Apparatus, system and method for monitoring a discharge of a mine crushing station

Abstract

The application discloses a device, system and method for monitoring a discharge port of a mine crushing station, comprising: an image acquisition module for acquiring original images representing the panoramic environment state of the discharge port of the crushing station in real time; a vehicle detection module for diagnosing whether a mine car is currently performing a discharge operation at the discharge port according to the original images through extracted image features; and a discharge port empty / full detection module for determining the position and boundary of materials in the original images through extracted material features, and diagnosing the empty / full state of the materials at the current discharge port based on the position and boundary. The application can help an automatic mine car to complete an unattended unloading operation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent mines, in particular to a device, system and method for monitoring a discharge port of a mine crushing station. BACKGROUND

[0002] In the conventional open-pit mine, a mine vehicle will drive to a loading area for loading, and after the vehicle is fully loaded, it will drive to a discharge platform of a crushing station to unload the material into a discharge port, and then a heavy conveying device at the bottom of the discharge port will transport the material to a crusher for crushing. In actual operation, because of high unloading frequency, damage to the material transfer belt, and the occurrence of blocking rockfall in the discharge port, the discharge port is occupied by the material or even the material overflows, so personnel need to check the occupation of the discharge port at all times, and inform the drivers of the mine vehicles one by one through a mobile phone or the like to stop unloading, which is time-consuming and inefficient. In particular, after the introduction of unmanned mine vehicles in an intelligent mine, the existing technology cannot timely and effectively coordinate the unloading of the unmanned vehicles.

[0003] Because the intelligent monitoring of the discharge port of the crushing station in the open-pit mine is a newly emerging technical field, there are few research programs for dynamically monitoring the discharge port in the existing technology. SUMMARY

[0004] The present application aims to provide a scheme for intelligently monitoring the discharge port of the crushing station in the open-pit mine.

[0005] To solve the above technical problems, the present application provides a device for monitoring a discharge port of a mine crushing station, which comprises: an image acquisition module for acquiring an original image representing the panoramic environment state of the discharge port of the crushing station in real time; a vehicle detection module for diagnosing whether a mine vehicle is performing unloading operation at the current discharge port according to the original image and the extracted image features; and a discharge port empty / full detection module for determining the material position and boundary by extracting the material features in the original image, and diagnosing the empty / full state of the material at the current discharge port based on the determination.

[0006] Preferably, the vehicle detection module comprises: a region extraction unit for intercepting an unloading region image from the original image; a region image processing unit for converting the unloading region image into a LAB color space and calculating the mean value of the L component in the image; and an unloading operation diagnosis unit for diagnosing in real time whether a mine vehicle is performing unloading operation at the current discharge port according to the mean value data of the L component of the real-time image and using a preset template threshold value to obtain the corresponding unloading operation diagnosis result, wherein the template threshold value comprises an L component threshold value of a first template image for representing that no mine vehicle is performing unloading operation in the daytime and an L component threshold value of a second template image for representing that no mine vehicle is performing unloading operation at night.

[0007] Preferably, the vehicle detection module is further configured to, according to the real-time obtained unloading operation diagnosis result, prompt output of an evaluation result of the empty / full state of the current unloading port, wherein when no mine car is performing unloading operation at the current unloading port, an empty / full state detection instruction is generated to control the unloading port empty / full detection module to detect the empty / full state of the current unloading port, so as to output the corresponding detection result; when a mine car is performing unloading operation at the current unloading port, an empty / full state output instruction is generated to control the unloading port empty / full detection module to directly output the latest detected empty / full state detection result.

[0008] Preferably, the unloading port empty / full detection module comprises: a material feature extraction unit configured to, according to the original image, recognize material features of the current unloading port image by using an angle point detection algorithm; a material boundary extraction unit configured to, for the material features, sequentially perform image binarization, image erosion, image dilation and image connected domain analysis processing, so as to obtain material position and boundary of the current unloading port image; and an empty / full state detection unit configured to, according to the material position and boundary, calculate distances between the upper boundary and the left boundary of the material of the current unloading port image and corresponding preset boundaries, so as to obtain material upper boundary proportion data and material left boundary proportion data, and then comprehensively judge the empty / full state of the material of the current unloading port according to the two proportion data, so as to obtain the empty / full state diagnosis result.

