Coal mine dynamic disaster perception and alarm method based on buried features

Abstract

This invention discloses a coal mine dynamic disaster sensing and alarm method based on burial characteristics. The main steps include: installing a color camera at the monitoring point in the coal mine, using a device with a distinct color difference between the coal mine and the coal and rock ejected by the disaster as the background device; when the monitoring identifies abnormal features in the color video image, such as abnormal changes in the area of ​​the abnormal color region, abnormal changes in the number of abnormal color regions, abnormal changes in the shape of the abnormal color region, abnormal burial location of the abnormal color region, or abnormal burial direction of the abnormal color region, and the average brightness of the color image is less than a set brightness threshold, then the methane concentration data of the area near the color camera is obtained; when the methane concentration increases rapidly or reaches the alarm value, a coal and gas outburst alarm signal is issued; otherwise, a rockburst alarm signal is issued.

Description

Technical Field

[0001] This invention relates to a method for sensing and alarming dynamic disasters in coal mines based on buried features, particularly image-based target detection technology, visual velocity measurement technology, coal mine rockburst identification technology, and coal and gas outburst identification technology. Background Technology

[0002] Coal is my country's primary energy source, playing a vital role as a ballast for energy supply. The coal industry is a high-risk industry, with accidents such as rock bursts, coal and gas outbursts, fires, floods, and gas and coal dust explosions seriously threatening safe production in coal mines. Therefore, timely identification of such accidents during coal mine production is crucial for activating emergency response plans and conducting rescue operations, thus ensuring safe production in coal mines.

[0003] Rockbursts and coal and gas outbursts are typical dynamic disasters in coal mines. When these disasters occur, large amounts of coal and rock are thrown into the working face and tunnels, obscuring, covering, or burying objects within these spaces. These events can cause severe damage, casualties, and property losses. Currently, it is possible to detect and warn of coal mine dynamic disasters based on characteristics such as velocity, acceleration, temperature, depth, color, and brightness. However, thermal infrared images and depth images have relatively low resolution and provide limited information, while color images offer higher resolution and richer information, making them better suited for capturing detailed details. In addition, the cantilever tunneling machines, continuous mining machines, hydraulic bolt drilling rigs, tracked transfer crushers, bolt transfer units, tunneling and bolting machines, shuttle cars, belt conveyors, and ventilation ducts in underground coal mine tunneling faces, as well as the coal mining machines, hydraulic supports, scraper conveyors, transfer machines, switch machines, and crushers in coal mining faces, and mobile substations in horizontal tunnels, all have a distinct color difference from the coal and rock ejected in disasters. These devices can be used as a background to identify the color and burial characteristics of the coal and rock ejected in disasters.

[0004] To address the existing problems in monitoring rockburst and coal and gas outburst disasters, and considering the characteristics of the underground coal mine environment, this invention realizes a coal mine dynamic disaster perception and alarm method based on burial characteristics. In the process of sensing coal mine dynamic disasters using color images, the color and burial characteristics of a large amount of coal and rock thrown into the roadway space are perceived by monitoring color images in the monitoring area. This provides simple and clear information on a large amount of thrown coal and rock, and has the advantages of low cost, non-contact, wide monitoring range, rich information, fast processing speed, and stability and reliability. Summary of the Invention

[0005] The technical problem to be solved by this invention is to use a color camera to monitor the color changes, brightness and burial characteristics of the monitored area, with the background of equipment in the coal mine and the coal and rock ejected by disasters having a distinct color difference. This is to realize the perception and alarm of coal mine rockburst and coal and gas outburst disasters based on burial characteristics.

[0006] The present invention specifically adopts the following technical solutions to solve the above-mentioned technical problems:

[0007] 1. A method for sensing and alarming coal mine dynamic disasters based on burial characteristics, characterized in that: coal mine dynamic disasters include rock bursts and coal and gas outbursts; when a coal mine dynamic disaster occurs, burial anomalies will appear, including: abnormal color in the working face and roadway space, and abnormal changes in the area of ​​the abnormal color area; abnormal color in the working face and roadway space, and abnormal changes in the number of abnormal color areas; abnormal color in the working face and roadway space, and abnormal changes in the shape of the abnormal color area; abnormal color in the working face and roadway space, and abnormal burial location; abnormal color in the working face and roadway space, and abnormal burial direction;

[0008] The sensing alarm method includes the following steps:

[0009] Step 1: Install color cameras and methane sensors at monitoring points underground in the coal mine;

[0010] Step 2: Collect color video images within the monitoring area, using equipment with a distinct color difference between the coal mine underground and the coal and rock ejected from the disaster as background equipment, and monitor and identify whether any abnormal buried features appear in the color video images;

[0011] Step 3: Repeat step 2. When the color video image shows buried abnormal features, perform average brightness recognition of the color video image.

[0012] Step 4: If the average brightness of the color video image is less than the set brightness threshold, obtain the methane concentration data of the area monitored by the color camera; otherwise, issue a gas and coal dust explosion alarm.

