Machine following shooting method and device of coal mining machine, electronic equipment and storage medium

Abstract

The disclosure provides a following-machine shooting system and method of a coal mining machine, electronic equipment and a storage medium. The following-machine shooting system of the coal mining machine comprises: acquiring a first position of the coal mining machine at a current time; determining a target coal mining state of the coal mining machine at a next time, and acquiring a first target position of the coal mining machine at the next time based on the target coal mining state and the first position; determining a target camera for shooting the first target position from candidate cameras based on a second position of the candidate cameras; and controlling the target camera to shoot the coal mining machine at the first target position at the next time. The disclosure can accurately predict the position of the coal mining machine at the next time in combination with the coal mining process, thereby accurately predicting the switching of the following-machine camera, ensuring the timeliness of the switching of the following-machine camera, and further avoiding interruption of the following-machine shooting of the coal mining machine, causing delay of the following-machine video, and ensuring the continuity of the following-machine video.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of fully mechanized coal mining monitoring, and particularly relates to a method and device for taking pictures of a coal mining machine, an electronic device and a storage medium. BACKGROUND

[0002] With the development of unmanned and automatic coal mining technology in fully mechanized coal mining faces, the safety performance requirements for coal mining in fully mechanized coal mining faces are increasingly high. When a coal mining machine is used for coal mining in a fully mechanized coal mining face, the working condition of the coal mining machine is mainly monitored through video shooting of the coal mining machine to ensure safe mining of the coal mine.

[0003] In related technologies, it is difficult to predict the position of the coal mining machine at the next moment, and thus it is difficult to predict the switching of the camera following the coal mining machine. When the camera following the coal mining machine is temporarily switched, the shooting following the coal mining machine is interrupted, which leads to delay of the video following the coal mining machine and discontinuity of the video following the coal mining machine. SUMMARY

[0004] The present disclosure provides a method and device for taking pictures of a coal mining machine, an electronic device and a storage medium to solve the problem that the shooting following the coal mining machine is interrupted when the camera following the coal mining machine is temporarily switched, which leads to delay of the video following the coal mining machine and discontinuity of the video following the coal mining machine.

[0005] The first aspect of the present disclosure provides a method for taking pictures of a coal mining machine, comprising: obtaining a first position of the coal mining machine at a current moment; determining a target coal mining state of the coal mining machine at a next moment, and obtaining a first target position of the coal mining machine at the next moment based on the target coal mining state and the first position; determining a target camera for shooting the first target position from candidate cameras based on a second position of the candidate cameras; and controlling the target camera to shoot the coal mining machine at the first target position at the next moment.

[0006] In one embodiment of the present disclosure, the determination of the target coal mining state of the coal mining machine at the next moment comprises: determining a target coal mining procedure of the coal mining machine at the next moment; and determining the target coal mining state based on the target coal mining procedure.

[0007] In one embodiment of the present disclosure, the determination of the target coal mining procedure of the coal mining machine at the next moment comprises: determining a current coal mining procedure of the coal mining machine; obtaining a current coal mining state of the coal mining machine, and determining whether the current coal mining procedure is completed based on the current coal mining state; in response to determining that the current coal mining procedure is completed, determining that a next coal mining procedure is the target coal mining procedure; and in response to determining that the current coal mining procedure is not completed, determining that the current coal mining procedure is the target coal mining procedure.

[0008] In an embodiment of the present disclosure, the determining the current mining procedure of the coal mining machine comprises: obtaining historical mining procedure completion information of the coal mining machine; and determining the current mining procedure based on the historical mining procedure completion information.

[0009] In an embodiment of the present disclosure, the obtaining the first target position of the coal mining machine at the next moment based on the target mining state and the first position comprises: obtaining movement direction information and movement speed information of the coal mining machine at the next moment based on the target mining state; and obtaining the first target position based on the movement direction information, the movement speed information and the first position.

[0010] In an embodiment of the present disclosure, the coal mining machine comprises a drum, and the method further comprises: obtaining attitude information of the coal mining machine at the next moment based on the target mining state; determining a second target position of the drum at the next moment based on the attitude information and the first target position; and controlling the target camera to capture the drum at the second target position at the next moment.

