A UAV video perception method for tracking coal shearers

Abstract

Provided is an unmanned plane video sensing method for tracking a coal cutter. The method comprises the following steps of: (1) determining the positions of the coal cutter and an aircraft; (2) powering up the coal cutter and enabling the aircraft to be at the ready; (3) enabling the aircraft to monitor the operation conditions of the aircraft and an adjacent coal wall and transmit the operating condition to a computer to be displayed; and (4) enabling the computer to send a return command after the coal cutter stops. The automatic unmanned plane tracking technology is applied to working face of a coal mine and manpower is replaced by the unmanned plane so that working surface coal cutter unmanned monitoring is achieved. A large number of cameras on the working face in the prior art are replaced by a few cameras so that cost is saved, cables are saved, and dense wire arrangement is prevented. The method uses little equipment so as to reduce latent fault points. The unmanned plane achieves following camera shooting, and adjustable distance and angles. Images captured by the unmanned plane are clearer than those captured by conventional cameras so as to achieve high flexibility and continuousness without switching. The method may achieve an unmanned plane sleep mode controlled by a controller, saves electric energy, and achieves a long time of endurance.

Description

technical field [0001] The invention relates to a UAV video perception method, in particular to a UAV video perception method for tracking an underground coal mining machine in a coal mine. Background technique [0002] The shearer is one of the most important equipment in the fully mechanized mining face, and its normal operation is the basis for the entire fully mechanized mining face to complete the mining operation. Therefore, the monitoring of the shearer is an important task in the fully mechanized mining face of the coal mine . In the past, the condition of the shearer drum and the surrounding roof and floor of the fully mechanized mining face has been visually inspected manually, and then adjusted according to the actual situation, which is laborious, poor in accuracy, and very unsafe. [0003] With the continuous advancement of fully mechanized mining technology, camera technology has been introduced underground in coal mines. A camera is installed every n frames o...

AI Technical Summary

Problems solved by technology

However, it can only monitor one target, and the target has no movement or a single movement mode. There are no strict requirements for the calibration method of the movement of the UAV, and it cannot be used in the harsh environment of the underground, nor can it be used for complex movement modes and numerous monitoring targets. Coal shearer for effective monitoring

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