[0013] Step 5: When the methane concentration in the area monitored by the color camera is normal, a rockburst alarm signal is issued; when the methane concentration in the area monitored by the color camera increases rapidly or reaches the alarm value, a coal and gas outburst alarm signal is issued.

[0014] Furthermore, the monitoring points for installing color cameras include the hydraulic supports of the coal mining face, the coal mining machine, the intake airway of the coal mining face, the return airway of the coal mining face, the tunneling roadway of the tunneling face, the tunneling machine, and one or both sides of the tunneling roadway junction; the color cameras are installed at the top of the roadway, or near the top of the roadway, or at a height greater than 2 meters; the focal length and exposure value of the color camera are manually set, and the automatic focus and automatic white balance functions of the color camera are turned off; the locations for installing color cameras include the roof of the tunneling roadway, the sides of the tunneling roadway near the roof, the top of the hydraulic supports of the coal mining face, the side of the hydraulic column of the hydraulic supports of the coal mining face near the roof, the roof of the horizontal roadway, and the sides of the horizontal roadway near the roof.

[0015] Furthermore, the background equipment includes: cantilever tunneling machines, continuous mining machines, hydraulic bolt drilling rigs, tracked transfer crushers, bolt transfer units, roadheaders, shuttle cars, belt conveyors, and ventilation ducts for tunneling faces; coal mining machines, hydraulic supports, scraper conveyors, transfer machines, switch machines, and crushers for coal mining faces; and mobile substations for horizontal tunnels.

[0016] Furthermore, the burial anomaly characteristics include: color anomalies in the mining face and tunnel space, including abnormal changes in non-black colors in the color images of the color camera monitoring area; abnormal changes in the area of ​​color-anomaly regions, including abnormal changes in the area of ​​non-black regions in the color images of the color camera monitoring area; abnormal changes in the number of color-anomaly regions, including abnormal changes in the number of non-black regions in the color images of the color camera monitoring area; abnormal changes in the shape of color-anomaly regions, including abnormal changes in the shape of non-black regions in the color images of the color camera monitoring area; anomalies in burial location, including abnormal changes in the location of color changes in non-black regions in the color images of the color camera monitoring area; and anomalies in burial direction, including abnormal changes in the direction of color changes in non-black regions in the color images of the color camera monitoring area.

[0017] Furthermore, the abnormal features of burial include: abnormal changes in the area of ​​non-black regions in the color images of the color camera monitoring area, including abnormal reduction in the area of ​​non-black regions, and abnormal rates and accelerations of this reduction; abnormal changes in the number of non-black regions in the color images of the color camera monitoring area, including abnormal reduction in the number of non-black regions, and abnormal rates and accelerations of this reduction; abnormal changes in the shape of non-black regions in the color images of the color camera monitoring area, including abnormal changes in the roundness, rectangularity, and area-to-perimeter ratio of the outlines of non-black regions, and abnormal rates and accelerations of these changes; abnormal changes in the location of color changes in non-black regions in the color images of the color camera monitoring area, including coal and rock burying personnel, the top of hydraulic supports, and areas near the top of these supports; and abnormal changes in the direction of color changes in non-black regions in the color images of the color camera monitoring area, including a significant difference or complete reversal between the direction of coal and rock movement underground and the fixed direction of coal falling or coal and rock transportation underground.

[0018] Furthermore, the black regions of the color image are segmented based on the HSV color model; the color of the color video image is monitored to identify whether there is a significant change in color by monitoring whether the black regions of the color image increase; the ViBe algorithm is used to identify whether the area of ​​the changed black regions of the color image has increased significantly, and if it has increased significantly, it indicates that there is a significant change in the black regions of the color image; the average brightness of the color image in the HSV color model of the monitored area is monitored to identify whether the average brightness of the color image is less than a set brightness threshold; the color features of the background device are used to segment the image, and the contours of the background device in the monitored area before and after being buried are extracted to further calculate the contour perimeter, area, roundness, rectangularity, and area-to-perimeter ratio. Attached Figure Description

[0019] Figure 1 Flowchart of the coal mine dynamic disaster perception and alarm method based on color and graphic area change characteristics of the present invention;

[0020] Figure 2 Flowchart of the coal mine dynamic disaster perception and alarm method based on color and graphic quantity change characteristics of the present invention;

[0021] Figure 3 Flowchart of the coal mine dynamic disaster perception and alarm method based on color and graphic shape change characteristics of the present invention;

[0022] Figure 4 Flowchart of the coal mine dynamic disaster perception and alarm method based on color and its burial location anomaly characteristics of the present invention;

[0023] Figure 5The flowchart of the coal mine dynamic disaster perception and alarm method based on the abnormal characteristics of color and burial direction of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail and completely below with reference to the accompanying drawings and specific implementation methods. The embodiments should not be regarded as limiting the scope of use of this invention.