[0009] Preferably, the device further comprises an image preprocessing module configured to, before the empty / full state of the unloading port is developed, pre-process the original image, so that the unloading port empty / full detection module develops detection according to the pre-processed original image, wherein the pre-processing comprises sequentially executed extraction of a region of interest of the unloading port, color space conversion and histogram equalization processing.

[0010] Preferably, the device further comprises a communication module configured to send the unloading operation diagnosis result and the empty / full state detection result of the current unloading port to a message subscriber, wherein the message subscriber is each mine car terminal and a terminal of a mine supervisor in the mine.

[0011] Preferably, the communication module is further configured to receive subscription request information from each mine car terminal and the terminal of the mine supervisor, and store the identity of the sender of the subscription request information, so as to build a subscriber database, wherein the subscription request information is used to subscribe to a notification of the real-time monitoring result of the current unloading port.

[0012] In another aspect, a system for monitoring discharge ports of a mine crushing station is provided, the system comprising: a mine car terminal installed inside each unmanned mine car for enabling access to a cloud platform; a supervisor terminal for enabling access to the cloud platform; a discharge port monitoring station, each of the discharge port monitoring stations comprising a device for monitoring a discharge port of a mine crushing station as described above; and a cloud platform in communication with the mine car terminal, the supervisor terminal and the discharge port monitoring stations for enabling communication between the discharge port monitoring stations and the respective terminals.

[0013] Preferably, the system further comprises a display platform for displaying real-time monitoring results of each discharge port monitoring station in real time.

[0014] In addition, a method for monitoring discharge ports of a mine crushing station is also provided, the method being implemented according to the system as described above, wherein the method comprises the following steps: each discharge port monitoring station collects raw images representing a panoramic environment state of a discharge port of a crushing station in real time; according to the raw images, whether a mine car is currently performing a discharge operation at the discharge port is diagnosed by extracted image features, and material features in the raw images are extracted, and based on the material features, a material position and a boundary are determined, and based on this, a material empty / full state of the current discharge port is diagnosed; and the mine car terminal and the supervisor terminal obtain real-time monitoring results of each discharge port by accessing the cloud platform.

[0015] Compared with the prior art, one or more embodiments of the above scheme can have the following advantages or beneficial effects.

[0016] The present application provides a device, system and method for monitoring a discharge port of a mine crushing station. The present application uses computer vision technology to monitor the discharge port of the open-pit mine crushing station, thereby analyzing the discharge operation condition, material empty / full occupation condition and other states of the discharge port, sharing the discharge port state with the automatic driving mine car and the central platform in real time, and assisting the automatic driving mine car to complete the unattended unloading operation process. Specifically, the present application proposes an automatic intelligent monitoring scheme for the discharge port of the crushing station to analyze the occupation condition of the discharge port in real time, can publish the information of the discharge port empty / full and whether it can be normally unloaded to the center and mine vehicle in real time, can not only timely remind the center personnel to coordinate the operation and maintenance management of the discharge port transmission device on site, but also timely control the unloading process of the unmanned vehicle, realizes unattended unloading, and improves the efficiency and safety of the unloading operation.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention but do not constitute a limitation of the present invention.

[0019] Figure 1 This is a schematic structural diagram of a device for monitoring the discharge port of a mine crushing station according to an embodiment of the present application.

[0020] Figure 2 This is a schematic diagram of the implementation process of the device for monitoring the discharge port of a mine crushing station according to an embodiment of the present application.

[0021] Figure 3 This is a schematic structural diagram of a system for monitoring the discharge port of a mine crushing station according to an embodiment of the present application.

[0022] Figure 4 This is a step diagram of a method for monitoring the discharge port of a mine crushing station according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings and examples, so that the present invention can fully understand how to apply technical means to solve technical problems and achieve technical effects, and thus implement the invention accordingly. It should be noted that, as long as no conflict exists, the various embodiments of the present invention and the various features of the embodiments can be combined with each other, and the resulting technical solutions are all within the scope of protection of the present invention.

[0024] In addition, the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than here.

[0025] The terms used herein are intended only to describe specific embodiments and are not intended to limit exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms "a", "an", "an item" used herein are also intended to include the plural. It should also be understood that the terms "comprise" and / or "include" used herein specify the presence of stated features, integers, steps, operations, units and / or components, and do not preclude the presence or addition of one or more other features, integers, steps, operations, units, components and / or combinations thereof.

