A mine car detection method and device, a camera device and a storage medium

Abstract

This application relates to a method and apparatus for detecting mining cars, a camera device, and a storage medium. The method includes: acquiring an image of a mining car in a transport state within a mine; determining the positional relationship between the mining car and multiple preset markers in the image, where each preset marker corresponds to a different loading state of the mining car; and determining the loading state of the mining car based on the positional relationship. The mining car detection method provided in this application eliminates the need for complex and tedious image detection of the mining car image, thus simplifying the detection steps and enabling rapid and intuitive determination of the loading state of the mining car. Furthermore, by setting multiple preset markers, various loading states of the mining car can be determined, thereby providing users with more comprehensive mine transport detection results.

Description

Technical Field

[0001] This application relates to the field of imaging technology, and in particular to a method and apparatus for detecting mining trucks, a camera device, and a storage medium. Background Technology

[0002] Mining is a highly safety-critical activity, and real-time monitoring of mining conditions is crucial for safe operation. While some mining processes can be automated using technologies like cameras to capture video of the coal chute and analyze the captured frames to detect coal accumulation, the transportation conditions within the mine are also critical to safety. However, current technologies do not yet address the monitoring of these transportation conditions.

[0003] Therefore, there is an urgent need for an efficient and accurate method for detecting mining trucks in related technologies. Summary of the Invention

[0004] This application provides a method and apparatus for detecting mine cars, a camera device, and a storage medium, to at least solve the problem of detecting mine transportation conditions that has not yet been addressed in related technologies.

[0005] In a first aspect, embodiments of this application provide a method for detecting mining cars, including:

[0006] Acquire images of mining trucks in transit within the mine;

[0007] Determine the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car;

[0008] Based on the positional relationship, the loading status of the mining car is determined.

[0009] Optionally, in one embodiment of this application, the plurality of preset markers are disposed opposite to the camera device on both sides of the mine car track, the camera device being used to capture images of the mine car, wherein the plurality of preset markers have different heights.

[0010] The mine car detection method provided in this application can determine the positional relationship between the mine car in the mine car image and multiple preset markers, and determine the loading status of the mine car based on the loading status of the preset markers. This eliminates the need for complex and tedious image detection of the mine car image, thus simplifying the detection process and allowing for a quick and intuitive determination of the mine car's loading status. Furthermore, by setting multiple preset markers, various loading statuses of the mine car can be determined, providing users with more comprehensive mine transportation detection results.

[0011] Optionally, in one embodiment of this application, determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes:

[0012] Determine the occlusion state of the mine car in the mine car image for each of the multiple preset marks.

[0013] Optionally, in one embodiment of this application, determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes:

[0014] The positions of multiple preset markers in the image of the mine car are determined, and the multiple preset markers include multiple markers pre-marked for mine cars in different loading states under the condition of a fixed camera device;

[0015] Determine the positional relationship between the mine car and the multiple preset markers in the mine car image.

[0016] Optionally, in one embodiment of this application, after determining the loading state of the mining truck based on the positional relationship, the method further includes:

[0017] If it is determined that the mining truck is in an abnormal loading state, the frequency of the mining truck being in an abnormal loading state is counted.

[0018] If the frequency is determined to be greater than or equal to a preset frequency, an alarm message is sent.

[0019] Optionally, in one embodiment of this application, after acquiring the image of a mining car in transport mode in the mine, the method further includes:

[0020] Get the first time interval since the last time the minecart image was acquired;

[0021] If it is determined that the first time interval is greater than a first preset time interval threshold or less than a second preset time interval threshold, an alarm message is sent.

[0022] Optionally, in one embodiment of this application, after acquiring the image of a mining car in transport mode in the mine, the method further includes:

[0023] Obtain the second time interval between the first moment after the acquisition time of the mine car image and the acquisition time;

[0024] If the second time interval is determined to be greater than the third preset time interval threshold, an alarm message is sent.

