference;
(5) Recording the concentration of coal dust at each moment, pre-judging the concentration of coal dust at the next moment, and pre-alarming the coal dust of a corresponding target area if the concentration of the coal dust at the next moment exceeds a preset pre-alarming value;
(6) And if the coal dust concentration at the current moment exceeds the set concentration threshold value, alarming the coal dust in the corresponding target area.
Further, according to the laser mine coal dust telemetry method disclosed by the invention, the dynamic change trend of coal dust is displayed on a display, and the same coal dust displays the change of concentration through different colors.
Further, according to the method for telemetry of coal dust in a laser mine of the present invention, in the step (5), the method for predicting the coal dust concentration at the next moment includes: the change rate of the concentration of coal dust is kept unchanged when the wind speed is unchanged in the measuring process, and at t A The concentration at the moment is denoted as v A The concentration of coal dust is from zero time to t A The rate of change of time of day is expressed as:let the next time t A+1 Is v A+1 The concentration change rate is expressed as: />Deriving t A+1 The coal dust concentration at the moment is:
further, according to the laser mine coal dust telemetry method of the present invention, in the step (2), the target point coal dust concentration measurement method is as follows: the coal dust of the target area selectively absorbs the received laser signals, the laser signals carrying the coal dust concentration are converted into corresponding electric signals, harmonic signals containing the coal dust concentration signals are extracted through noise reduction and amplification treatment, and finally the coal dust concentration values are inverted.
Further, according to the laser mine coal dust telemetry method of the present invention, in the step (2), the target point coal dust flow velocity measurement method is as follows: because the frequency deviation exists between the frequency of the incident light of the emitted laser signal and the frequency of the scattered light of the received laser signal, the coal dust flowing speed is obtained through calculation according to the frequency difference between the incident light and the scattered light.
Further, according to the laser mine coal dust telemetry method provided by the invention, a camera is arranged on the eyepiece position of the telescope through telescope imaging, the telescope is remotely measured to obtain coal dust in target areas with different distances, the obtained coal dust spatial distribution condition is displayed on the camera, and the camera obtains image information from the telescope.
Further, according to the laser mine coal dust telemetry method disclosed by the invention, the telemetry method is characterized in that the camera is used for completing image acquisition within the view field range, the acquired image is compressed, a computer numerical analysis method is applied through a corresponding algorithm, and finally, the spatial state concentration of the coal dust within the view field range is inverted and is dynamically displayed on the display screen in a color distribution diagram mode.
Furthermore, according to the laser mine coal dust telemetry method disclosed by the invention, the telemetry method is provided with a positioning module, and the monitored position information of the harmful coal dust area is fed back in real time, so that the real-time position positioning of the harmful coal dust area is realized.
The invention has the beneficial effects that: the invention can remotely monitor the concentration value of the coal dust in a longer distance range, can acquire the concentration of the coal dust in real time, dynamically analyze and graphically display the change of the coal dust at the next moment in real time, and position the harmful coal dust in real time, and can accurately judge the concentration of the harmful coal dust in time when the concentration of the harmful coal dust has obvious increasing trend, thereby greatly improving the safety production in the pit and the personal safety of staff.
Drawings
FIG. 1 is a schematic diagram of the combination of machine vision techniques and laser techniques of the present invention;
FIG. 2 is a schematic diagram of the combination of machine vision techniques and laser techniques of the present invention;
fig. 3 is a telemetry flow chart of the present invention.
In fig. 2, 101 is an alarm, 102 is a display, 103 is a key, 104 is a control processor, 105 is a camera, 106 is a laser, and 107 is a telescope with adjustable focus.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
The method combines the machine vision technology and the laser technology, measures the coal dust concentration of a certain target point in a target area by emitting laser through a laser, simultaneously completes laser field imaging of the coal dust space state of the target area through a camera, compresses acquired field images, analyzes the dynamic variation trend of the coal dust concentration through a corresponding algorithm, and analyzes the wind direction according to the height distribution of the coal dust concentration, thereby calculating the flow speed of the coal dust target point and predicting the coal dust concentration at the next moment.
