Coal petrography interface identification and positioning method based on machine visual sense

Abstract

The present invention provides a coal petrography interface identification and positioning method based on machine visual sense. The method comprises the following steps: (1) installing a camera at the body of a coal cutter through a rapid coupling mechanism, employing the camera to collect the coal mining surface and obtain pictures of the coal mining surface, converting the original image extracted in the camera collection information to a gray image through image preprocessing, and then performing image enhancement, gray stretching and median filtering of the gray image; and (2) processing the influence on the gray image caused by the light reflection, the coal dust and the band, and finally obtaining a whole coal rock interface curve picture. The coal petrography interface identification and positioning method based on a machine visual sense improves the coal recovery ratio, avoids the device damaging even accident initiation caused by cutting to the top plate by using the roller pick of the coal cutter so as to provide reliable basis for the attitude control of the coal cutter, enhance the coal mining automation level for underground coal mine and improve the coal mining work benefit.

Description

technical field [0001] The invention belongs to the field of intelligent control of coal shearers, and in particular relates to a machine vision-based coal-rock interface recognition and positioning method. Background technique [0002] With the rapid development of information technology and advanced equipment manufacturing technology, the intelligent equipment manufacturing of my country's coal industry must be further improved in depth and breadth. The development of coal comprehensive mining automation equipment and the innovation of related technologies have become the key, and it is also the coal industry to increase output. , an important means to improve labor efficiency, reduce major vicious accidents and improve working conditions, and coal rock identification technology is one of the key technologies to realize the automation of coal mining face. [0003] Coal-rock interface recognition technology is one of the key technologies to realize the automation of coal she...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that it will only take effect when the drum has cut to the rock formation, not only will it damage the cutter, but also the sparks generated by cutting the rock formation will pose a great threat to underground safety; in addition, the shearer drum is usually equipped with The spray device is used to cool the pick and coal seam, which also causes great difficulties in real-time and accurate measurement of the surface temperature of the geological body near the roller pick

In addition, there are some other methods such as: artificial γ-ray method, stress pick analysis method, vibration analysis method, etc., which are currently mainly in the theoretical research stage, and have not yet formed practical technologies and products.

[0005] To sum up, so far, although researchers from various countries have put forward various ideas for coal-rock interface detection systems, most of the schemes are still in the research and test stage, and their reliability, practicability, and safety have not yet been fully verified.

At the same time, due to various reasons such as the complexity of geological conditions, the scope of use of some identification technologies that have been applied is severely limited, and the effect will become poor or even completely invalid if the use environment changes slightly. For example: natural gamma ray method, for shale roof Works well, but barely usable with sandstone roofs

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