[0025] Secondly, embodiments of this application also provide a mine car detection device, the device comprising:

[0026] The mine car image acquisition module is used to acquire images of mine cars in transit within the mine.

[0027] The positional relationship determination module is used to determine the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car.

[0028] The loading status determination module is used to determine the loading status of the mining car based on the positional relationship.

[0029] Thirdly, embodiments of this application also provide a camera device, including a lens assembly, an image sensor, a memory, and a processor. The memory stores a computer program, and the processor is configured to run the computer program to execute the mining car detection method.

[0030] Fourthly, embodiments of this application also provide a non-volatile computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the aforementioned mine car detection method.

[0031] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0033] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0034] Figure 2 This is a flowchart of the mining car detection method provided in the embodiments of this application;

[0035] Figure 3 This is a schematic diagram showing the relative positions of the marker and the camera device provided in the embodiments of this application;

[0036] Figure 4 This is a schematic diagram of the mine car occlusion preset mark in the mine car image provided in the embodiments of this application;

[0037] Figure 5 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the module structure of the mining car detection device provided in the embodiments of this application. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0040] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0041] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0042] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed description. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, apparatus, means, elements, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0043] To clearly illustrate the technical solutions of the various embodiments of this application, the following describes... Figure 1 The application environment of the embodiments of this application will be described.

[0044] Please see Figure 1 , Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application. The application scenario may include a camera device 101, a mine car 103, a mine car track 105, markers 107, and a mine car detection device 109. The camera device 101 and the markers 107 are positioned opposite each other on both sides of the mine car track 105, and are used to capture images of the mine car 103 during material transportation. The camera device 101 can be an electronic device with image acquisition and data transmission capabilities. For example, the camera device 101 may include a camera, a lidar, etc. Specifically, the camera may include a bullet camera, a pan-tilt camera, an infrared camera, a monocular camera, a binocular camera, a depth camera, etc., and the lidar may include single-line radar, multi-line radar, etc. This application does not limit the camera device 101. The markers 107 may include multiple preset markers, such as preset marker 10, preset marker 20, and preset marker 30. After acquiring the image of the mine car, the camera device 101 can send the image to the mine car detection device 109, which then determines the loading status of the mine car 103. The mine car detection device 109 can include various forms such as electronic devices, non-volatile computer-readable storage media, computer program products, and chips. As an electronic device, the mine car detection device 109 can transmit data with the camera device 101 and process the mine car image acquired by the camera device 101. As a non-volatile computer-readable storage medium, computer program product, or chip, the mine car detection device 109 can be coupled to the interior of the camera device 101, enabling the camera device 101 to determine the loading status of the mine car. Alternatively, the mine car detection device 109 can be placed in other terminals (such as smartphones), servers, or the cloud, and the mine car images captured by the camera device 109 can be sent to the other terminals, servers, or the cloud via network transmission. After the other terminals, servers, or the cloud complete the detection processing, the loading status is then sent back to the camera device 101.

[0045] The mining car detection method described in this application will be explained in detail below with reference to the accompanying drawings. Figure 2 This is a flowchart illustrating one embodiment of the mine car detection method provided in this application. Although this application provides method operation steps as shown in the following embodiments or figures, the method may include more or fewer operation steps based on conventional or non-inventive methods. For steps where there is no logically necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual mine car detection processes or when the method is executed, the method may be executed in the order shown in the embodiments or figures, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0046] Specifically, one embodiment of the mine car detection method provided in this application is as follows: Figure 2 As shown, the method may include:

[0047] S201: Acquire an image of a mine car in transit within the mine.