The specific telemetry method is as follows:
1, setting a pre-alarm value and an alarm threshold value of the concentration of coal dust in a mine from the salient to the abnormality;
2, as shown in fig. 1, sending a laser signal to a target area to be measured in real time by a laser source, and measuring the coal dust flowing speed of a target point in the target area and the coal dust concentration of the target point.
The coal dust of the target area selectively absorbs the received laser signals, the laser signals carrying the coal dust concentration are converted into corresponding electric signals, harmonic signals containing the coal dust concentration signals are extracted through noise reduction and amplification treatment, and finally the coal dust concentration values are inverted. Because the frequency deviation exists between the frequency of the incident light of the emitted laser signal and the frequency of the scattered light of the received laser signal, the coal dust flowing speed is obtained through calculation according to the frequency difference between the incident light and the scattered light.
Collecting an image of the area of the target coal dust irradiated by the laser, compressing the collected view field image, and applying a computer numerical analysis method to obtain a dynamic change trend of the coal dust concentration so as to determine the wind direction;
as shown in fig. 1, a camera is installed on the eyepiece position of a telescope, and the telescope is imaged by the telescope, the telescope adopts a focusing telescope, coal dust in target areas with different distances can be obtained by remote measurement, the obtained coal dust spatial distribution condition is presented on the camera, and the camera obtains image information from the telescope. Meanwhile, the information obtained by the camera is subjected to image compression and corresponding image processing and is sent to the control processing unit, the control processing unit applies a computer numerical analysis method through Fourier transformation, and finally the spatial state concentration of the coal dust in the view field range is converted and is dynamically displayed on the display screen in a color distribution diagram mode, and the same coal dust is displayed in the concentration range through different colors.
And 4, deducing the concentration of the coal dust at a certain moment according to the coal dust concentration of the target point, the change rule of the wind direction and the time difference, wherein the specific method comprises the following steps of:
the change rate of the concentration of coal dust is kept unchanged when the wind speed is unchanged in the measuring process, and at t A The concentration at the moment is denoted as v A The concentration of coal dust is from zero time to t A The rate of change of time of day is expressed as:let the next time t A+1 Is v A+1 The concentration change rate is expressed as: />Deriving t A+1 The coal dust concentration at the moment is: />
And 5, recording the concentration of the coal dust at each moment, pre-judging the concentration of the coal dust at the next moment, and pre-alarming the coal dust of the corresponding target area if the concentration of the coal dust at the next moment exceeds the preset pre-alarming value.
And 6, alarming the coal dust in the corresponding target area if judging that the coal dust concentration at the current moment exceeds the set concentration threshold value.
The invention can remotely monitor the concentration value of the coal dust in a longer distance range, can acquire the concentration of the coal dust in real time, dynamically analyze and graphically display the change of the coal dust at the next moment in real time, and position the harmful coal dust in real time, and can accurately judge the concentration of the harmful coal dust in time when the concentration of the harmful coal dust has obvious increasing trend, thereby greatly improving the safety production in the pit and the personal safety of staff.
