Coal mine return air roadway inspection method and device and inspection system

Abstract

This invention discloses a method, device, and system for inspecting coal mine return airway. The method includes: acquiring images of the roof supports and the corresponding floor plates of the roof supports in the return airway using an image acquisition device; simultaneously acquiring audio signals from above the roof supports using an audio acquisition device; analyzing the audio signals to obtain the frequency and duration of abnormal noises above the roof supports; determining the anomaly index of the roof corresponding to the roof supports based on the gangue density, the frequency of abnormal noises, and the duration of abnormal noises; generating a roof support abnormality signal when the deformation index is less than a roof support deformation index threshold, and generating a roof abnormality signal when the abnormality index is greater than the abnormality index threshold, thereby inspecting the return airway. This invention solves the technical problem in related technologies where manual inspection of coal mine return airway poses safety hazards to inspection personnel.

Description

Technical Field

[0001] This invention relates to the field of return airway monitoring technology, and more specifically, to a method, device, and system for inspecting coal mine return airways. Background Technology

[0002] A coal mine is a rationally constructed space excavated by humans when mining coal-rich geological strata, typically including tunnels, shafts, and working faces. Coal is the most important solid fuel, which gradually accumulates into thick layers in suitable geological environments and is buried underwater or in silt, forming coal through natural coalification over long geological periods.

[0003] Coal mine roadways, as an important component of coal mines, play a crucial role in coal mine safety management. By controlling the air velocity and volume in return airway roadways, the freshness and circulation of air within the mine can be maintained. Therefore, the inspection of coal mine roadways is quite important.

[0004] However, the anomaly detection in modern coal mine return airway has the following drawbacks: 1) It mainly focuses on detecting gas concentration, coal dust, temperature, and humidity, but since the return airway is a frequent site of roof collapse accidents, there is no targeted monitoring of the roof in the return airway; 2) The inspection process of the return airway relies on manual inspection, which is inefficient and poses a constant threat to the personal safety of workers; 3) Due to the uneven safety awareness of workers, accidents caused by inadequate safety equipment are also common.

[0005] There is currently no effective solution to the problem that the aforementioned technologies rely on manual inspection of coal mine return air roadways, which poses safety hazards to inspection personnel. Summary of the Invention

[0006] This invention provides a method, device, and system for inspecting coal mine return air roadways, which at least solves the technical problem in related technologies that rely on manual inspection of coal mine return air roadways, posing safety hazards to inspection personnel.

[0007] According to one aspect of the present invention, an inspection method for a coal mine return airway is provided, comprising: acquiring images of roof supports and corresponding floor plates of the roof supports in the return airway using an image acquisition device; simultaneously acquiring audio signals above the roof supports using an audio acquisition device, wherein the roof supports are the pillars of the roof supports; performing image analysis on the pillar images to obtain the deformation index of the roof supports; simultaneously performing image analysis on the floor images to obtain the gangue density of the floor images; and analyzing the audio signals to obtain abnormal noises above the roof supports. The frequency and duration of abnormal noises are determined, wherein the duration of abnormal noises is the sum of the durations of each abnormal noise; the abnormal index of the roof corresponding to the roof support is determined based on the gangue density, the frequency of abnormal noises, and the duration of abnormal noises; a roof support abnormal signal is generated when the deformation index is determined to be less than the deformation index threshold of the roof support, and a roof abnormal signal is generated when the abnormal index is determined to be greater than the abnormal index threshold, so as to inspect the return airway, wherein the support abnormal signal is used to indicate that the roof support needs to be repaired, and the roof abnormal signal is used to indicate that the roof needs to be repaired.

[0008] Optionally, image analysis is performed on the column image to obtain the deformation index of the roof column, including: performing edge detection on the column image to obtain the column geometry of the roof column in the column image; comparing the column geometry with the original geometry of the roof column to obtain the overlapping area between the column geometry and the original geometry, wherein the original geometry is the geometry of the roof column when no abnormality occurs; determining the current column length of the roof column based on the column geometry; and determining the deformation index based on the overlapping area and the current column length.

[0009] Optionally, determining the current column length of the top plate column based on the column geometry diagram includes: determining the geometric column length of the column geometry diagram; and multiplying the geometric column length by a scaling factor to obtain the current column length.