[0048] In this embodiment, the camera device 101 installed in the mine can acquire images of mine cars in transport mode in real time. Specifically, multiple camera devices 101 can be set according to the length of the mine car track 105 and the detection needs to acquire images of mine cars at different positions on the mine car track 105. For example, when the mine car track is long, more camera devices 101 can be set to acquire images of mine cars at different positions and in different transport modes. The mine car images may include the mine car 103 in transport mode and other background environments such as the marker 107, the mine car track 105, etc. The image format of the mine car images may include any format such as BMP, JPEG, PNG, SVG, etc. It should be noted that the process of acquiring mine car images in this embodiment is a continuous process. For example, the mine car images may be acquired at preset time intervals. The preset time interval can be set to 1 minute, 2 minutes, 5 minutes, etc., depending on the actual mine car transport situation, and is not limited here. Of course, the camera device 101 can also acquire an image of the mine car 103 when it detects the passing of the mine car 103.

[0049] S203: Determine the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car.

[0050] In this embodiment, after acquiring the mine car image, the positional relationship between the mine car and multiple preset markers in the mine car image can be determined. The multiple preset markers can be positioned on one side of the mine car track 105. To more accurately determine the loading state of the mine car 103, in one embodiment of this application, the multiple preset markers are positioned opposite to the camera device 101 on both sides of the mine car track 105. The camera device 101 is used to acquire the mine car image, and the multiple preset markers have different heights. Specifically, the multiple preset markers can be positioned on the left side of the mine car track 105, and the camera device 101 can be positioned on the right side of the mine car track 105. The multiple preset markers can be positioned directly opposite the camera device 101, or at a certain angle to the camera device 101. For example, in one example, such as... Figure 3As shown, the tilt angle between the marker 107 and the camera device 101 is 25°, and they are positioned on both sides of the mine car track 105. It should be noted that the multiple preset markers can include multiple markers pre-marked for mine cars in different loading states when the camera device 101 is fixed. The multiple preset markers can be determined by the user based on the transportation status of the mine cars in the mine. To determine different loading states of the mine car 103, the multiple preset markers can be set to different heights. For example, preset marker 10 can be h1, preset marker 20 can be h2, and preset marker 30 can be h3. Specifically, preset marker 10 can be determined based on the height of the mine car 103, thereby determining whether the mine car 103 is in the process of transportation. For example, the height of preset marker 10 can be set to be less than or equal to the height of the mine car. In another embodiment of this application, preset marker 20 can be determined based on the height of the material transported by the mine car 103, thereby determining whether the mine car is overloaded. More specifically, to more clearly determine the degree of overloading of the mining truck 103, different overloading heights can be set according to the degree of overloading to characterize different loading states of the mining truck 103, and more preset markers can be set according to different overloading heights, such as preset marker 30, preset marker 40, etc. For example, preset marker 20 can be used to indicate that the mining truck 103 is in a fully overloaded state, and preset marker 30 can be used to indicate that the mining truck 103 is in an overloaded state. In one embodiment of this application, the loading state can be a loading level, such as fully loaded or overloaded. The loading state can also be a specific value, such as overloaded by 10cm, overloaded by 20cm, etc. In one embodiment of this application, the multiple preset markers can be marker points, marker lines such as scale lines, or marker rectangles. It is understood that the preset marker can be a specific value or a range of values. For example, in one example, when the vehicle height is 50cm and the fully loaded height is 70cm, the value range of the preset marker 20 can be {50, 70}.

[0051] In this embodiment, the positional relationship between the mine car 103 and multiple preset markers in the mine car image can be determined in various ways. The positional relationship may include intersection, overlap, etc. In one embodiment, the positional information can be determined based on the height information of the mine car 103 and the height information of the multiple preset markers in the mine car image. The height information of the mine car 103 may include the vehicle height, material height, etc. In other embodiments, to improve the efficiency of determining the positional relationship, it can be determined based on the occlusion status of the multiple preset markers. Specifically, determining the positional relationship between the mine car and multiple preset markers in the mine car image, where the multiple preset markers correspond to different loading states of the mine car, may include:

[0052] S301: Determine the occlusion state of the mine car in the mine car image on the multiple preset marks respectively.