[0026] In the conventional open-pit mine, the mine vehicle will drive to the loading area for loading, and after the vehicle is fully loaded, it will drive to the unloading platform of the crushing station, unload the material into the unloading port, and then the heavy conveying device at the bottom of the unloading port will transport the material to the crusher for crushing. In actual operation, because of high unloading frequency, material transfer transmission belt damage, and blockage of the material port by falling rocks, the material port is occupied by material or even material overflow, so personnel need to check the occupation of the unloading port at all times, and notify the driver of the mine vehicle to stop unloading through a mobile phone or the like, which is time-consuming and inefficient. Especially after the introduction of unmanned mine vehicles in the intelligent mine, the existing technology cannot timely and effectively coordinate the unloading of unmanned vehicles.

[0027] Since the intelligent monitoring of the unloading port of the crushing station in the open-pit mine is a newly emerging technical field, there are few research programs in the prior art for dynamic monitoring of the unloading port.

[0028] In order to solve the above technical problems, the embodiment of the present application proposes a device, system and method for monitoring the unloading port of the mine crushing station. The present application uses computer vision technology to dynamically monitor the unloading port of the crushing station in the open-pit mine, thereby analyzing the unloading operation of the vehicle at the unloading port, the material empty-full-occupied state of the unloading port, and other unloading port states. The unloading port state is shared in real time with the automatic driving mine vehicle and the center platform, helping the automatic driving mine vehicle to complete the unattended unloading operation process.

[0029] Figure 1 The structure diagram of the device for monitoring the unloading port of the mine crushing station according to the embodiment of the present application. Figure 2 The implementation flowchart of the device for monitoring the unloading port of the mine crushing station according to the embodiment of the present application. The specific structure and implementation process of the device for monitoring the unloading port of the mine crushing station according to the embodiment of the present application (also referred to as "unloading port monitoring device") will be described below. Figure 1 and Figure 2 The specific structure and implementation process of the device for monitoring the unloading port of the mine crushing station according to the embodiment of the present application (also referred to as "unloading port monitoring device") will be described below.

[0030] As shown in Figure 1 The unloading port monitoring device according to the embodiment of the present application comprises an image acquisition module 1, a vehicle detection module 2 in communication connection with the image acquisition module 1, and an unloading port empty-full detection module 4 in communication connection with the image acquisition module 1. Referring to Figure 2, first, the image acquisition module 1 is used to collect the original (discharge port) image representing the panoramic environment state of the broken station discharge port in real time. Among them, the field of view range of the image acquisition module 1 can cover the environmental state information of the whole discharge port, including: the whole operation process of the unmanned vehicle in the unloading operation and the unloading pit state. And then, the vehicle detection module 2 is used to diagnose whether the current discharge port has a mine car in the unloading operation according to the original discharge port image obtained by the image acquisition module 1 in real time through the extracted image features, so as to obtain the unloading operation diagnosis result.

[0031] In addition, the discharge port empty full detection module 4 is used to determine the material position and boundary in the original image by extracting the material features in the original image obtained by the image acquisition module 1, so as to diagnose the material empty full state of the current discharge port according to the material position and boundary, so as to obtain the empty full state diagnosis result.

[0032] At this time, the discharge port monitoring device described in the embodiment of the application can obtain the discharge port real-time monitoring result including the unloading operation diagnosis result and the empty full state diagnosis result information.

[0033] Reference Figure 1 The vehicle detection module 2 described in the embodiment of the application at least includes: a region extraction unit 201, a region image processing unit 202 and an unloading operation diagnosis unit 203.

[0034] The region extraction unit 201 is used to cut out the unloading position region image from each frame of original discharge port image. The region image processing unit 202 is used to convert the unloading position region image into LAB color space and calculate the mean value of L component in the image. The unloading operation diagnosis unit 203 is used to diagnose whether the current discharge port has a mine car in the unloading operation in real time according to the L component mean value data of the real-time original image by using the preset template threshold, so as to obtain the corresponding unloading operation diagnosis result.

[0035] In the embodiment of the application, the vehicle detection module 2 is responsible for realizing the function of monitoring the overall working state of the current discharge port, including whether there is a mine car in the unloading operation or not. Considering that the pixel value of the original image in the daytime and night scene changes greatly, therefore, the embodiment of the application sets a first template image representing the daytime unloading operation without a mine car and a second template image representing the night unloading operation without a mine car for the unloading position region image of the discharge port.

