CN113266408B - Under-support personnel detection locking method based on image recognition technology - Google Patents
Under-support personnel detection locking method based on image recognition technology Download PDFInfo
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- CN113266408B CN113266408B CN202110683785.7A CN202110683785A CN113266408B CN 113266408 B CN113266408 B CN 113266408B CN 202110683785 A CN202110683785 A CN 202110683785A CN 113266408 B CN113266408 B CN 113266408B
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- 238000005516 engineering process Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 title claims description 8
- 238000012545 processing Methods 0.000 claims abstract description 16
- 239000003245 coal Substances 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims description 26
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims description 3
- 230000026676 system process Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 238000005065 mining Methods 0.000 description 3
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The invention relates to a method for detecting and locking personnel under a bracket based on an image recognition technology, which comprises the steps of carrying out image acquisition through an image acquisition device arranged on a hydraulic bracket on a coal mine working surface, dividing a safety area and a dangerous area according to the position distance of the hydraulic bracket in an image, carrying out image processing and image recognition on the acquired image, acquiring the specific position of the personnel in the image and calculating the actual position of the personnel under the hydraulic bracket; if the person is in a dangerous area, the hydraulic support controller is locked. The method performs target identification and positioning on working face operators by utilizing an image identification technology, judging whether the working personnel on the working surface are in a safe area, the personal safety of working personnel on the working face is guaranteed, and the requirements of reliability and high-safety automatic exploitation are met.
Description
Technical Field
The invention belongs to the technical field of coal mine automation, relates to safety protection under a hydraulic support of a fully mechanized coal mining face of underground personnel in a coal mine, and particularly relates to a detection locking method for personnel under the support based on an image recognition technology.
Background
The hydraulic support is one of important production equipment for coal mining, particularly in a fully mechanized mining face, and not only provides support for the face, but also plays a role in pushing a scraper conveyor; when the scraper conveyor is in work, a plurality of supports are required to be on the same straight line, but because a large mechanical gap and dead zone still exist in the pushing mechanism, the scraper conveyor cannot be pushed straight, manual correction is also required, and the automatic movement equipment forms safety threat to operators who execute correction tasks.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the defects, the invention provides an under-bracket personnel detection locking method based on an image recognition technology, which is used for carrying out target recognition positioning on working personnel by utilizing the image recognition technology to judge whether the working personnel are in a safe area or not, so that the personal safety of the working personnel is ensured, and the requirements of reliability and high-safety automatic exploitation are met.
The technical scheme adopted for solving the technical problems is as follows: an under-support personnel detection locking method based on an image recognition technology comprises a plurality of operation units taking the following operation steps as one unit:
Step a, image acquisition, wherein an image acquisition device acquires real-time images of scenes under hydraulic supports and forms corresponding image data, and a plurality of image acquisition devices are arranged at the top of each hydraulic support on a line fixed on a coal mine working face and keep the relative positions of the hydraulic supports in a motion state unchanged;
step b, area division is carried out, the image acquisition device is communicated with the analysis platform, the analysis platform carries out area division according to the distance range around the lower part of the hydraulic support, and the area division is calibrated into a safe area and a dangerous area for working of working face operators;
C, analyzing and calculating, wherein the analysis platform comprises an image processing system and an image recognition system; the image processing system processes the image data acquired by the image acquisition device and identifies the operator through the image identification system, and analyzes the distance position of the operator on the working face in the image and calculates the actual position of the operator in the image, wherein the position of the operator belongs to the safety area or the dangerous area divided in the step b;
step d, locking or moving the device, analyzing and calculating the result in the step c, and when the actual position of the staff is in the divided dangerous area, prohibiting the movement of a conveyor pushing the scraper blade by a controller of the hydraulic support and simultaneously prohibiting the movement of the hydraulic support, wherein the staff is in a locking state of the conveyor and the hydraulic support; when the actual position of the staff is in the divided safety area, the hydraulic support and the conveyor are in a moving state; the analysis platform is electrically connected with the controller.
According to the method for detecting and locking the personnel under the support based on the image recognition technology, the image acquisition device arranged on the hydraulic support is used for acquiring a real-time scene under the hydraulic support, and meanwhile, image data are divided into areas, so that the safe operation range and the dangerous operation range of the working personnel are determined, the target recognition and positioning are carried out on the working personnel by utilizing the image recognition technology, the real-time position of the working personnel is judged, when the working personnel is in a dangerous area, the locking state of the conveyor and the hydraulic support is achieved, the working safety degree under the hydraulic support is greatly improved, and the personal safety of the working personnel operating the hydraulic support is guaranteed.
Further, the method also comprises a step e of shielding prevention warning, wherein the analysis platform is electrically connected with the warning device; and c, analyzing and processing image data and identifying the hydraulic support and the staff by the analysis platform in the step of analyzing and calculating, and working the warning device when the image data processing is abnormal to other image data except the data corresponding to the staff in the image data. The warning device reminds a working face when the image acquisition device is shielded by other workpieces, so that the image acquisition device is ensured to acquire images accurately, and the safety coefficient is improved.