[0053] In this embodiment of the application, when the plurality of preset marks are physical marks such as scale marker posts, the positional relationship can be determined based on the occlusion state of the mine car in the mine car image of the plurality of preset marks. In one embodiment of this application, when the plurality of preset marks are physical marks, the plurality of preset marks can be set on marker posts or on the walls of the mine. For example, if the mine car in the mine car image captured by the camera device 101 only occludes the preset mark 10, then the positional relationship between the mine car 103 and the preset mark 10 can be determined to be intersecting. If the mine car 103 in the mine car image captured by the camera device 101 occludes both the preset mark 10 and the preset mark 20, then the positional relationship between the mine car 103 and the preset marks 10 and 20 can be determined to be intersecting. For example, in one example, such as... Figure 4 As shown, in the image of the mining truck, the mining truck 103 obscures the preset mark 10, while the preset marks 20 and 30 are not obscured. Therefore, it can be determined that the positional relationship between the mining truck and the preset mark 10 is intersecting, while the relationship between the mining truck 103 and the preset marks 20 and 30 is non-intersecting. Through the above embodiment, the positional relationship between the mining truck 103 and the multiple preset marks can be quickly, intuitively, and easily determined based on the obscuring state of the mining truck 103 on each of the multiple preset marks.

[0054] Of course, in other embodiments, the preset markers can also be set as virtual preset markers, such as a mask scale image, and the positional relationship can be determined by comparing the mask scale image with the mine car image. Specifically, in one embodiment of this application, determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes:

[0055] S401: Determine the positions of multiple preset markers in the image of the mine car, wherein the multiple preset markers include multiple markers pre-calibrated for mine cars in different loading states when the camera device is fixed;

[0056] S403: Determine the positional relationship between the mine car and the plurality of preset markers in the mine car image.

[0057] In this embodiment, the plurality of preset markers can be represented by marker images, for example, a marker image containing multiple preset markers can be pre-set. The plurality of preset markers can include multiple markers pre-calibrated for different loading states of the mine car when the camera device 101 is fixed. That is, the preset markers can be used to represent different loading states of the mine car 103. Specifically, the plurality of preset markers are the same as the plurality of preset markers of the entity marker type described in the above embodiments, and will not be elaborated upon here. To accurately determine the positional relationship between the mine car 103 and the plurality of preset markers, the image size of the marker image can be the same as the size of the mine car image, ensuring that the position of the camera device 101 and the position of the plurality of preset markers are fixed. After determining the marker image, the marker image can be compared with the mine car image to determine the positions of the plurality of preset markers in the mine car image, and thereby determine the positional relationship between the mine car 103 and the plurality of preset markers in the mine car image. For example, in one example, such as... Figure 5 As shown, the marker image 503 can be overlaid on the mine car image 501 to obtain a comparison image 505. Based on the occlusion state of the multiple preset markers in the comparison image 505, the positions of multiple preset markers in the marker image, such as preset marker 10, preset marker 20, and preset marker 30, in the mine car image can be determined. Specifically, the positions of preset marker 20 and preset marker 10 intersect with the mine car 103, while the position of preset marker 30 does not intersect with the mine car 103.

[0058] S205: Determine the loading status of the mining car based on the positional relationship.

[0059] In this embodiment, after determining the positional relationship between the plurality of preset markers and the mine car 103, the loading state of the mine car 103 can be determined. Specifically, when the positional relationship between the preset markers and the mine car 103 intersects, it can be determined that the loading state of the mine car 103 is the same as the loading state corresponding to the preset marker. For example, when the positional relationship between the preset marker 20 and the mine car 103 intersects, it can be determined that the mine car 103 is in a fully overloaded state. When the positional relationship between the preset markers and the mine car 103 does not intersect and does not overlap, it can be determined that the loading state of the mine car 103 is different from the loading state of the preset marker.