[0025] like Figure 1 The flowchart shown is for a coal mine dynamic disaster perception and alarm method based on color and its graphic area change characteristics, including:

[0026] 1. Initialization (101): Install color cameras in key monitoring areas in the mine. The key monitoring areas include the hydraulic supports of the coal mining face, the coal mining machine, the intake airway of the coal mining face, the return airway of the coal mining face, the tunneling roadway of the tunneling face, the tunneling machine, and one or both sides of the tunneling roadway branch.

[0027] 2. Monitoring area setting (102): The monitoring area of ​​the color camera is set with the equipment in the coal mine with a distinct color difference from the coal and rocks thrown out by the disaster as the main background.

[0028] 3. Monitoring and identifying changes in non-black areas in color images (103): Collect color video images within the monitoring area, using equipment in the coal mine with a distinct color difference from coal and rock thrown out by disasters as background equipment, and monitor and identify whether changes in non-black areas appear in the color video images.

[0029] 4. Area reduction greater than the set area threshold (104): When the non-black area of ​​the monitored area color image is detected to be reduced greater than the set area threshold, the non-black area reduction speed and reduction acceleration are identified (105); otherwise, return to execution (103).

[0030] 5. Monitoring and identifying the rate and acceleration of the reduction of non-black area (105): When the reduction of non-black area in the color image of the monitored area is greater than the set area threshold, the rate and acceleration of the reduction of non-black area are monitored and identified.

[0031] 6. Reduction speed is greater than the set speed threshold (106): When the reduction speed of the non-black area is greater than the set speed threshold, then the average brightness of the color image of the monitored area is monitored and identified (108); otherwise, return to execution (103).

[0032] 7. Decrease acceleration greater than set acceleration threshold (107): When the decrease acceleration of the non-black area is greater than the set acceleration threshold, then perform average brightness monitoring and identification of the color image of the monitored area (108), otherwise return to execution (103).

[0033] 8. Monitor and identify the average brightness of the image (108): When the rate of decrease of the non-black area is greater than the set speed threshold, or the acceleration of the decrease of the non-black area is greater than the set acceleration threshold, it indicates that the color and graphic area change characteristics of the coal mine dynamic disaster have occurred, and then the average brightness of the color image of the monitoring area is monitored and identified.

[0034] 9. Average brightness is less than the set threshold (109): When the average brightness of the color image is less than the set average brightness threshold, it means that the average brightness of the area where the image color changes significantly is less than the average brightness of gas and coal dust explosions. There is no abnormal brightness. The interference of gas and coal dust explosions on the perception of rockburst and coal and gas outburst disasters is eliminated. Then, it is judged whether the methane concentration has increased rapidly or reached the alarm value. Otherwise, a gas and coal dust explosion alarm is triggered (111).

[0035] 10. Rapid increase in methane concentration or reaching alarm value (110): Obtain whether the methane concentration in the area near the color camera is rapidly increasing or reaching the alarm value to identify whether it is a rockburst or a coal and gas outburst.

[0036] 11. Gas and coal dust explosion alarm (111): When the average brightness is greater than or equal to the set average brightness threshold, it indicates that there is an abnormal brightness situation, and the gas and coal dust explosion alarm will be triggered directly.

[0037] 12. Coal and gas outburst alarm (112): When the color camera detects that the non-black area of ​​the color image in the monitored area decreases more than the set area threshold, and the rate of decrease of the non-black area of ​​the color image is greater than the set speed threshold, or the acceleration of the decrease of the non-black area of ​​the color image is greater than the set acceleration threshold, and at the same time the average brightness of the color video image is less than the set brightness threshold, the methane concentration in the area near the color camera increases rapidly or reaches the alarm value, then a coal and gas outburst alarm is triggered.

[0038] 13. Impact pressure alarm (113): When the color camera detects that the non-black area of ​​the color image in the monitored area decreases more than the set area threshold, and the rate of decrease of the non-black area of ​​the color image is greater than the set speed threshold, or the acceleration of the decrease of the non-black area of ​​the color image is greater than the set acceleration threshold, and at the same time the average brightness of the color video image is less than the set brightness threshold and the methane concentration in the area near the color camera is normal, then an impact pressure alarm is triggered.

[0039] like Figure 2 The flowchart shown is for a coal mine dynamic disaster perception and alarm method based on color and graphic quantity variation characteristics, including:

[0040] 1. Initialization (201): Install color cameras in key monitoring areas in the mine. The key monitoring areas include the hydraulic supports of the coal mining face, the coal mining machine, the intake airway of the coal mining face, the return airway of the coal mining face, the tunneling roadway of the tunneling face, the tunneling machine, and one or both sides of the tunneling roadway branch.

[0041] 2. Monitoring area setting (202): Set the monitoring area of ​​the color camera with the equipment in the coal mine with a distinct color difference from the coal and rocks thrown out by the disaster as the main background.

[0042] 3. Monitoring and identifying changes in the number of non-black shapes in color images (203): Collect color video images within the monitoring area, using equipment in the coal mine with a distinct color difference from coal and rock thrown out by disasters as background equipment, and monitor and identify whether changes in the number of non-black shapes appear in the color video images.