[0036] Specifically, first, the region extraction unit 201 extracts the region image information of the unloading position in the original image acquired in real time; then the region image processing unit 202 converts the extracted region image of the unloading position from the RGB color space to the LAB color space, and calculates the average of the L component in the region image of the unloading position based on the LAB color space; finally, the unloading operation diagnosis unit 203 matches the average of the L component of the current image with the average of the L component data of the first template image (i.e. the L component threshold) and the average of the L component data of the second template image (i.e. the L component threshold) respectively, and finally obtains the diagnosis result of whether there is a mine car unloading at present.

[0037] In one embodiment, if the average of the L component of the current image matches the L component threshold of any template image successfully, it indicates that the current unloading port has no mine car unloading. In addition, if the average of the L component of the current image does not match the L component threshold of both template images, it indicates that the current unloading port has a mine car unloading.

[0038] Further, the vehicle detection module 2 described in the embodiment of the present application is also used to promote the output of the evaluation result of the empty / full state of the current unloading port according to the real-time obtained unloading operation diagnosis result. As shown in Figure 1 The unloading port monitoring system described in the embodiment of the present application further comprises an unloading port empty / full detection module 4. The unloading port empty / full detection module 4 is used to extract the material features in the original image, and determine the material position and boundary according to the material features, and then diagnose the material empty / full state of the current unloading port according to the material position and boundary in each frame of original image, so as to obtain the corresponding empty / full state diagnosis result, and then output the empty / full state diagnosis result.

[0039] In actual application process, since the mine car will unload the transported material into the unloading port when unloading operation is performed, and a large amount of white smoke will be accompanied in the unloading process, thereby affecting the accuracy of the material empty / full state detection, therefore, the vehicle detection module 2 described in the embodiment of the present application will only promote the detection of the material empty / full state when it is detected that there is no mine car unloading, and will not perform the material state detection when there is a mine car unloading.

[0040] As shown in Figure 2 When the vehicle detection module 2 detects that there is no mine car unloading at the current unloading port, the empty / full state detection instruction is generated, so as to control the unloading port empty / full detection module 4 to detect the empty / full state of the current unloading port by using the empty / full state detection instruction, and then output the corresponding detection result. In addition, when it is detected that there is a mine car unloading at the current unloading port, the empty / full state output instruction is generated, so as to control the unloading port empty / full detection module 4 to directly output the latest detected (i.e. the detected in the last detection period) empty / full state detection result by using the empty / full state output instruction.

[0041] Before detecting the empty or full state of the discharge port, the embodiment of the present application will preprocess the original image for detection. Thus, the discharge port monitoring system of the embodiment of the present application further comprises an image preprocessing module 3.

[0042] The image preprocessing module 3 is used to preprocess the original image for detecting the empty or full state before detecting the empty or full state of the discharge port, so that the empty or full state detection module 4 detects according to the preprocessed original image. The preprocessing includes sequentially performing the processing of extracting the discharge port region of interest, color space conversion processing and histogram equalization processing.

[0043] Specifically, the image preprocessing module 3 is responsible for realizing the function of standardizing the input image of the empty or full state detection module 4 of the discharge port. Mainly including extracting the discharge port region of interest, color space conversion and histogram equalization processing. Among them, the extraction processing of the discharge port region of interest is mainly used to extract the working area of the discharge port in the original image, so as to ignore the background information and avoid the influence of the background on the accuracy of the detection algorithm; the color space conversion is mainly to convert the original image in RGB format into a gray image; the histogram equalization processing is mainly used to improve the robustness of the detection algorithm to light.

[0044] Reference Figure 2 After preprocessing the original image, the empty or full state detection module 4 of the discharge port is used to detect the current empty or full state of the discharge port. As shown in Figure 1 The empty or full state detection module 4 of the discharge port includes a material feature extraction unit 401, a material boundary extraction unit 402 and an empty or full state detection unit 403.