[0060] The mine car detection method provided in this application can determine the positional relationship between the mine car in the mine car image and multiple preset markers, and determine the loading status of the mine car based on the loading status of the preset markers. This eliminates the need for complex and tedious image detection of the mine car image, thus simplifying the detection process and allowing for a quick and intuitive determination of the mine car's loading status. Furthermore, by setting multiple preset markers, various loading statuses of the mine car can be determined, providing users with more comprehensive mine transportation detection results.

[0061] In practical applications, mining trucks may experience multiple instances of empty runs or transport stoppages during material transportation, which affects transport efficiency and increases transportation costs. Therefore, in one embodiment of this application, an alarm message can be sent when the mining truck's loading status is abnormal to remind the user to handle the situation promptly. Specifically, after determining the loading status of the mining truck based on the location relationship, the method further includes:

[0062] S501: When it is determined that the mining car is in an abnormal loading state, the frequency of the mining car being in an abnormal loading state is counted.

[0063] S503: If it is determined that the frequency is greater than or equal to the preset frequency, an alarm message is sent.

[0064] In this embodiment, the abnormal loading state may include an empty state, a half-loaded state, an abnormal stop state, etc. Specifically, in one embodiment of this application, since the preset marker 10 can be used to characterize whether the mine car 103 is in a transportation state, it can be determined whether the mine car 103 is in an abnormal stop state based on the positional relationship between the mine car 103 and the preset marker 10. For example, it can be determined whether the mine car 103 is in an abnormal stop state based on the situation where the preset marker 10 is obscured. Of course, it can also be determined whether the mine car 103 is in an abnormal stop state based on the position of the preset marker 10 in the mine car image. The following uses the case where the preset marker is an actual marker as an example to illustrate how to count the frequency of the mine car 103 being in an abnormal stop state. Specifically, if the time interval between the current time when the preset marker 10 is obscured and the time when the preset marker 10 was most recently obscured is greater than a preset threshold, it can be determined that the mine car 103 is in an abnormal stop state. If the preset marker 10 is not detected to be obscured within a preset time interval, it can also be determined that the mine car 103 is in an abnormal stop state. When it is determined that the mine car 103 is in an abnormal stop state, the number of times and the time when the preset marker 10 is not obscured can be counted to determine the frequency of the mine car 103 being in an abnormal stop state. For example, in one example, the obscuring time interval Δt1 can be determined based on the time t1 when the preset marker 10 is currently obscured and the time t2 when the preset marker 10 was last obscured, or when the preset marker 10 is not obscured, the unobscured time interval Δt2 can be determined based on the current shooting time t3 and the time t2 when the preset marker 10 was last obscured. The Δt1 and Δt2 can be the statistically obtained frequencies. In one embodiment of this application, when it is determined that the frequency is greater than or equal to the preset frequency, an alarm message can be sent. The preset frequency can be set by the user according to the running speed of the mine car track 105 and the mine transportation business, for example, it can be set to 3 times / minute, 5 times / minute, 7 times / minute, etc. In one embodiment of this application, there can be multiple ways to send alarm messages. Specifically, it can include continuously flashing alarm indicator lights, sounding alarm bells, sending alarm messages to the user's client, etc. For example, a pop-up window can be placed on the client's display screen to provide a prompt. The client may include a host computer, tablet computer, digital assistant (PDA), smartphone, smart wearable device, etc., and this application does not impose any limitations.

[0065] In other embodiments of this application, since the preset marker 20 can be used to characterize whether the mine car 103 is fully or overloaded, the positional relationship between the preset marker 20 and the mine car 103 can be used to determine whether the mine car 103 is in an empty or partially loaded state. For example, this can be determined based on the obstruction status of the preset marker 20 and the preset marker 10. Specifically, if the preset marker 20 is not obstructed but the preset marker 10 is obstructed, it can be determined that the mine car 103 is in an empty or partially loaded state. It is understood that since the preset marker 20 is higher than the preset marker 10, if the preset marker 20 is obstructed, the preset marker 10 will also be obstructed. When it is determined that the mine car 103 is in an abnormal loading state, the number and duration of times when the preset marker 10 is not obstructed can be counted to determine the frequency of the mine car 103 being in an abnormal loading state. When the frequency is determined to be greater than or equal to the preset frequency, an alarm message can be sent. The specific methods for counting the frequency and sending the alarm message are the same as those described in the above embodiments, and will not be repeated here.