[0011] In an embodiment of the present disclosure, the controlling the target camera to capture the drum at the second target position at the next moment comprises: obtaining a target parameter set of the target camera based on the second target position; adjusting the target camera based on the target parameter set; and controlling the adjusted target camera to capture the drum at the second target position at the next moment.

[0012] An embodiment of the second aspect of the present disclosure provides a follow-up shooting device of a coal mining machine, comprising: a first obtaining module configured to obtain a first position of the coal mining machine at a current moment; a first determining module configured to determine a target mining state of the coal mining machine at a next moment, and obtain a first target position of the coal mining machine at the next moment based on the target mining state and the first position; a second determining module configured to determine a target camera for shooting the first target position from candidate cameras based on a second position of the candidate cameras; and a control module configured to control the target camera to capture the coal mining machine at the first target position at the next moment.

[0013] An embodiment of the third aspect of the present disclosure provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; and wherein the processor is configured to execute the instructions to implement the follow-up shooting method of the coal mining machine according to the first aspect of the present disclosure.

[0014] The fourth aspect of the present disclosure provides a non-transitory computer readable storage medium, when the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the method for following the coal mining machine shooting provided by the first aspect of the present disclosure.

[0015] The embodiments of the present disclosure provide at least the following beneficial effects: in the embodiments of the present disclosure, the next moment of coal mining state is determined by the coal mining process of the coal mining machine, the position of the coal mining machine at the next moment is predicted by the next moment of coal mining state, and the camera for shooting the coal mining machine at the next moment is predicted by the position of the coal mining machine at the next moment, which can timely switch the camera for shooting the coal mining machine at the next moment, ensure the timeliness of the switching of the camera for shooting the coal mining machine, thereby avoiding the interruption of the shooting of the coal mining machine, causing the delay of the following video, and ensuring the continuity of the following video.

[0016] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially become obvious from the following description, or be known by the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1 A flowchart of a method for following a coal mining machine shooting provided by the embodiments of the present disclosure is shown in the figure;

[0019] Figure 2 A following coal mining machine shooting scene example diagram provided by the embodiments of the present disclosure is shown in the figure;

[0020] Figure 3 A flowchart of another method for following a coal mining machine shooting provided by the embodiments of the present disclosure is shown in the figure;

[0021] Figure 4 A coal mining process example diagram provided by the embodiments of the present disclosure is shown in the figure;

[0022] Figure 5 A following coal mining machine shooting scene example diagram provided by the embodiments of the present disclosure is shown in the figure;

[0023] Figure 6 A following coal mining machine shooting scene example diagram provided by the embodiments of the present disclosure is shown in the figure;

[0024] Figure 7 A flowchart of another method for following a coal mining machine shooting provided by the embodiments of the present disclosure is shown in the figure;

[0025] Figure 8Another flowchart of a following-machine shooting method of a coal mining machine provided by an embodiment of the present disclosure is shown in FIG. 6.

[0026] Figure 9 Another following-machine shooting scene example of a coal mining machine provided by an embodiment of the present disclosure is shown in FIG. 7.

[0027] Figure 10 A structure diagram of a following-machine shooting device of a coal mining machine provided by an embodiment of the present disclosure is shown in FIG. 8.

[0028] Figure 11 A structure diagram of an electronic device according to an embodiment of the present disclosure is shown in FIG. 9. DETAILED DESCRIPTION

[0029] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, unless otherwise indicated, like numbers in the attached drawings refer to the same or similar elements. The following detailed description of the exemplary embodiments does not limit the scope of the embodiments of the present disclosure. Rather, the detailed description of some embodiments consistent with the embodiments of the present disclosure is only provided as examples of apparatus and methods consistent with some aspects of the present disclosure as set forth in the appended claims.

[0030] The terminology used in the embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present disclosure. As used in the embodiments of the present disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in these embodiments of the present disclosure, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0031] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a particular order or hierarchy among the information. These terms are used only to distinguish one from another. For example, a first information can be termed a second information, and, similarly, a second information can be termed a first information, without departing from the scope of the present disclosure. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining." Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining."