[0045] The material feature extraction unit 401 is used to identify the material feature information in the current original discharge port image according to the original image by using the corner point detection algorithm. Then, the material boundary extraction unit 402 is used to sequentially perform image binarization processing, image erosion processing, image dilation processing and image connected domain analysis processing on the material feature information extracted by the material feature extraction unit 401, so as to obtain the material position and boundary of the current discharge port image. Finally, the empty or full state detection unit 403 is used to calculate the distance between the upper boundary and the left boundary of the material of the current original discharge port image and the corresponding preset boundary according to the material position and boundary obtained by the material boundary extraction unit 402 in real time, so as to obtain the material upper boundary proportion data and the material left boundary proportion data, and then comprehensively judge the empty or full state of the material of the current discharge port according to the material upper boundary proportion data and the material left boundary proportion data, finally obtain the empty or full state diagnosis result and add the current empty or full state diagnosis result to the current discharge port real-time monitoring result.

[0046] The empty-full detection module 4 is responsible for analyzing the empty-full occupancy in the pre-processed original image. Since the material in the unloading operation has the characteristics of non-smoothness and irregularity, the material feature extraction unit 401 uses the corner detection algorithm to obtain the material features in the image. At the same time, in order to further weaken the influence of the background, the material boundary extraction unit 402 will process the extracted material feature information in turn using image binarization, erosion, dilation, connected component analysis and other techniques, so as to determine the material position and boundary in the current original image. Next, the empty-full state detection unit 403 will first calculate the distance of each pixel point in the upper boundary of the material in the original image from the preset upper boundary of the material and extract the minimum upper boundary distance therefrom, and calculate the distance of each pixel point in the left boundary of the material in the original image from the preset left boundary of the material and extract the minimum left boundary distance therefrom. Then, the proportion data of the minimum upper boundary distance relative to the preset upper boundary distance threshold and the proportion data of the minimum left boundary distance relative to the preset left boundary distance threshold are calculated. Next, the empty-full state of the current unloading port is judged by comprehensively considering the upper boundary proportion data and the left boundary proportion data, so as to obtain the empty-full state diagnosis result of the unloading port. Then, the current empty-full state diagnosis result is transmitted to the communication module 5, so that the communication module 5 can collect various detection (diagnosis) result data of the current unloading port.

[0047] In addition, the empty-full state detection unit 403 of the embodiment of the present application is also used for storing and outputting the real-time detected empty-full state diagnosis result, so that the empty-full detection module 4 can detect the empty-full state of the current unloading port according to the empty-full state detection instruction from the vehicle detection module 2, or directly send the latest empty-full state diagnosis result to the communication module 5 through the empty-full state detection unit 403 according to the empty-full state output instruction, through the communication between the communication module 5 and the empty-full state detection unit 403.

[0048] Since the shape, texture and size of the material in the unloading port are different, the above-mentioned detection algorithm can accurately detect the material boundary and obtain the accurate result of the empty-full state of the unloading port. In addition, the image processing technology is used to realize the empty-full detection algorithm of the unloading port, which improves the generalization ability of the algorithm while ensuring the accuracy of the algorithm. In addition, the mine car unloading detection algorithm added by the present application ensures the accuracy of the broken station unloading port monitoring system without introducing much calculation.

[0049] Furthermore, the discharge port monitoring system described in this embodiment of the present invention further includes a communication module 5. The communication module 5 is configured to collect all detection and diagnostic results from the vehicle detection module 2 and the discharge port empty / full detection module 4, recording them as real-time discharge port monitoring results. Simultaneously, the communication module 5 is configured to transmit the real-time discharge port monitoring results, including the current discharge port's discharge operation diagnostic results and empty / full status detection results, to message subscribers. The communication module 5 is also configured to store all subscribers to the current discharge port information. These subscribers include the various mine vehicle terminals within the mine and the terminals of mine supervisors.

[0050] Communication module 5 is also used to receive subscription request information sent from each mine vehicle terminal and mine supervisor terminal, and store the identity of the sender of the subscription request information to build a subscriber database. The subscription request information is used to subscribe to notifications of the current discharge port's real-time monitoring results (including but not limited to discharge operation diagnosis results and empty and full status detection results).

[0051] In this way, each mine car and mine supervisor can understand the current status of the discharge port in real time.