[0066] In addition, if the mining car is transporting a large amount of material, i.e., the mining car is fully overloaded, it is highly likely that material such as coal in the mine will fall out, thus causing a mining transportation failure. In order to avoid this situation, an alarm message can be sent when the frequency of the mining car being fully overloaded is greater than or equal to the preset frequency, so as to remind the user to deal with it in time and avoid the occurrence of an accident.

[0067] Through the above embodiments, the frequency of the mining truck being in an abnormal loading state can be counted. When the frequency is greater than or equal to the preset frequency, an abnormality reminder can be sent in a timely manner, so that users can obtain the abnormal loading status of the mining truck in real time for timely handling, thereby reducing the possibility of danger and reducing transportation costs.

[0068] In practical applications, mining cars may stop abnormally during material transportation, such as when ore falls onto the tracks, preventing the car from moving forward and causing an abnormal stop. This affects the efficiency of material transportation and increases transportation costs. To alert users to handle such situations promptly, in one embodiment of this application, after acquiring the image of the mining car in transportation mode in the mine, the following may be included:

[0069] S601: Get the first time interval since the last time the minecart image was acquired;

[0070] S603: If it is determined that the first time interval is greater than the first preset time interval threshold or the first time interval is less than the second preset time interval threshold, an alarm message is sent.

[0071] In this embodiment, the image of the mine car can be acquired by the camera device 101. Since the mine car image includes the mine car 103, it can be determined that the mine car 103 is in a transportation state based on the mine car image. In one embodiment of this application, the image of the mine car 103 taken when it last passed the camera device 101 can be acquired, and a first time interval from the last acquisition of the mine car image can be determined. For example, if the current time is 9:00 am, and the time when the last image of the mine car 103 passed was 9:30 am, then the first time interval is 30 minutes. In one embodiment of this application, both a longer and shorter first time interval may lead to abnormal situations. For example, if the first time interval is longer, the mine car may stop abnormally; while if the first time interval is shorter, there may be more mine cars on the mine car track 105, and the denser mine cars will affect the unloading efficiency of subsequent materials. Therefore, in one embodiment of this application, after determining the first time interval, the first time interval can be compared with a first preset time interval threshold and a second preset time interval threshold, and it can be determined whether to send an alarm message based on the comparison result. The first preset time interval threshold and the second preset time interval threshold can be determined based on the actual transportation situation and the mine car track, for example, they can be set to 25 minutes, 30 minutes, 35 minutes, etc. It is understood that the first preset time interval threshold and the second preset time interval threshold are different, and the first preset time interval threshold is greater than the second preset time interval threshold. For example, the first preset time interval threshold can be 40 minutes, and the second preset time interval threshold can be 10 minutes. In one embodiment of this application, when the first time interval is greater than the first preset time interval threshold, it indicates that the mine car 103 has malfunctioned or abnormally stopped during material transportation, and an alarm message can be sent to remind the user to handle and follow up in a timely manner to resolve the above problem. In another embodiment of this application, when the first time interval is less than the second preset time interval threshold, it indicates that there are a large number of mine cars transporting materials on the mine car track 105, and an alarm message can be sent to remind the user to handle and follow up in a timely manner to avoid affecting the material unloading efficiency.

[0072] Through the above embodiments, based on the comparison results between the first time interval since the last acquisition of the mine car image and the first preset time interval threshold and the second preset time interval threshold, it can be determined whether the mine car has stopped abnormally, so as to send abnormal reminder information in a timely manner, thereby reducing the possibility of danger and reducing transportation costs.