[0032] Embodiments of the present disclosure are described in detail below with reference to the attached drawings, which show, by way of example, specific embodiments. The embodiments described below are examples for explaining the present disclosure and should not be considered limiting of the present disclosure. For the purpose of clarity, not every component is drawn to scale.

[0033] A following-machine shooting method, device, electronic device, and storage medium of a coal mining machine according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0034] Figure 1 A flowchart of a follow-up shooting method of a coal mining machine provided by an embodiment of the present disclosure is shown.

[0035] It should be noted that the execution subject of the follow-up shooting method of the coal mining machine in this embodiment is a follow-up shooting device of the coal mining machine, which can be a hardware device or software in the hardware device, etc. The hardware device is, for example, a terminal device, a server, etc.

[0036] As shown in Figure 1 , the follow-up shooting method of the coal mining machine provided by the embodiment of the present disclosure includes the following steps:

[0037] S101, obtaining a first position of the coal mining machine at the current time.

[0038] Figure 2 A follow-up shooting scene diagram of the coal mining machine of the fully mechanized coal mining face is shown. As shown in Figure 2 , the fully mechanized coal mining face includes a coal mining machine, a hydraulic support, a conveyor and a camera, etc. The camera is installed on the hydraulic support and used for follow-up shooting of the coal mining machine. The video stream of the camera can be transmitted to the underground and ground video servers through the mine ring network and wireless network, etc. The video server is generally an underground intrinsically safe computer or an explosion-proof computer, which is used for displaying the video shot by each camera.

[0039] In some embodiments, a laser ranging technology is used to detect the first position of the coal mining machine at the current time.

[0040] In some other embodiments, an image recognition technology is used to recognize the video shot by the camera to determine the first position of the coal mining machine at the current time.

[0041] In still some other embodiments, a positioning device can be installed on the coal mining machine to position the first position of the coal mining machine at the current time.

[0042] In yet some other embodiments, a signal transmitter can be installed on the coal mining machine, and a signal receiver can be installed on the hydraulic support. The signal receiver on the hydraulic support receives the signal transmitted by the signal transmitter on the coal mining machine to determine the first position of the coal mining machine at the current time.

[0043] S102, determining a target coal mining state of the coal mining machine at the next time, and based on the target coal mining state and the first position, obtaining a first target position of the coal mining machine at the next time.

[0044] The shearer on the fully mechanized coal mining face can adopt a set mining technology to mine coal. When the shearer mines coal by using the set mining technology, the mining state of the shearer at each moment is a fixed state set in advance, and thus the target mining state of the shearer at the next moment can be determined according to the mining technology.

[0045] It should be noted that the set mining technology can be set according to the geological conditions of the coal seam, for example, fully mechanized longwall mining method, and the like, which is not limited herein.

[0046] The mining state includes the attitude of the shearer, the motion state, and the like, wherein the motion state includes the motion speed and the motion direction.

[0047] The target motion state of the shearer at the next moment can be determined according to the target mining state of the shearer at the next moment, and then the first target position of the shearer at the next moment can be determined according to the target motion state of the shearer at the next moment and the first position of the shearer at the current moment.

[0048] S103, determining a target camera for shooting the first target position from the candidate cameras based on the second position of the candidate cameras.

[0049] The candidate cameras include a plurality of cameras installed on the hydraulic supports. The cameras can be installed on each hydraulic support, or the cameras can be installed on the hydraulic supports at intervals, and the embodiments of the present disclosure do not limit the installation mode of the cameras.

[0050] Since the shooting ranges of the cameras are different, when the shearer moves out of the shooting range of the current camera, the next camera needs to be switched to shoot the shearer.

[0051] In the embodiments of the present disclosure, whether the first target position is within the shooting range of the candidate camera can be determined according to the second position and the shooting range of the candidate camera. If the first target position is within the shooting range of the candidate camera, the candidate camera is determined as the target camera for shooting the first target position.

[0052] S104, controlling the target camera to shoot the shearer at the first target position at the next moment.

[0053] After the target camera for shooting the first target position is determined, the target camera is controlled to shoot the shearer at the first target position at the next moment.