[0043] 4. The number of non-black graphics in the monitored area decreases more than the set number threshold (204): If the number of non-black graphics in the monitored area decreases more than the set number threshold, then the rate of decrease and acceleration of decrease of non-black graphics are identified (205); otherwise, return to execution (203).

[0044] 5. Monitoring and identifying the rate and acceleration of the decrease in the number of non-black graphics (205): When the number of non-black graphics in the color image of the monitored area decreases more than the set threshold, the rate and acceleration of the decrease in the number of non-black graphics are monitored and identified.

[0045] 6. Decrease rate greater than set speed threshold (206): When the decrease rate of the number of non-black graphics is greater than the set speed threshold, then perform average brightness monitoring and identification of the color image in the monitoring area (208), otherwise return to execution (203).

[0046] 7. Decrease acceleration greater than set acceleration threshold (207): When the decrease acceleration of the number of non-black graphics is greater than the set acceleration threshold, then perform average brightness monitoring and identification of the color image in the monitoring area (208), otherwise return to execution (203).

[0047] 8. Monitor and identify the average brightness of the image (208): When the rate of decrease of the number of non-black graphics is greater than the set speed threshold, or the acceleration of the decrease of the number of non-black graphics is greater than the set acceleration threshold, it indicates that the color and graphic quantity change characteristics of a coal mine power disaster have occurred. Then, monitor and identify the average brightness of the color image in the monitoring area.

[0048] 9. Average brightness is less than the set threshold (209): When the average brightness of the color image is less than the set average brightness threshold, it means that the average brightness of the area where the image color changes significantly is less than the average brightness of gas and coal dust explosions. There is no abnormal brightness. The interference of gas and coal dust explosions on the perception of rockburst and coal and gas outburst disasters is eliminated. Then, it is judged whether the methane concentration has increased rapidly or reached the alarm value. Otherwise, a gas and coal dust explosion alarm is triggered (211).

[0049] 10. Rapid increase in methane concentration or reaching alarm value (210): Obtain whether the methane concentration in the area near the color camera is rapidly increasing or reaching the alarm value to identify whether it is a rockburst or a coal and gas outburst.

[0050] 11. Gas and coal dust explosion alarm (211): When the color camera detects that the number of non-black graphics in the color image in the monitored area decreases more than the set number threshold, and the rate of decrease of the number of non-black graphics in the color image is greater than the set speed threshold, or the acceleration of the decrease of the number of non-black graphics in the color image is greater than the set acceleration threshold, and at the same time the average brightness of the color video image is greater than or equal to the set average brightness threshold, then it indicates that an abnormal brightness situation has occurred, and a gas and coal dust explosion alarm will be triggered directly.

[0051] 12. Coal and gas outburst alarm (212): When the color camera detects that the number of non-black graphics in the color image in the monitored area decreases more than the set number threshold, and the rate of decrease of the number of non-black graphics in the color image is greater than the set speed threshold, or the acceleration of the decrease of the number of non-black graphics in the color image is greater than the set acceleration threshold, and at the same time the average brightness of the color video image is less than the set brightness threshold, the methane concentration in the area near the color camera increases rapidly or reaches the alarm value, then a coal and gas outburst alarm is triggered.

[0052] 13. Impact pressure alarm (213): When the color camera detects that the number of non-black graphics in the color image in the monitored area decreases more than the set number threshold, and the rate of decrease of the number of non-black graphics in the color image is greater than the set speed threshold, or the acceleration of the decrease of the number of non-black graphics in the color image is greater than the set acceleration threshold, and at the same time the average brightness of the color video image is less than the set brightness threshold and the methane concentration in the area near the color camera is normal, then an impact pressure alarm is triggered.

[0053] like Figure 3 The flowchart shown is for a coal mine dynamic disaster perception and alarm method based on color and graphic shape change characteristics, including:

[0054] 1. Initialization (301): Install color cameras in key monitoring areas in the mine. The key monitoring areas include the hydraulic supports of the coal mining face, the coal mining machine, the intake airway of the coal mining face, the return airway of the coal mining face, the tunneling roadway of the tunneling face, the tunneling machine, and one or both sides of the tunneling roadway branch.

[0055] 2. Monitoring area setting (302): The monitoring area of ​​the color camera is set with the equipment in the coal mine and the coal and rocks thrown out by the disaster as the main background.

[0056] 3. Monitoring and identifying changes in the shape of non-black graphics in color images (303): Collect color video images within the monitoring area, using equipment with distinct color differences between underground coal mines and coal and rock ejected from disasters as background equipment, and monitor and identify whether changes in the shape of non-black graphics appear in the color video images.

[0057] 4. Area-to-perimeter ratio is less than the set threshold (304): When the area-to-perimeter ratio of the non-black graphic in the color image of the monitored area is less than the set threshold, then the non-black graphic area-to-perimeter ratio reduction speed and reduction acceleration identification are performed (307); otherwise, return to execution (303).