[0073] In practical applications, there may be situations where the mine car is not visible within the camera's capture range, which can roughly indicate that the mine car has malfunctioned or stopped abnormally. To alert the user in such situations and allow for timely intervention, in one embodiment of this application, after acquiring the image of the mine car in transport mode within the mine, the following steps are also included:

[0074] S701: Obtain the second time interval between the first moment after the acquisition time of the mine car image and the acquisition time;

[0075] S703: If it is determined that the second time interval is greater than the third preset time interval threshold, an alarm message is sent.

[0076] In this embodiment, the camera device 101 can capture images of the mine car track 105 in real time, for example, by taking one image every 1 second. If no mine car image is captured for a considerable period after the acquisition of the mine car image, i.e., no next mine car appears, it can be determined that the mine car is in an abnormal stopped state. Based on this, in one embodiment of this application, a first time interval between the acquisition time of the mine car image and the acquisition time can be obtained. The first time interval can be a time after the acquisition time; for example, if the acquisition time is 9:00 am, the first time interval can be 10:00 am, and the second time interval can be 1 hour. It should be noted that the image captured at the first time interval does not include the mine car. In one embodiment of this application, if the second time interval is determined to be greater than a third preset time interval threshold, it indicates that the mine car 103 has malfunctioned or abnormally stopped during material transportation, and an alarm message can be sent to remind the user to handle and follow up in a timely manner to avoid transportation accidents. It should be noted that in one embodiment of this application, the third preset time interval threshold can be the same as or different from the first preset time interval threshold. The specific numerical range can be set by the user based on the transport speed of the mine car track 105 and the actual business situation.

[0077] Embodiments of this application also provide a mine car detection device 109, such as... Figure 6 As shown, the mine car detection device 109 may include:

[0078] The mining truck image acquisition module 601 is used to acquire images of mining trucks in transport mode in the mine.

[0079] The positional relationship determination module 603 is used to determine the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car.

[0080] The loading status determination module 605 is used to determine the loading status of the mining car based on the positional relationship.

[0081] Optionally, in one embodiment of this application, determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes:

[0082] Determine the occlusion state of the mine car in the mine car image for each of the multiple preset marks.

[0083] Optionally, in one embodiment of this application, determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes:

[0084] The positions of multiple preset markers in the image of the mine car are determined, and the multiple preset markers include multiple markers pre-marked for mine cars in different loading states under the condition of a fixed camera device;

[0085] Determine the positional relationship between the mine car and the multiple preset markers in the mine car image.

[0086] Optionally, in one embodiment of this application, after determining the loading state of the mine car based on the positional relationship, the device is further configured to:

[0087] If it is determined that the mining truck is in an abnormal loading state, the frequency of the mining truck being in an abnormal loading state is counted.

[0088] If the frequency is determined to be greater than or equal to a preset frequency, an alarm message is sent.

[0089] Optionally, in one embodiment of this application, after acquiring the image of a mining car in transport mode in the mine, the method further includes:

[0090] Get the first time interval since the last time the minecart image was acquired;

[0091] If it is determined that the first time interval is greater than a first preset time interval threshold or less than a second preset time interval threshold, an alarm message is sent.

[0092] Optionally, in one embodiment of this application, after acquiring the image of a mining car in transport mode in the mine, the method further includes:

[0093] Obtain the second time interval between the first moment after the acquisition time of the mine car image and the acquisition time;

[0094] If the second time interval is determined to be greater than the third preset time interval threshold, an alarm message is sent.

[0095] Embodiments of this application provide a non-volatile computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the above-described method.

[0096] Embodiments of this application also provide a camera device, including a lens assembly, an image sensor, a memory, and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the above-described method. The lens assembly may include multiple lenses (convex or concave lenses) for acquiring light signals reflected from a target object in the shooting scene and transmitting the acquired light signals to the image sensor. The image sensor generates an original image of the target object based on the light signals.