The beneficial effects of the invention are as follows:
1. According to the method for detecting and locking the personnel under the support based on the image recognition technology, the image acquisition device arranged on the hydraulic support is used for acquiring a real-time scene under the hydraulic support, and meanwhile, image data are divided into areas, so that the safe operation range and the dangerous operation range of the working personnel are determined, the target recognition and positioning are carried out on the working personnel by utilizing the image recognition technology, the real-time position of the working personnel is judged, when the working personnel is in a dangerous area, the locking state of the conveyor and the hydraulic support is achieved, the working safety degree under the hydraulic support is greatly improved, and the personal safety of the working personnel operating the hydraulic support is guaranteed.
2. The introduced warning device reminds a working face when the image acquisition device is shielded by other workpieces, so that the image acquisition device is ensured to acquire images accurately, and the safety coefficient is improved.
Drawings
The foregoing and other objects, features, and advantages of the invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic view of an image acquisition device according to the present invention;
FIG. 2 is a diagram of the communication relationship of the analysis platform of the present invention;
FIG. 3 is a real-time image acquired by the image acquisition device of the present invention;
Wherein: 1 is a hydraulic support, 2 is a conveyor, 3 is an image acquisition device, 4 is an analysis platform, 41 is an image processing system, 42 is an image recognition system, 5 is a controller, and 6 is a warning device.
Detailed Description
The invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
An under-support personnel detection locking method based on an image recognition technology comprises a plurality of operation units taking the following operation steps as one unit:
Step a, image acquisition, wherein an image acquisition device acquires real-time images of scenes under hydraulic supports and forms corresponding image data, a plurality of image acquisition devices are arranged at the top of each hydraulic support on a coal mine working surface along line and keep the relative positions of the image acquisition devices and the hydraulic supports in a motion state unchanged, the image data are real-time image data under the hydraulic supports, which are acquired by the image acquisition devices based on the Python OpenCV technology, and the image data are 3-channel pixel matrixes based on the resolution of the image acquisition devices;
Step b, area division is carried out, wherein the image acquisition device is communicated with the analysis platform, the analysis platform carries out area division according to the peripheral distance range below the hydraulic support, the area division is calibrated to be a safe area and a dangerous area for working of working face operators, specifically, the marked area P in a pixel matrix is taken as a dangerous area, and the non-marked area is taken as a safe area;
C, analyzing and calculating, wherein the analysis platform comprises an image processing system and an image recognition system; the image processing system processes the image data acquired by the image acquisition device and identifies the operator through the image identification system, and analyzes the distance position of the operator on the working face in the image and calculates the actual position of the operator in the image, wherein the position of the operator belongs to the safety area or the dangerous area divided in the step b; specifically, the analysis platform processes and analyzes the pixel matrix based on YOLOv image algorithm, the image recognition system obtains the specific position of the working face worker in the image to obtain a frame body mark [ x min,ymin,xmax,ymax ], and the frame body mark [ x min,ymin,xmax,ymax ] is used for the image recognition system The specific position of the operator on the current working surface is shown, namely [ x p,yp ], the image processing system judges, when [ x p,yp ]. Epsilon.P, the operator on the current working surface is judged to be in a dangerous area for the work of the hydraulic support, and when the operator on the current working surface is judged to be in a dangerous area for the work of the hydraulic supportWhen the working personnel on the current working face are in a safety area where the hydraulic support works;
In the operation, if the shielding prevention warning exists in the step e, namely the analysis platform processes the image data and identifies the hydraulic support and the staff, and the warning device works when the image data processing is abnormal to other image data except the data corresponding to the staff in the image data; the analysis platform is electrically connected with the warning device; the controller of the hydraulic support prohibits the movement of the conveyor of the pushing scraper blade and simultaneously prohibits the movement of the hydraulic support after the warning device works, and a worker timely clears the shielding object on the image acquisition device; after removing the obstruction as the obstacle, repeating the steps a-c;
step d, locking or moving the device, analyzing and calculating the result in the step c, and when the actual position of the staff is in the divided dangerous area, prohibiting the movement of a conveyor pushing the scraper blade by a controller of the hydraulic support and simultaneously prohibiting the movement of the hydraulic support, wherein the staff is in a locking state of the conveyor and the hydraulic support; when the actual position of the staff is in the divided safety area, the hydraulic support and the conveyor are in a moving state; the analysis platform is electrically connected with the controller.
The device structure related to the under-bracket personnel detection locking method based on the image recognition technology is as follows: the device comprises a hydraulic support 1, a conveyor 2, an image acquisition device 3, an analysis platform 4, a warning device 6 and a controller 5, wherein the image acquisition device 3 is arranged at the top of the hydraulic support 1, and in the embodiment, the image acquisition device 3 adopts a network camera; the analysis platform 4 comprises an image processing system 41 and an image recognition system 42, the analysis platform 4 is electrically connected with the controller 5, the analysis platform 4 is electrically connected with the warning device 6, and the warning device 6 is electrically connected with the controller 5.