[0058] 5. Rectangularity less than the set threshold (305): When the rectangularity of the non-black graphic in the color image of the monitored area is less than the set threshold, then the non-black graphic rectangularity reduction speed and reduction acceleration identification are performed (307); otherwise, return to execution (303).

[0059] 6. Circularity less than the set threshold (306): When the circularity of the non-black graphic in the color image of the monitored area is less than the set threshold, then the non-black graphic circularity reduction speed and reduction acceleration recognition are performed (307), otherwise return to execution (303).

[0060] 7. Monitoring and identifying the reduction rate and reduction acceleration of the corresponding features of non-black graphics (307): When the perimeter ratio of the area of ​​a non-black graphic in the color image of the monitored area is less than a set threshold, or the rectangularity of a non-black graphic is less than a set threshold, or the circularity of a non-black graphic is less than a set threshold, the reduction rate and reduction acceleration of the corresponding features of the non-black graphic are monitored and identified.

[0061] 8. Decrease rate greater than set speed threshold (308): When the decrease rate of the perimeter ratio of the non-black graphic area is greater than the set speed threshold, or the decrease rate of the rectangle of the non-black graphic is greater than the set speed threshold, or the decrease rate of the circle of the non-black graphic is greater than the set speed threshold, then perform average brightness monitoring and identification of the color image of the monitoring area (310), otherwise return to execution (303).

[0062] 9. Decrease acceleration greater than set acceleration threshold (309): When the decrease acceleration of the perimeter ratio of the non-black graphic area is greater than the set acceleration threshold, or the decrease acceleration of the rectangle of the non-black graphic is greater than the set acceleration threshold, or the decrease acceleration of the circle of the non-black graphic is greater than the set acceleration threshold, then perform average brightness monitoring and identification of the color image of the monitoring area (310), otherwise return to execution (303).

[0063] 10. Monitor and identify the average brightness of the image (310): When the rate of decrease of the area perimeter ratio of the non-black graphic is greater than the set speed threshold, or the rate of decrease of the rectangle of the non-black graphic is greater than the set speed threshold, or the rate of decrease of the circle of the non-black graphic is greater than the set speed threshold, or the acceleration of the decrease of the area perimeter ratio of the non-black graphic is greater than the set acceleration threshold, or the acceleration of the decrease of the rectangle of the non-black graphic is greater than the set acceleration threshold, or the acceleration of the decrease of the circle of the non-black graphic is greater than the set acceleration threshold, it indicates that the color and graphic shape change characteristics of the coal mine dynamic disaster have occurred, then the average brightness of the color image in the monitoring area is monitored and identified.

[0064] 11. Average brightness is less than the set threshold (311): When the average brightness of the color image is less than the set average brightness threshold, it means that the average brightness of the area with abnormal shape change in the color image is less than the average brightness of gas and coal dust explosion. There is no abnormal brightness. The interference of gas and coal dust explosion on the perception of rockburst and coal and gas outburst disasters is eliminated. Then, it is judged whether the methane concentration has increased rapidly or reached the alarm value. Otherwise, a gas and coal dust explosion alarm is triggered (313).

[0065] 12. Rapid increase in methane concentration or reaching alarm value (312): Obtain whether the methane concentration in the area near the color camera is rapidly increasing or reaching the alarm value to identify whether it is a rockburst or a coal and gas outburst.

[0066] 13. Gas and Coal Dust Explosion Alarm (313): When the color camera detects that the perimeter ratio of the non-black graphic area in the monitored area is less than a set threshold, and the rate of decrease of the perimeter ratio of the non-black graphic area is greater than a set speed threshold, or the acceleration of the decrease of the perimeter ratio of the non-black graphic area is greater than a set acceleration threshold, and at the same time the average brightness of the color video image is greater than or equal to a set average brightness threshold, then it indicates that an abnormal brightness situation has occurred, and a gas and coal dust explosion alarm is directly triggered; when the color camera detects that the rectangle ratio of the non-black graphic in the monitored area is less than a set threshold, and the rate of decrease of the rectangle ratio of the non-black graphic is greater than a set speed threshold, the alarm is triggered. If the value, or the decreasing acceleration of the non-black shape's rectangularity, is greater than the set acceleration threshold, and the average brightness of the color video image is greater than or equal to the set average brightness threshold, then an abnormal brightness situation has occurred, and a gas and coal dust explosion alarm will be triggered directly. If the color camera detects that the circularity of a non-black shape in the monitored area is less than the set threshold, and the decreasing rate of the non-black shape's circularity is greater than the set speed threshold, or the decreasing acceleration of the non-black shape's circularity is greater than the set acceleration threshold, and the average brightness of the color video image is greater than or equal to the set average brightness threshold, then an abnormal brightness situation has occurred, and a gas and coal dust explosion alarm will be triggered directly.