[0054] In the embodiment of the present disclosure, the first position of the coal mining machine at the current time is obtained, the target coal mining state of the coal mining machine at the next time is determined, and the first target position of the coal mining machine at the next time is obtained based on the target coal mining state and the first position. Based on the second position of the candidate camera, the target camera for shooting the first target position is determined from the candidate camera, and the target camera is controlled to shoot the coal mining machine at the first target position at the next time. In the embodiment of the present disclosure, the coal mining state of the coal mining machine at the next time is determined through the coal mining process of the coal mining machine, the position of the coal mining machine at the next time is predicted through the coal mining state at the next time, and the camera for shooting the coal mining machine at the next time is predicted through the position of the coal mining machine at the next time. The camera for shooting the coal mining machine at the next time can be switched in time, the timeliness of the camera for shooting the coal mining machine is ensured, and the continuity of the video for shooting the coal mining machine is ensured.

[0055] Figure 3 A flowchart of a camera shooting method for a coal mining machine is provided in the embodiment of the present disclosure. On the basis of the above-mentioned embodiment, the camera shooting method for the coal mining machine is further combined with Figure 3 The process of determining the target coal mining state of the coal mining machine at the next time is explained and described, including the following steps:

[0056] S301, determining the target coal mining process of the coal mining machine at the next time.

[0057] In the embodiment of the present disclosure, the coal mining process is composed of a plurality of coal mining processes.

[0058] For example, as shown in the figure, the coal mining process includes twenty-two coal mining processes, and specifically as follows: Figure 4

[0059] The first process: the right drum of the coal mining machine cuts the top coal, the left drum cuts the bottom coal, and the coal is cut from the tail to the head.

[0060] The second process: the left drum of the coal mining machine rises to the horizontal, the right drum descends, the bottom coal is cut from the head to the tail, and the right drum cuts the bottom coal of the coal mining machine body.

[0061] The third process: the coal mining machine is pulled to the head direction, and the floating coal is cleaned.

[0062] The fourth process: the coal mining machine is pulled to the tail direction, and the floating coal is cleaned.

[0063] The fifth process: the coal mining machine is pulled to the head direction, and the floating coal is cleaned.

[0064] The sixth process: the left drum of the coal mining machine rises to cut the top coal, the right drum cuts the bottom coal, and the coal is cut to the tail direction.

[0065] The seventh process: the right drum of the coal mining machine rises to cut the top coal, the left drum descends to cut the bottom coal, and the coal is cut to the head direction.​

[0066] Eighth step: the left roller of the coal mining machine is raised to the horizontal position, and the right roller is lowered to cut the bottom coal towards the tail of the machine.

[0067] Ninth step: the coal mining machine cleans the floating coal towards the head of the machine.

[0068] Tenth step: the coal mining machine cleans the floating coal towards the tail of the machine.

[0069] Eleventh step: the coal mining machine cleans the floating coal towards the head of the machine.

[0070] Twelfth step: the coal mining machine normally cuts coal towards the tail of the machine.

[0071] Thirteenth to twenty-second steps are symmetrical to the second to eleventh steps.

[0072] It should be noted that, as shown in Figure 4 each coal mining step corresponds to a coal cutting interval, which can be set according to actual conditions and is not limited here.

[0073] The coal cutting interval can be represented by the position of the hydraulic support, as shown in Figure 5 each hydraulic support can be numbered from the starting position of the coal mining machine, and the number of the hydraulic support represents each coal cutting interval.

[0074] For example, assuming that the working face support number range is 1-160, as shown in Figure 6 the coal cutting interval of the first step of the coal mining step can be from the 5th to the 155th support, and the coal cutting direction is in ascending order.

[0075] The coal cutting interval of the second step can be from the 145th to the 155th support, and the coal cutting direction is in descending order.

[0076] The interval of the third step can be from the 145th to the 155th support, and the coal cutting direction is in ascending order.

[0077] Among them, the camera installed on the 80th hydraulic support can shoot the coal mining machine of the first step, and cannot shoot the cameras of the second and third steps, and the cameras installed on the 150th hydraulic support can shoot the coal mining machines of the first, second and third steps.

[0078] In the embodiment of the present disclosure, determining the target coal mining step of the coal mining machine at the next moment comprises:

[0079] Step a1, determining the current coal mining step of the coal mining machine.