[0010] Optionally, determining the deformation index based on the overlapping area and the current column length includes: determining the deformation index using a first formula based on the overlapping area and the current column length, wherein the first formula is: BXi represents the deformation index, FSi represents the overlapping area, Li represents the current column length, YSi represents the original area of ​​the top plate column, YLi represents the original length of the top plate column, a1 represents the weighting factor of the overlapping area, and a2 represents the weighting factor of the current column length.

[0011] Optionally, image analysis is performed on the base plate image to obtain the gangue density of the base plate image, including: determining the grayscale value of the gangue; identifying the gangue in the base plate image based on the grayscale value to obtain the total quantity of gangue in the base plate image; determining the density of the gangue in the base plate image based on the shooting area of ​​the base plate image and the total quantity to obtain the gangue density.

[0012] Optionally, analyzing the audio signal to obtain the number of abnormal noises above the roof support includes: denoising the audio signal to obtain a denoised audio signal; converting the denoised audio signal into a digital signal; converting the digital signal into an abnormal noise waveform; matching multiple abnormal noise waveforms corresponding to the abnormal noise waveform with the rock stratum abnormal noise waveform to obtain the number of abnormal noise waveforms in the multiple abnormal noise waveforms that successfully match the rock stratum abnormal noise waveform; and determining the number of abnormal noise waveforms as the number of abnormal noises.

[0013] Optionally, analyzing the audio signal to obtain the duration of the abnormal noise above the top plate support includes: determining the corresponding target abnormal noise waveform based on the number of abnormal noise waveforms; determining the duration of each abnormal noise based on the target abnormal noise waveform; and determining the sum of the durations of each abnormal noise as the duration of the abnormal noise.

[0014] Optionally, determining the anomaly index of the roof corresponding to the roof support based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises includes: determining the anomaly index using a second formula based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises, wherein the second formula is: YCi represents the abnormality index, p represents the gangue density threshold, m represents the abnormal noise frequency threshold, t represents the abnormal noise duration threshold, b1 represents the gangue density weighting factor, b2 represents the abnormal noise frequency weighting factor, b3 represents the abnormal noise duration weighting factor, Pi represents the gangue density, Mi represents the abnormal noise frequency, Ti represents the abnormal noise duration, and i represents the number of the top plate support.

[0015] Optionally, after determining that the deformation index is less than the deformation index threshold of the roof support, an abnormal signal for the roof support is generated, and / or after determining that the abnormal index is greater than the abnormal index threshold, an abnormal signal for the roof support is generated, the inspection method for the coal mine return airway further includes: generating a maintenance signal and maintenance information, so as to prompt the roof support to be maintained according to the maintenance information through the maintenance signal, wherein the maintenance information includes at least: the number of the roof support and the depth of the roof support in the return airway.

[0016] Optionally, after generating a roof support abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support, and / or generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, the inspection method for the coal mine return airway further includes: determining the roof fall index of the roof support using a third formula under the deformation index and the abnormality index, wherein the third formula is: MDi=BXi*c1+YCi*c2, where MDi represents the roof fall index, BXi represents the deformation index, YCi represents the abnormality index, c1 represents the deformation index conversion factor, and c2 represents the abnormality index conversion factor; generating an early warning signal when the roof fall index is greater than the roof fall index threshold, wherein the early warning signal is used to prompt the workers in the return airway to evacuate; and storing the monitoring time of the roof support, the number of the roof support, and the depth of the roof support in the return airway when the roof fall index is not greater than the roof fall index threshold.

[0017] Optionally, the inspection method for the return air roadway in the coal mine further includes: acquiring an image of a target object at the entrance of the return air roadway; comparing the image of the target object with a reference image to obtain a comparison result, wherein the reference image is an image acquired when the target object is wearing safety protective equipment, and the safety protective equipment includes at least: a safety helmet, a respirator, protective gloves, and protective shoes; generating a pass signal if the comparison result indicates that the image is consistent with the reference image; and generating a disallow pass signal if the comparison result indicates that the image is inconsistent with the reference image.