[0067] 14. Coal and Gas Outburst Alarm (314): When the color camera detects that the perimeter ratio of the non-black graphic area in the monitored area is less than a set threshold, and the rate of decrease of the perimeter ratio of the non-black graphic area is greater than a set speed threshold, or the acceleration of the decrease of the perimeter ratio of the non-black graphic area is greater than a set acceleration threshold, and at the same time the average brightness of the color video image is less than a set brightness threshold, or the methane concentration in the area near the color camera rapidly increases or reaches the alarm value, then a coal and gas outburst alarm is triggered; when the color camera detects that the rectangle ratio of the non-black graphic in the monitored area is less than a set threshold, and the rate of decrease of the rectangle ratio of the non-black graphic is greater than a set speed threshold, or If the reduction acceleration of the rectangle size of a non-black graphic exceeds a set acceleration threshold, and at the same time the average brightness of the color video image is less than a set brightness threshold, or the methane concentration in the vicinity of the color camera rapidly increases or reaches an alarm value, then a coal and gas outburst alarm will be triggered. If the color camera detects a non-black graphic in the monitored area whose circularity is less than a set threshold and whose reduction rate exceeds a set speed threshold, or whose reduction acceleration exceeds a set acceleration threshold, and at the same time the average brightness of the color video image is less than a set brightness threshold, or the methane concentration in the vicinity of the color camera rapidly increases or reaches an alarm value, then a coal and gas outburst alarm will be triggered.

[0068] 15. Impact Pressure Alarm (315): When the color camera detects that the perimeter ratio of the non-black area of ​​a color image within the monitored area is less than a set threshold, and the rate of decrease of the perimeter ratio of the non-black area is greater than a set speed threshold, or the acceleration of the decrease of the perimeter ratio of the non-black area is greater than a set acceleration threshold, and at the same time the average brightness of the color video image is less than a set brightness threshold and the methane concentration in the vicinity of the color camera is normal, then an impact pressure alarm is triggered; when the color camera detects that the rectangle ratio of the non-black area of ​​a color image within the monitored area is less than a set threshold, and the rate of decrease of the rectangle ratio of the non-black area is greater than a set speed threshold, then an impact pressure alarm is triggered. If the reduction acceleration of the rectangle size of a non-black graphic is greater than a set acceleration threshold, and the average brightness of the color video image is less than a set brightness threshold, and the methane concentration in the vicinity of the color camera is normal, then an impact pressure alarm will be triggered. If the color camera detects that the circle size of a non-black graphic in the monitored area is less than a set threshold, and the reduction speed of the circle size of the non-black graphic is greater than a set speed threshold, or the reduction acceleration of the circle size of the non-black graphic is greater than a set acceleration threshold, and the average brightness of the color video image is less than a set brightness threshold, and the methane concentration in the vicinity of the color camera is normal, then an impact pressure alarm will be triggered.

[0069] like Figure 4 The flowchart shown is for a coal mine dynamic disaster perception and alarm method based on color and its burial location anomaly features, including:

[0070] 1. Initialization (401): Install color cameras in key monitoring areas in the mine. The key monitoring areas include the hydraulic supports of the coal mining face, the coal mining machine, the intake airway of the coal mining face, the return airway of the coal mining face, the tunneling roadway of the tunneling face, the tunneling machine, and one or both sides of the tunneling roadway branch.

[0071] 2. Monitoring area setting (402): Using the equipment in the coal mine with a distinct color difference from the coal and rocks thrown out by the disaster as the main background, the monitoring area of ​​the color camera is set as the working area of ​​the personnel in the coal mine, the top area of ​​the hydraulic support, and the area near the top.

[0072] 3. Monitoring and identifying changes in non-black areas in color images (403): Collect color video images within the monitoring area, using equipment in the coal mine with a distinct color difference from coal and rock thrown out by disasters as background equipment, and monitor and identify whether changes in non-black areas appear in the color video images.

[0073] 4. Area reduction greater than the set area threshold (404): When the area of ​​non-black graphics in the color image of the monitored area is reduced to a value greater than the set area threshold, the average brightness of the color image of the monitored area is monitored and identified (405); otherwise, the process is returned to execution (403).

[0074] 5. Monitor and identify the average brightness of the image (405): When the area of ​​non-black graphics decreases more than the set area threshold, it indicates that there are abnormal characteristics of color and burial location when a coal mine power disaster occurs. Then, monitor and identify the average brightness of the color image in the monitoring area.

[0075] 6. Average brightness is less than the set threshold (406): When the average brightness of the color image is less than the set average brightness threshold, it means that the average brightness of the area where the image color changes significantly is less than the average brightness of gas and coal dust explosions. There is no abnormal brightness. The interference of gas and coal dust explosions on the perception of rockburst and coal and gas outburst disasters is ruled out. Then, it is judged whether the methane concentration has increased rapidly or reached the alarm value. Otherwise, a gas and coal dust explosion alarm is triggered (408).

[0076] 7. Rapid increase in methane concentration or reaching alarm value (407): Obtain whether the methane concentration in the area near the color camera is rapidly increasing or reaching the alarm value to identify whether it is a rockburst or a coal and gas outburst.