[0080] In the embodiment of the present disclosure, the coal mining machine records completion information once for each completed coal mining step.

[0081] Optionally, historical coal mining procedure completion information of the coal mining machine is acquired, and the current coal mining procedure is determined based on the historical coal mining procedure completion information.

[0082] After the historical coal mining procedure completion information of the coal mining machine is acquired, the coal mining procedure completed by the coal mining machine can be determined according to the historical coal mining procedure completion information, and the current coal mining procedure of the coal mining machine can be determined according to the coal mining procedure completed by the coal mining machine and the set order of the coal mining procedures.

[0083] In step a2, the current coal mining state of the coal mining machine is acquired, and it is determined whether the current coal mining procedure is completed based on the current state of the coal mining machine.

[0084] It should be noted that in the embodiments of the present disclosure, the coal mining state of the coal mining machine when performing each coal mining procedure is a pre-set state, and therefore each coal mining procedure corresponds to a set coal mining state.

[0085] In some embodiments, the current coal mining state of the coal mining machine can be determined according to the current coal mining procedure.

[0086] In other embodiments, the current coal mining image of the coal mining machine can also be subjected to image recognition to obtain the current coal mining state of the coal mining machine.

[0087] After the current coal mining state of the coal mining machine is determined, it can be judged whether the current coal mining state is a completion state of the current coal mining procedure, if yes, it is determined that the current coal mining procedure is completed, and if no, it is determined that the current coal mining procedure is not completed.

[0088] In step a3, in response to determining that the current coal mining procedure is completed, the next coal mining procedure is determined as the target coal mining procedure.

[0089] In step a4, in response to determining that the current coal mining procedure is not completed, the current coal mining procedure is determined as the target coal mining procedure.

[0090] In S302, the target coal mining state is determined based on the target coal mining procedure.

[0091] The target coal mining state corresponding to the target coal mining procedure can be determined according to the corresponding relationship between the coal mining procedure and the coal mining state.

[0092] In the embodiments of the present disclosure, the target coal mining state is determined based on the target coal mining procedure of the coal mining machine at the next moment. The embodiments of the present disclosure can accurately predict the coal mining state of the coal mining machine at the next moment, so as to accurately predict the position of the coal mining machine at the next moment, and further predict whether the camera for shooting the coal mining machine needs to be switched at the next moment, so as to ensure the accuracy and timeliness of the switching of the camera for shooting the coal mining machine.

[0093] Figure 7A flowchart of a method for taking a picture of a coal mining machine is provided in an embodiment of the present disclosure. As shown in Figure 7 the method includes the following steps:

[0094] S701, obtaining a first position of the coal mining machine at a current time.

[0095] For a description of step S701, refer to the description in the above-mentioned related embodiments, which will not be repeated here.

[0096] S702, obtaining movement direction information and movement speed information of the coal mining machine at a next time based on a target mining state.

[0097] The mining state of the coal mining machine includes the movement state of the coal mining machine, and the movement state includes the movement direction and the movement speed of the coal mining machine. Therefore, the movement direction information and the movement speed information of the coal mining machine at the next time can be obtained according to the target mining state of the coal mining machine at the next time.

[0098] S703, obtaining a first target position based on the movement direction information, the movement speed information, and the first position.

[0099] After obtaining the movement direction information and the movement speed information of the coal mining machine at the next time, the first target position of the coal mining machine at the next time can be determined according to the movement direction information, the movement speed information, and the first position of the coal mining machine at the current time.

[0100] S704, determining a target camera for taking a picture of the first target position from candidate cameras based on a second position of the candidate camera.

[0101] S705, controlling the target camera to take a picture of the coal mining machine at the first target position at the next time.

[0102] For a description of steps S704-S705, refer to the description in the above-mentioned related embodiments, which will not be repeated here.

[0103] In an embodiment of the present disclosure, the first position of the coal mining machine at the current time is obtained, the movement direction information and the movement speed information of the coal mining machine at the next time are obtained based on the target mining state, the first target position is obtained based on the movement direction information, the movement speed information, and the first position, the target camera for taking a picture of the first target position is determined from the candidate cameras based on the second position of the candidate camera, and the target camera is controlled to take a picture of the coal mining machine at the first target position at the next time. In an embodiment of the present disclosure, the movement direction and the movement speed of the coal mining machine at the next time and the position of the coal mining machine at the current time are used to predict the movement to the position of the coal mining machine at the next time, thereby improving the accuracy of the prediction.