[0052] Based on the above-mentioned discharge port monitoring device, the present invention also provides a system for monitoring the discharge port of a mine crushing station (also called a "discharge port monitoring system"). Figure 3 This is a schematic diagram of the structure of the system for monitoring the discharge port of a mine crushing station according to an embodiment of the present application. Figure 3 As shown, the discharge port monitoring system according to an embodiment of the present invention includes: one or more mine car terminals, one or more supervisor terminals, one or more discharge port monitoring stations, and a cloud platform (e.g., implemented using a cloud server). The mine car terminals, supervisor terminals, and discharge port monitoring stations can all access the cloud platform. Based on access from each terminal device, the discharge port monitoring stations can communicate with the mine car terminals and supervisor terminals, respectively.

[0053] The mine car terminal is installed in the interior of each unmanned mine car and can access the cloud platform. The embodiment of the present application configures a corresponding terminal device for each mine supervisor, and the supervisor terminal accesses the cloud platform through the identity information of the corresponding supervisor. Each discharge port monitoring station comprises a discharge port monitoring device as described above. The cloud platform communicates with the plurality of mine car terminals, the plurality of supervisor terminals and the plurality of discharge port monitoring stations, and realizes communication between the discharge port monitoring stations and the mine car terminals and the supervisor terminals, so that each discharge port monitoring station at each discharge port can upload the real-time monitoring result information of the current discharge port to the cloud platform, and the cloud platform can store the real-time monitoring result of each discharge port in the mine, and the mine car terminal and the supervisor who have subscribed to the specified discharge port information can access the cloud platform and check or download the real-time monitoring result of the subscribed discharge port in real time through the identity permission.

[0054] In addition, the mine car terminal and / or the supervisor terminal are also used to send corresponding subscription request information to the discharge port monitoring device of the discharge port at a specific location through access to the cloud platform, so that the discharge port monitoring device to be subscribed can store the terminal identity of the subscriber and update the subscriber database.

[0055] In addition, the discharge port monitoring system described in the embodiment of the present application further comprises a display platform. The display platform is used to display the real-time monitoring result of each discharge port monitoring station in real time, so that the background supervisor can grasp the state of each discharge port in the mine in real time.

[0056] In addition, based on the above-mentioned discharge port monitoring system, the present application provides a method for monitoring the discharge port of the mine crushing station (also referred to as "discharge port monitoring method"). The discharge port monitoring method is realized according to the above-mentioned discharge port monitoring system.

[0057] Figure 4 The steps of the method for monitoring the discharge port of the mine crushing station according to the embodiment of the present application are shown in the flowchart. Figure 4 The discharge port monitoring method described in the embodiment of the present application comprises the following steps: step S410, each discharge port monitoring station collects the original image representing the panoramic environment state of the discharge port of the crushing station in real time; step S420, according to the original image, the image features are extracted to diagnose whether the current discharge port has a mine car performing unloading operation, and the material features in the original image are extracted, and the material position and boundary are determined according to the material features, and based on this, the material empty-full state of the current discharge port is diagnosed; step S430, the mine car terminal and the supervisor terminal access the cloud platform to obtain the real-time monitoring result of each discharge port.

[0058] The application discloses a device, system and method for monitoring a discharge port of a mine crushing station.

[0059] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or replacements within the technical scope disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0060] In the description of the present application, unless otherwise specified and limited, the meaning of "a plurality of" is two or more than two; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0061] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] It should be understood that the embodiments disclosed in the present application are not limited to the specific structure, processing steps or materials disclosed herein, but should extend to equivalent alternatives of these features understood by those skilled in the related art. It should also be understood that the terms used herein are only for the purpose of describing the specific embodiments and do not mean limitation.

[0063] The phrase "one embodiment" or "an embodiment" appearing in the specification means that the specific features, structures or characteristics described in connection with the embodiment are included in at least one embodiment of the present application. Therefore, the phrase "one embodiment" or "an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment.

[0064] Although the present application has been described with reference to the above embodiments, the contents described are only the embodiments adopted for facilitating the understanding of the present application, and are not intended to limit the present application. Any modification and change in the form and details of the present application can be made by any person skilled in the art without departing from the spirit and scope of the present application, and the patent protection scope of the present application shall be subject to the scope defined by the appended claims.