[0077] 8. Gas and coal dust explosion alarm (408): When the color camera detects that the area of ​​non-black graphics in the color image in the monitored area has decreased by more than the set area threshold, and at the same time the average brightness of the color video image is greater than or equal to the set average brightness threshold, it indicates that there is an abnormal brightness situation, and the gas and coal dust explosion alarm will be triggered directly.

[0078] 9. Coal and gas outburst alarm (409): When the color camera detects that the area of ​​non-black graphics in the color image in the monitored area has decreased by more than the set area threshold, and at the same time the average brightness of the color video image is less than the set brightness threshold, and the methane concentration in the area near the color camera increases rapidly or reaches the alarm value, then a coal and gas outburst alarm will be triggered.

[0079] 10. Rockburst alarm (410): When the color camera detects that the area of ​​non-black graphics in the color image in the monitored area has decreased by more than the set area threshold, and at the same time the average brightness of the color video image is less than the set brightness threshold and the methane concentration in the area near the color camera is normal, then a rockburst alarm is triggered.

[0080] like Figure 5 The flowchart shown is for a coal mine dynamic disaster perception and alarm method based on color and its burial direction anomalies, including:

[0081] 1. Initialization (501): Install color cameras in key monitoring areas in the mine. The key monitoring areas include the hydraulic supports of the coal mining face, the coal mining machine, the intake airway of the coal mining face, the return airway of the coal mining face, the tunneling roadway of the tunneling face, the tunneling machine, and one or both sides of the tunneling roadway branch.

[0082] 2. Monitoring area setting (502): Set the monitoring area of ​​the color camera with the equipment in the coal mine and the coal and rocks thrown out by the disaster as the main background.

[0083] 3. Monitoring and identifying changes in non-black areas in color images (503): Collect color video images within the monitoring area, using equipment in the coal mine with a distinct color difference from coal and rock thrown out by disasters as background equipment, and monitor and identify whether changes in non-black areas appear in the color video images.

[0084] 4. Area reduction greater than the set area threshold (504): When the area of ​​non-black graphics in the color image of the monitored area is reduced to a value greater than the set area threshold, the direction of change of non-black graphics in the color image of the monitored area is monitored and identified.

[0085] 5. Monitoring and identifying the direction of non-black changes in color images (505): Under normal working conditions, coal and coal rocks will fall or be transported in a fixed direction in the coal mine. When the direction of coal and rock movement is significantly different from or completely opposite to the fixed direction of coal falling or coal and rock transportation in the coal mine, it indicates that the direction of non-black changes is abnormal.

[0086] 6. Abnormal non-black change direction (506): When the non-black change direction in the color image of the monitored area is found to be significantly different from or completely opposite to the fixed direction of coal falling or coal and rock transportation in the coal mine, it indicates that the non-black change direction is abnormal. Then, the average brightness monitoring and identification of the color image of the monitored area is performed (507). Otherwise, return to execution (503).

[0087] 7. Monitor and identify the average brightness of the image (507): When the non-black color changes abnormally, it indicates that there are abnormal characteristics of color and burial direction when a coal mine dynamic disaster occurs. Then, monitor and identify the average brightness of the color image in the monitored area.

[0088] 8. Average brightness is less than the set threshold (508): When the average brightness of the color image is less than the set average brightness threshold, it means that the average brightness of the non-black change direction abnormal area of ​​the image is less than the average brightness of gas and coal dust explosion. There is no abnormal brightness. The interference of gas and coal dust explosion on the perception of rockburst and coal and gas outburst disasters is ruled out. Then, it is judged whether the methane concentration has increased rapidly or reached the alarm value. Otherwise, a gas and coal dust explosion alarm is triggered (510).

[0089] 9. Rapid increase in methane concentration or reaching alarm value (509): Obtain whether the methane concentration in the area near the color camera is rapidly increasing or reaching the alarm value to identify whether it is a rockburst or a coal and gas outburst.

[0090] 10. Gas and coal dust explosion alarm (510): When the color camera detects an abnormal non-black change direction of the color image in the monitored area, and at the same time the average brightness of the color video image is greater than or equal to the set average brightness threshold, it indicates that an abnormal brightness situation has occurred, and a gas and coal dust explosion alarm will be triggered directly.

[0091] 11. Coal and gas outburst alarm (511): When the color camera detects an abnormal non-black change direction in the color image within the monitored area, and at the same time the average brightness of the color video image is less than the set brightness threshold, or the methane concentration in the area near the color camera increases rapidly or reaches the alarm value, then a coal and gas outburst alarm will be triggered.

[0092] 12. Rockburst alarm (512): When the color camera detects an abnormal non-black change direction in the color image within the monitored area, and at the same time the average brightness of the color video image is less than the set brightness threshold and the methane concentration in the area near the color camera is normal, then a rockburst alarm is triggered.