[0104] Figure 8A flowchart of a method for taking a picture of a shearer from behind the shearer is provided in embodiments of the present disclosure. As shown in Figure 8 the method includes the following steps:

[0105] S801, based on a target shearing state, obtaining attitude information of the shearer at a next moment.

[0106] The shearing state of the shearer includes the attitude of the shearer, so the attitude information of the shearer at the next moment can be obtained according to the target shearing state of the shearer at the next moment.

[0107] S802, based on the attitude information and a first target position, determining a second target position of the drum at the next moment.

[0108] In embodiments of the present disclosure, the shearer includes a drum. The attitude information includes position information of the drum in the shearer.

[0109] According to the attitude information of the shearer at the next moment, the position information of the drum in the shearer at the next moment can be obtained, and according to the first target position of the shearer at the next moment and the position information of the drum in the shearer at the next moment, the second target position of the drum at the next moment can be determined.

[0110] S803, controlling the target camera to take a picture of the drum at the second target position at the next moment.

[0111] In embodiments of the present disclosure, controlling the target camera to take a picture of the drum at the second target position at the next moment includes:

[0112] b1, based on the second target position, obtaining a target parameter group of the target camera.

[0113] The parameter group of the camera includes a rotation angle, a focal length, a frame rate, etc., and the target parameter group refers to the adjusted parameter group of the target camera.

[0114] In order to avoid temporary adjustment of the camera parameters resulting in poor shooting effect, the parameters of the target camera can be adjusted in advance according to the position of the drum at the next moment, so that the drum area of the shearer can be clearly shot at the next moment.

[0115] When the drum of the shearer is at different positions, the parameters of the camera shooting the drum are different, and the parameters need to be adjusted according to the position change of the drum. The parameter group of the camera shooting the drum at different positions of the drum can be determined in advance, and a mapping relationship between the position of the drum and the parameter group is established, and the target parameter group corresponding to the second target position can be determined according to the mapping relationship.

[0116] b2, based on the target parameter group, adjusting the target camera.

[0117] Step b3, control the adjusted target camera to shoot the drum in the second target position at the next time.

[0118] For the convenience of description, the target parameter group of the camera is defined as the preset position of the camera.

[0119] For example, assuming that the preset position is set to 6 positions, the 6 preset positions are represented by ABCDEF respectively, and assuming that the target camera is adjusted to the A preset position to shoot the upper left, the B preset position to shoot the upper middle, the C preset position to shoot the upper right, the D preset position to shoot the lower left, the E preset position to shoot the lower middle, and the F preset position to shoot the lower right.

[0120] Further, referring to Figure 6 , assuming that the current coal mining process and the target coal mining process at the next time of the coal mining machine are both the first process, and the target camera is the camera installed on the 80th hydraulic support, when the right drum of the coal mining machine enters the 79th hydraulic support, the target camera is adjusted to the A preset position to shoot the upper left, and the right drum cutting top coal can be shot, when the right drum enters the 80th hydraulic support, the target camera is adjusted to the B preset position to continue to track and shoot the right drum cutting top coal. When the right drum enters the 81st hydraulic support, the target camera is adjusted to the C preset position to continue to track and shoot the right drum cutting top coal. When the left drum of the coal mining machine enters the 79th hydraulic support, the target camera is adjusted to the D preset position to shoot the lower left, and the left drum cutting bottom coal can be shot. When the left drum enters the 80th hydraulic support, the target camera is adjusted to the E preset position to continue to track and shoot the left drum cutting bottom coal. When the left drum enters the 81st hydraulic support, the target camera is adjusted to the F preset position to continue to track and shoot the left drum cutting bottom coal.

[0121] Before shooting the coal mining machine, the parameters of the target camera are adjusted to ensure the shooting effect at the next time, and to avoid the shooting delay caused by the temporary adjustment of the camera parameters, and to ensure the continuity of the shooting.