Claims

1. An apparatus for monitoring a discharge opening of a mine crushing station, characterised in that, The device comprises: an image acquisition module for acquiring original images representing the panoramic environment state of the discharge port of the crushing station in real time; a vehicle detection module for diagnosing whether a mine car is currently performing unloading operation at the discharge port according to the original images and the extracted image features; a discharge port empty / full detection module for determining the material position and boundary in the original images by extracting the material features, and diagnosing the empty / full state of the material at the current discharge port based on the determination, wherein the vehicle detection module comprises: a region extraction unit for extracting a discharge position region image from the original images; a region image processing unit for converting the discharge position region image into a LAB color space and calculating the mean value of the L component in the image; an unloading operation diagnosis unit for diagnosing whether a mine car is currently performing unloading operation at the discharge port in real time according to the mean value data of the L component of the real-time images and a preset template threshold, and obtaining the corresponding unloading operation diagnosis result, wherein the template threshold comprises an L component threshold of a first template image representing that no mine car is performing unloading operation during the day and an L component threshold of a second template image representing that no mine car is performing unloading operation at night.

2. The device according to claim 1, wherein the vehicle detection module is further configured to, according to the unloading operation diagnosis result obtained in real time, cause the output of an evaluation result of the empty / full state of the current discharge port, wherein when no mine car is currently performing unloading operation at the discharge port, an empty / full state detection instruction is generated to control the discharge port empty / full detection module to detect the empty / full state of the current discharge port by using the empty / full state detection instruction, so as to output the corresponding detection result; when a mine car is currently performing unloading operation at the discharge port, an empty / full state output instruction is generated to control the discharge port empty / full detection module to directly output the latest detected empty / full state detection result by using the empty / full state output instruction.

3. The apparatus of claim 1 or 2, wherein, the discharge port empty / full detection module comprises: a material feature extraction unit configured to identify the material features of the current discharge port image by using a corner detection algorithm according to the original images; a material boundary extraction unit configured to sequentially perform image binarization, image erosion, image dilation and image connected domain analysis processing on the material features, so as to obtain the material position and boundary of the current discharge port image; an empty / full state detection unit configured to calculate the distances between the upper boundary and the left boundary of the material of the current discharge port image and the corresponding preset boundaries, so as to obtain the material upper boundary proportion data and the material left boundary proportion data, and then comprehensively judge the empty / full state of the material at the current discharge port according to the two proportion data, so as to obtain the empty / full state diagnosis result.

4. The apparatus of claim 3, wherein, The device further comprises: an image preprocessing module configured to preprocess the original images before the empty / full state of the discharge port is detected, so that the discharge port empty / full detection module detects according to the preprocessed original images, wherein the preprocessing comprises sequentially performing extraction of the discharge port region of interest, color space conversion and histogram equalization processing.

5. The apparatus of claim 1 or 2, wherein, The device further comprises: A communication module is configured to send the diagnosis result of the unloading operation and the empty / full state detection result of the current unloading port to message subscribers, wherein the message subscribers are each mine car terminal and terminal of mine supervisor in the mine.

6. The device of claim 5, wherein, The communication module is further configured to receive subscription request information from each mine car terminal and terminal of mine supervisor and store the identity of the sender of the subscription request information, thereby constructing a database of subscribers, wherein the subscription request information is used to subscribe to the notification of real-time monitoring result of the current unloading port.

7. A system for monitoring a discharge of a mine crushing station, characterized in that, The system comprises: A mine car terminal installed in the interior of each unmanned mine car for accessing the cloud platform; A supervisor terminal for accessing the cloud platform; An unloading port monitoring station, each of which comprises the device for monitoring the unloading port of the mine crushing station according to any one of claims 1-6; A cloud platform in communication with the mine car terminal, the supervisor terminal and the unloading port monitoring station for realizing the communication between the unloading port monitoring station and each terminal.

8. The system of claim 7, wherein, The system further comprises: A display platform for real-time displaying the real-time monitoring result of each unloading port monitoring station.

9. A method for monitoring a discharge opening of a mine crushing station, characterized in that, The method is implemented according to the system of claim 7 or 8, wherein the method comprises the following steps: Each unloading port monitoring station collects original images representing the panoramic environment state of the unloading port of the crushing station in real time; According to the original images, the extracted image features are used to diagnose whether there is a mine car performing unloading operation at the current unloading port, and the material features in the original images are extracted to determine the material position and boundary, based on which the empty / full state of the material at the current unloading port is diagnosed; The mine car terminal and the supervisor terminal obtain the real-time monitoring result of each unloading port by accessing the cloud platform.

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