[0097] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0098] It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented using hardware (such as circuits or ASICs (Application Specific Integrated Circuits)) that performs the corresponding function or action, or using a combination of hardware and software, such as firmware.

[0099] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, disclosure, and appended claims in carrying out the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0100] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for detecting mining cars, characterized in that, include: Acquire images of mining trucks in transit within the mine; Determine the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car; Based on the positional relationship, determine the loading status of the mining car; After determining the loading status of the mining truck based on the positional relationship, the method further includes: if it is determined that the mining truck is in an abnormal loading status, counting the frequency of the mining truck being in an abnormal loading status; if it is determined that the frequency is greater than or equal to a preset frequency, sending an alarm message. The abnormal loading states include empty state, half-loaded state, and abnormal stop state; multiple preset markers include preset marker (10), preset marker (20), and preset marker (30); The determination that the mining truck is in an abnormal stop state includes: if the time interval between the current time when the preset mark (10) is blocked and the time when the preset mark (10) was blocked most recently is greater than a preset threshold, the mining truck is in an abnormal stop state; or if the preset mark (10) is not blocked within a preset time interval, the mining truck is determined to be in an abnormal stop state; if the preset mark (20) is not blocked and the preset mark (10) is blocked, the mining truck is determined to be in an empty or half-loaded state.

2. The method according to claim 1, characterized in that, The plurality of preset markers are positioned opposite the camera device on both sides of the mine car track. The camera device is used to capture images of the mine car. The plurality of preset markers have different heights.

3. The method according to claim 2, characterized in that, The step of determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes: Determine the occlusion state of the mine car in the mine car image for each of the multiple preset markers.

4. The method according to claim 1, characterized in that, The step of determining the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car, includes: The positions of multiple preset markers in the image of the mine car are determined, and the multiple preset markers include multiple markers pre-calibrated for mine cars in different loading states under the condition of a fixed camera device; Determine the positional relationship between the mine car and the multiple preset markers in the mine car image.

5. The method according to claim 1, characterized in that, After acquiring images of mining cars in transport mode within the mine, the process further includes: Get the first time interval since the last time the minecart image was acquired; If it is determined that the first time interval is greater than a first preset time interval threshold or less than a second preset time interval threshold, an alarm message is sent.

6. The method according to claim 1, characterized in that, After acquiring images of mining cars in transport mode within the mine, the process further includes: Obtain the second time interval between the first moment after the acquisition time of the mine car image and the acquisition time; If the second time interval is determined to be greater than the third preset time interval threshold, an alarm message is sent.

7. A mine car detection device, characterized in that, The device includes: The mine car image acquisition module is used to acquire images of mine cars in transit within the mine. The positional relationship determination module is used to determine the positional relationship between the mine car and multiple preset markers in the mine car image, wherein the multiple preset markers correspond to different loading states of the mine car. A loading status determination module is used to determine the loading status of the mining car based on the positional relationship; After determining the loading status of the mining truck based on the positional relationship, the method further includes: if it is determined that the mining truck is in an abnormal loading status, counting the frequency of the mining truck being in an abnormal loading status; if it is determined that the frequency is greater than or equal to a preset frequency, sending an alarm message. The abnormal loading state may include an empty state, a half-loaded state, and an abnormal stop state; multiple preset markers include preset marker (10), preset marker (20), and preset marker (30). The determination that the mining truck is in an abnormal stop state includes: if the time interval between the current time when the preset mark (10) is blocked and the time when the preset mark (10) was blocked most recently is greater than a preset threshold, the mining truck is in an abnormal stop state; or if the preset mark (10) is not blocked within a preset time interval, the mining truck is determined to be in an abnormal stop state; if the preset mark (20) is not blocked and the preset mark (10) is blocked, the mining truck is determined to be in an empty or half-loaded state.

8. A camera device, comprising a lens assembly, an image sensor, a memory, and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method according to any one of claims 1-6.

9. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1-6.

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