[0122] It should be noted that when the target camera on the hydraulic support cannot shoot the drum of the coal mining machine, the machine body of the coal mining machine is shot, and thus, referring to Figure 9 , the all-around tracking and shooting of each part of the coal mining machine can be realized.

[0123] In the embodiment of the present disclosure, the attitude information of the coal mining machine at the next moment is obtained based on the target coal mining state, the second target position of the drum at the next moment is determined based on the attitude information and the first target position, and the target camera is controlled to shoot the drum at the second target position at the next moment. The embodiment of the present disclosure can accurately predict the position of the drum of the coal mining machine at the next moment, realize tracking and shooting of the drum of the coal mining machine, and ensure the timeliness and continuity of the tracking and shooting. Moreover, the position and attitude information of the drum of the coal mining machine can be accurately predicted in combination with the coal mining process, so that the parameters of the camera can be accurately predicted and adjusted, and the camera can shoot the drum of the coal mining machine comprehensively and accurately.

[0124] Figure 10 A structure diagram of a tracking and shooting device of a coal mining machine provided by the embodiment of the present disclosure is shown in FIG. 1. As shown in FIG. 1, the tracking and shooting device 1000 of the coal mining machine comprises: Figure 10

[0125] The first acquisition module 1010 is configured to acquire a first position of the coal mining machine at a current moment.

[0126] The first determination module 1020 is configured to determine a target coal mining state of the coal mining machine at a next moment, and acquire a first target position of the coal mining machine at the next moment based on the target coal mining state and the first position.

[0127] The second determination module 1030 is configured to determine a target camera for shooting the first target position from the candidate cameras based on the second position of the candidate camera.

[0128] The control module 1040 is configured to control the target camera to shoot the coal mining machine at the first target position at the next moment.

[0129] In an embodiment of the present disclosure, the first determination module 1020 is further configured to determine a target coal mining process of the coal mining machine at the next moment, and determine the target coal mining state based on the target coal mining process.

[0130] In an embodiment of the present disclosure, the first determination module 1020 is further configured to determine a current coal mining process of the coal mining machine, acquire a current coal mining state of the coal mining machine, and determine whether the current coal mining process is completed based on the current coal mining state; in response to determining that the current coal mining process is completed, determine that a next coal mining process is the target coal mining process; and in response to determining that the current coal mining process is not completed, determine that the current coal mining process is the target coal mining process.

[0131] In an embodiment of the present disclosure, the first determination module 1020 is further configured to acquire historical coal mining process completion information of the coal mining machine, and determine the current coal mining process based on the historical coal mining process completion information.

[0132] ​In an embodiment of the present disclosure, the first determining module 1020 is further configured to: based on the target coal mining state, acquire motion direction information and motion speed information of the coal mining machine at the next moment; and based on the motion direction information, the motion speed information and the first position, acquire the first target position.

[0133] In an embodiment of the present disclosure, the coal mining machine comprises a drum, and the machine-following photographing device 1000 of the coal mining machine further comprises:

[0134] The second acquiring module is configured to acquire, based on the target coal mining state, attitude information of the coal mining machine at the next moment.

[0135] The third acquiring module is configured to determine, based on the attitude information and the first target position, a second target position of the drum at the next moment.

[0136] The second control module is configured to control the target camera to photograph the drum at the second target position at the next moment.

[0137] In an embodiment of the present disclosure, the second control module is further configured to: based on the second target position, acquire a target parameter set of the target camera; based on the target parameter set, adjust the target camera; and control the adjusted target camera to photograph the drum at the second target position at the next moment.

[0138] In the embodiment of the present disclosure, the first position of the coal mining machine at the current moment is acquired, the target coal mining state of the coal mining machine at the next moment is determined, and based on the target coal mining state and the first position, the first target position of the coal mining machine at the next moment is acquired. Based on the second position of the candidate camera, the target camera for photographing the first target position is determined from the candidate camera, and the target camera is controlled to photograph the coal mining machine at the first target position at the next moment. In the embodiment of the present disclosure, the coal mining state of the coal mining machine at the next moment is determined through the coal mining process of the coal mining machine, the position of the coal mining machine at the next moment is predicted through the coal mining state at the next moment, and the camera for photographing the coal mining machine at the next moment is predicted through the position of the coal mining machine at the next moment. The camera for photographing the coal mining machine at the next moment can be switched in time, the timeliness of the camera switching is ensured, and the continuity of the machine-following video is ensured.