Claims (7)
1. A laser mine coal dust telemetering method based on a machine vision technology is characterized in that: the method combines a machine vision technology and a laser technology, measures the coal dust concentration of a certain target point in a target area by emitting laser through a laser, compresses an acquired view field image by imaging a laser view field of a coal dust space state of the target area, analyzes a dynamic change trend of the coal dust concentration through a corresponding algorithm, and analyzes the wind direction according to the height distribution of the coal dust concentration, thereby calculating the flow speed of coal dust at the coal dust target point and pre-judging the coal dust concentration at the next moment, and performing real-time movement analysis of the coal dust;
the specific telemetry method is as follows:
(1) Setting a pre-alarm value and an alarm threshold value for the concentration of coal dust in the mine from the salient to the abnormal;
(2) Transmitting a laser signal to a target area to be measured in real time, and measuring the coal dust flowing speed of a target point in the target area and the coal dust concentration of the target point;
the coal dust of the target area selectively absorbs the received laser signals, the laser signals carrying the coal dust concentration are converted into corresponding electric signals, harmonic signals containing the coal dust concentration signals are extracted through noise reduction and amplification treatment, and finally the coal dust concentration values are inverted; because the frequency of the incident light of the emitted laser signal is offset from the frequency of the scattered light of the received laser signal, the coal dust flowing speed is obtained through calculation according to the frequency difference between the incident light and the scattered light;
(3) Collecting an image of a region of the target coal dust irradiated by the laser, compressing the collected image, and applying a computer numerical analysis method to obtain a dynamic change trend of the coal dust concentration so as to determine the wind direction;
(4) Deducing the concentration of coal dust at a certain moment according to the coal dust concentration of the target point, the wind direction change rule and the time difference;
(5) Recording the concentration of coal dust at each moment, pre-judging the concentration of coal dust at the next moment, and pre-alarming the coal dust of a corresponding target area if the concentration of the coal dust at the next moment exceeds a preset pre-alarming value;
the method for pre-judging the concentration of the coal dust at the next moment comprises the following steps: the change rate of the concentration of coal dust is kept unchanged when the wind speed is unchanged in the measuring process, and at t A The concentration at the moment is denoted as v A The concentration of coal dust is from zero time to t A The rate of change of time of day is expressed as:let the next time t A+1 Is v A+1 The concentration change rate is expressed as: />Deriving t A+1 The coal dust concentration at the moment is: />
(6) And if the coal dust concentration at the current moment exceeds the set concentration threshold value, alarming the coal dust in the corresponding target area.
2. The method for telemetering the coal dust of the laser mine according to claim 1, wherein the method displays the dynamic change trend of the coal dust on a display, and the same coal dust displays the change of concentration by different colors.
3. The method for telemetry of coal dust in laser mine according to claim 1, wherein in the step (2), the target point coal dust concentration measuring method comprises the following steps: the coal dust of the target area selectively absorbs the received laser signals, the laser signals carrying the coal dust concentration are converted into corresponding electric signals, harmonic signals containing the coal dust concentration signals are extracted through noise reduction and amplification treatment, and finally the coal dust concentration values are inverted.
4. The method for telemetry of coal dust in laser mine according to claim 1, wherein in the step (2), the method for measuring the flow velocity of coal dust at the target point is as follows: because the frequency deviation exists between the frequency of the incident light of the emitted laser signal and the frequency of the scattered light of the received laser signal, the coal dust flowing speed is obtained through calculation according to the frequency difference between the incident light and the scattered light.
5. The method for telemetering coal dust in laser mine according to claim 1, wherein the telemetering method is characterized in that a camera is installed on the eyepiece position of the telescope through telescope imaging, the telescope telemeters to obtain coal dust in target areas with different distances, the obtained coal dust spatial distribution is presented on the camera, and the camera obtains image information from the telescope.
6. The method for telemetering the coal dust in the laser mine according to claim 5, wherein the telemetering method is characterized in that a spectrometer is matched with a camera to complete image acquisition in the field of view, the acquired image is compressed, a computer numerical analysis method is applied through a corresponding algorithm, and finally the spatial state concentration of the coal dust in the field of view is inverted and dynamically displayed on a display screen in a color distribution diagram mode.
7. The method for remotely measuring the coal dust of the laser mine according to claim 1, wherein the method is provided with a positioning module, and the position information of the monitored harmful coal dust area is fed back in real time to realize the real-time position positioning of the harmful coal dust area.
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| CN109269951B (en) * | 2018-09-06 | 2021-12-03 | 山西智卓电气有限公司 | Image-based flotation tailing ash content, concentration and coarse particle content detection method |
| CN110595973B (en) * | 2019-10-22 | 2025-01-24 | 中国矿业大学(北京) | Image-based Mine Dust Monitoring Method |
| CN112067516A (en) * | 2020-08-06 | 2020-12-11 | 国度人工智能科技有限公司 | Intelligent video sensor for dust concentration and dust concentration detection method |
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