Claims

1. A method for coal mine dynamic disaster perception and alarm based on buried features, characterized in that: The coal mine dynamic disaster includes rock burst, coal and gas outburst, and the coal mine dynamic disaster will appear burying abnormal characteristics when the disaster occurs, the burying abnormal characteristics include: color abnormality of the mining working face and the roadway space, area abnormality of the color abnormality region; color abnormality of the mining working face and the roadway space, quantity abnormality of the color abnormality region; color abnormality of the mining working face and the roadway space, shape abnormality of the color abnormality region; color abnormality of the mining working face and the roadway space, abnormality of the burying position; color abnormality of the mining working face and the roadway space, abnormality of the burying direction; The burying abnormal characteristics include: the color abnormality of the mining working face and the roadway space includes color abnormality of the non-black color in the color image of the color camera monitoring area; the area abnormality of the color abnormality region includes area abnormality of the non-black region in the color image of the color camera monitoring area; the quantity abnormality of the color abnormality region includes quantity abnormality of the non-black region in the color image of the color camera monitoring area; the shape abnormality of the color abnormality region includes shape abnormality of the non-black region in the color image of the color camera monitoring area; the burying position abnormality includes color change position abnormality of the non-black region in the color image of the color camera monitoring area; the burying direction abnormality includes color change direction abnormality of the non-black region in the color image of the color camera monitoring area; The sensing alarm method includes the following steps: Step 1: install a color camera and a methane sensor at a monitoring point position in a coal mine underground; Step 2: acquire color video images in a monitoring area, take equipment with a distinct color difference from disaster thrown coal and rock in the coal mine underground as a background equipment, and monitor and identify whether the color video images appear burying abnormal characteristics; Step 3: cycle step 2, when the color video images appear burying abnormal characteristics, perform color video image average brightness identification; Step 4: when the color video image average brightness is less than a set brightness threshold value, acquire methane concentration data of the color camera monitoring area, otherwise perform gas and coal dust explosion alarm; Step 5: when the methane concentration of the color camera monitoring area is normal, an rock burst alarm signal is sent out; when the methane concentration of the color camera monitoring area rapidly increases or reaches an alarm value, a coal and gas outburst alarm signal is sent out.

2. The awareness alerting method of claim 1, wherein: The monitoring point position where the color camera is installed includes a coal mining working face hydraulic support, a coal mining machine, a coal mining working face air inlet roadway, a coal mining working face air return roadway, an excavation working face excavation roadway, an excavation machine, one side or both sides of a bifurcation of the excavation roadway; the position where the color camera is installed is located at the top of the roadway, close to the top of the roadway, or has a height greater than 2 meters; the focal length and the exposure value of the color camera are manually set, and the automatic focusing and the automatic white balance functions of the color camera are closed; the position where the color camera is installed includes the top plate of the excavation roadway, the two sides of the excavation roadway close to the top plate, the top of the coal mining working face hydraulic support, the side of the coal mining working face hydraulic support close to the top plate, the top plate of the roadway of a straight roadway, and the two sides of the roadway of the straight roadway close to the top plate.

3. The awareness alerting method of claim 1, wherein: The background devices include: a boom-type heading machine, a continuous miner, a hydraulic anchor drilling vehicle, a crawler-type transfer crusher, an anchor transfer machine group, a heading and anchoring machine, a shuttle car, a belt conveyor, and a ventilation shaft at a heading face; a coal mining machine, a hydraulic support, a scraper conveyor, a transfer machine, a switch machine, and a crusher at a coal mining face; and a mobile substation at a crossheading.

4. The awareness alerting method of claim 1, wherein: The buried abnormal features include: an abnormal change in the area of a non-black region in a color image of a monitored area by a color camera, including an abnormal decrease in the area of the non-black region, an abnormal decrease in the speed and acceleration of the area of the non-black region; an abnormal change in the number of non-black regions in the color image of the monitored area by the color camera, including an abnormal decrease in the number of non-black regions, an abnormal decrease in the speed and acceleration of the number of non-black regions; an abnormal change in the shape of a non-black region in the color image of the monitored area by the color camera, including an abnormal change in the circularity, rectangularity, and area-perimeter ratio of the contour of the non-black region, an abnormal change in the speed and acceleration of the circularity, rectangularity, and area-perimeter ratio of the contour of the non-black region; an abnormal change in the color of a non-black region in the color image of the monitored area by the color camera, including a coal or rock burying of a person underground, a top of a hydraulic support, and a position close to the top; and an abnormal change in the color of a non-black region in the color image of the monitored area by the color camera, including a significant difference or complete opposite between a movement direction of the coal or rock underground and a fixed direction of coal falling or coal or rock transportation.

5. The awareness alerting method of claim 1, wherein: The black region of a color image is segmented based on an HSV color model; whether a large change in the color of the color image occurs is monitored and identified by monitoring whether the black region of the color image increases; whether a large change in the black region of the color image occurs is monitored and identified by using a ViBe algorithm to identify whether a large increase in the changed area of the black region of the color image occurs; whether a large change in the average brightness of the color image occurs is monitored and identified by monitoring the size of the average brightness in the HSV color model of the color image in a monitored area; the color features of background devices are used to segment images, and the contours of the background devices before and after being buried are extracted to further calculate the contour perimeter, area, circularity, rectangularity, and area-perimeter ratio.

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