[0139] According to a third aspect of the embodiment of the present disclosure, an electronic device is also provided, which comprises: a processor; and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the machine-following photographing method of the coal mining machine as described above.

[0140] In order to implement the above-mentioned embodiments, the present disclosure further provides a storage medium.

[0141] When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is enabled to perform the method for taking a photograph of a coal mining machine as described above.

[0142] To achieve the above-mentioned embodiments, as shown in the drawings, the present disclosure also proposes an electronic device 1100, comprising a memory 1110, a processor 1120, and a computer program stored in the memory 1110 and executable on the processor 1120, and the processor 1120 executes the program to implement the method for taking a photograph of a coal mining machine proposed by the foregoing embodiments of the present disclosure. Figure 11

[0143] To achieve the above-mentioned embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium having a computer program stored thereon, and the program is executed by a processor to implement the method for taking a photograph of a coal mining machine proposed by the foregoing embodiments of the present disclosure.

[0144] In the description of the present disclosure, the terms "first", "second", "third", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0145] In the description of the present disclosure, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present disclosure, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present disclosure and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0146] Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present disclosure, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present disclosure.​

Claims

1. A method for filming a coal mining machine while it is in operation, characterized in that, include: Obtain the current position of the coal mining machine; The method involves determining the target mining state of the coal mining machine at the next moment, and obtaining the first target position of the coal mining machine at the next moment based on the target mining state and the first position. Determining the target mining state of the coal mining machine at the next moment includes: determining the current mining operation of the coal mining machine; obtaining the current mining state of the coal mining machine, and determining whether the mining operation is completed based on the current mining state; in response to determining that the current mining operation is completed, determining the next mining operation as the target mining operation; in response to determining that the current mining operation is not completed, determining the current mining operation as the target mining operation; and determining the target mining state based on the target mining operation. Based on the second position of the candidate cameras, a target camera for capturing the first target position is determined from the candidate cameras; The target camera is controlled to take a picture of the coal mining machine located at the first target position at the next moment; The step of obtaining the first target position of the coal mining machine at the next moment based on the target coal mining state and the first position includes: obtaining the movement direction information and movement speed information of the coal mining machine at the next moment based on the target coal mining state; and obtaining the first target position based on the movement direction information, the movement speed information, and the first position.

2. The method according to claim 1, characterized in that, Determining the current coal mining process of the coal mining machine includes: Obtain historical coal mining process completion information of the coal mining machine; Based on the historical coal mining process completion information, the current coal mining process is determined.

3. The method according to claim 1, characterized in that, The coal mining machine includes a drum, and the method further includes: Based on the target coal mining state, obtain the attitude information of the coal mining machine at the next moment; Based on the attitude information and the first target position, the second target position of the roller at the next moment is determined; The target camera is controlled to take a picture of the roller located at the second target position at the next moment.

4. The method according to claim 3, characterized in that, The step of controlling the target camera to capture an image of the roller located at the second target position at the next moment includes: Based on the second target location, the target parameter set of the target camera is obtained; The target camera is adjusted based on the target parameter set; The adjusted target camera will then capture an image of the roller located at the second target position at the next moment.

5. A filming device for a coal mining machine, characterized in that, The method for following and filming a coal mining machine according to any one of claims 1 to 4 includes: The first acquisition module is used to acquire the first position of the coal mining machine at the current moment; The first determining module is used to determine the target coal mining state of the coal mining machine at the next moment, and to obtain the first target position of the coal mining machine at the next moment based on the target coal mining state and the first position. The second determining module is used to determine, based on the second position of the candidate cameras, the target camera for capturing the first target position from the candidate cameras; The control module is used to control the target camera to take a picture of the coal mining machine located at the first target position at the next moment.

6. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the following shooting method of the coal mining machine as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform the following shooting method of the coal mining machine as described in any one of claims 1 to 4.

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