According to the method for detecting and locking the personnel under the support based on the image recognition technology, the image acquisition device arranged on the hydraulic support is used for acquiring a real-time scene under the hydraulic support, and meanwhile, image data are divided into areas, so that the safe operation range and the dangerous operation range of the working personnel are determined, the target recognition and positioning are carried out on the working personnel by utilizing the image recognition technology, the real-time position of the working personnel is judged, when the working personnel is in a dangerous area, the locking state of the conveyor and the hydraulic support is achieved, the working safety degree under the hydraulic support is greatly improved, and the personal safety of the working personnel operating the hydraulic support is guaranteed.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (2)
1. The under-support personnel detection locking method based on the image recognition technology is characterized by comprising a plurality of operation units taking the following operation steps as one unit:
Step a, image acquisition, wherein an image acquisition device acquires real-time images of scenes under hydraulic supports and forms corresponding image data, and a plurality of image acquisition devices are arranged at the top of each hydraulic support on a line fixed on a coal mine working face and keep the relative positions of the hydraulic supports in a motion state unchanged; the image data is a 3-channel pixel matrix based on the resolution of the image acquisition device;
Step b, area division is carried out, the image acquisition device is communicated with the analysis platform, the analysis platform carries out area division according to the distance range around the lower part of the hydraulic support, and the area division is calibrated into a safe area and a dangerous area for working of working face operators; the marked area P is used as a dangerous area, and the non-marked area is used as a safe area;
C, analyzing and calculating, wherein the analysis platform comprises an image processing system and an image recognition system; the image processing system processes the image data acquired by the image acquisition device and identifies the operator through the image identification system, and analyzes the distance position of the operator on the working face in the image and calculates the actual position of the operator in the image, wherein the position of the operator belongs to the safety area or the dangerous area divided in the step b;
The image recognition system obtains the specific position of the working face worker in the image to obtain a frame body mark [ x min,ymin,xmax,ymax ] by using The specific position of the operator on the current working surface is shown, namely [ x p,yp ], the image processing system judges, when [ x p,yp ]. Epsilon.P, the operator on the current working surface is judged to be in a dangerous area for the work of the hydraulic support, and when the operator on the current working surface is judged to be in a dangerous area for the work of the hydraulic supportWhen the working personnel on the current working face are in a safety area where the hydraulic support works;
step d, locking or moving the device, analyzing and calculating the result in the step c, and when the actual position of the staff is in the divided dangerous area, prohibiting the movement of a conveyor pushing the scraper blade by a controller of the hydraulic support and simultaneously prohibiting the movement of the hydraulic support, wherein the staff is in a locking state of the conveyor and the hydraulic support; when the actual position of the staff is in the divided safety area, the hydraulic support and the conveyor are in a moving state; the analysis platform is electrically connected with the controller.
2. The method for detecting and locking the personnel under the bracket based on the image recognition technology as set forth in claim 1, wherein the method comprises the following steps: the method further comprises the step e of shielding prevention warning, wherein the analysis platform is electrically connected with the warning device; and c, processing image data by the analysis platform in the analysis and calculation process, identifying the hydraulic support and the staff, and working the warning device when the image data processing is abnormal to other image data except the data corresponding to the staff in the image data.
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| CN202110683785.7A CN113266408B (en) | 2021-06-21 | 2021-06-21 | Under-support personnel detection locking method based on image recognition technology |
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| CN202110683785.7A CN113266408B (en) | 2021-06-21 | 2021-06-21 | Under-support personnel detection locking method based on image recognition technology |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112282819A (en) * | 2020-09-14 | 2021-01-29 | 北京天地玛珂电液控制系统有限公司 | Fully mechanized coal mining face personnel target safety monitoring method and system based on vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1085274A (en) * | 1964-02-07 | 1967-09-27 | Gullick Ltd | Improvements in or relating to mine roof supports and the operation thereof |
| DE102011017439A1 (en) * | 2010-07-30 | 2012-02-23 | Tiefenbach Control Systems Gmbh | Safety device at mobile mining equipment in a longwall of underground mining |
| WO2017012285A1 (en) * | 2015-07-20 | 2017-01-26 | 太原理工大学 | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN110276931A (en) * | 2019-07-19 | 2019-09-24 | 精英数智科技股份有限公司 | Alarm method, the apparatus and system of danger zone someone operation when coalcutter coal cutting |
| CN110424960A (en) * | 2019-07-19 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alarm method and equipment for coalcutter coal cutting operation safety |
| KR102126498B1 (en) * | 2019-11-15 | 2020-06-25 | 한국건설기술연구원 | Apparatus, system and method for detecting dangerous situation based on image recognition |
| CN212337368U (en) * | 2020-04-08 | 2021-01-12 | 天津华宁电子有限公司 | Mining hydraulic support control device with personnel positioning function and control system thereof |
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| CN112282819A (en) * | 2020-09-14 | 2021-01-29 | 北京天地玛珂电液控制系统有限公司 | Fully mechanized coal mining face personnel target safety monitoring method and system based on vision |
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