[0018] According to another aspect of the present invention, an inspection device for a coal mine return air roadway is also provided, characterized in that it includes: a first acquisition unit, used to acquire images of the roof support columns in the return air roadway and the bottom plate images of the corresponding bottom plates of the roof support in the return air roadway through an image acquisition device, and simultaneously acquire audio signals above the roof support through an audio acquisition device, wherein the roof support columns are the columns of the roof support; a first acquisition unit, used to perform image analysis on the column images to obtain the deformation index of the roof support columns, and simultaneously perform image analysis on the bottom plate images to obtain the gangue density of the bottom plate images; a second acquisition unit, used to analyze the audio signals to obtain the... The system includes: a first determining unit for determining the abnormality index of the roof corresponding to the roof support based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises; and an inspection unit for generating a roof support abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support, and generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, to inspect the return airway. The support abnormality signal is used to indicate the need for maintenance of the roof support, and the roof abnormality signal is used to indicate the need for maintenance of the roof.

[0019] Optionally, the first acquisition unit includes: a first acquisition module, configured to perform edge detection on the column image to obtain a geometric shape diagram of the top plate column in the column image; a second acquisition module, configured to compare the geometric shape diagram of the column with the original geometric shape diagram of the top plate column to obtain the overlapping area of ​​the geometric shape diagram of the column and the original geometric shape diagram, wherein the original geometric shape diagram is the geometric shape diagram of the top plate column when no abnormality occurs; a first determination module, configured to determine the current column length of the top plate column based on the geometric shape diagram of the column; and a second determination module, configured to determine the deformation index based on the overlapping area and the current column length.

[0020] Optionally, the first determining module includes: a first determining submodule, used to determine the geometric column length of the column geometry diagram; and a first obtaining submodule, used to multiply the geometric column length by a scaling factor to obtain the current column length.

[0021] Optionally, the second determining module includes: a second determining submodule, configured to determine the deformation index using a first formula based on the overlapping area and the current column length, wherein the first formula is: BXi represents the deformation index, FSi represents the overlapping area, Li represents the current column length, YSi represents the original area of ​​the top plate column, YLi represents the original length of the top plate column, a1 represents the weighting factor of the overlapping area, and a2 represents the weighting factor of the current column length.

[0022] Optionally, the first acquisition unit includes: a third determining module, used to determine the grayscale value of the gangue; a third acquisition module, used to identify the gangue in the base plate image based on the grayscale value, and obtain the total quantity of gangue in the base plate image; and a fourth determining module, used to determine the density of the gangue in the base plate image based on the shooting area of ​​the base plate image and the total quantity, and obtain the gangue density.

[0023] Optionally, the second acquisition unit includes: a fourth acquisition module, configured to perform denoising processing on the audio signal to obtain the denoised audio signal; a first conversion module, configured to convert the denoised audio signal into a digital signal; a second conversion module, configured to convert the digital signal into an abnormal noise waveform; a fifth acquisition module, configured to match multiple abnormal noise waveforms corresponding to the abnormal noise waveform with the rock stratum abnormal noise waveform respectively, to obtain the number of abnormal noise waveforms in the multiple abnormal noise waveforms that successfully match the rock stratum abnormal noise waveform; and a fifth determination module, configured to determine the number of abnormal noise waveforms as the number of abnormal noises.

[0024] Optionally, the second acquisition unit includes: a sixth determining module, configured to determine a corresponding target abnormal noise waveform based on the number of abnormal noise waveforms; a seventh determining module, configured to determine the duration of each abnormal noise based on the target abnormal noise waveform; and an eighth determining module, configured to determine that the sum of the durations of each abnormal noise is the duration of the abnormal noise.

[0025] Optionally, the first determining unit includes: a ninth determining module, configured to determine the anomaly index using a second formula based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises, wherein the second formula is: YCi represents the abnormality index, p represents the gangue density threshold, m represents the abnormal noise frequency threshold, t represents the abnormal noise duration threshold, b1 represents the gangue density weighting factor, b2 represents the abnormal noise frequency weighting factor, b3 represents the abnormal noise duration weighting factor, Pi represents the gangue density, Mi represents the abnormal noise frequency, Ti represents the abnormal noise duration, and i represents the number of the top plate support.

[0026] Optionally, the inspection device for the coal mine return airway further includes: a first generation unit, used to generate a roof support abnormality signal when it is determined that the deformation index is less than the deformation index threshold of the roof support, and / or, after generating a roof abnormality signal when it is determined that the abnormality index is greater than the abnormality index threshold, generate a maintenance signal and maintenance information, so as to prompt the roof support to be maintained according to the maintenance information through the maintenance signal, wherein the maintenance information includes at least: the number of the roof support, and the depth of the roof support in the return airway.

[0027] Optionally, the inspection device for the coal mine return airway further includes: a second determining unit, used to generate a roof support abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support, and / or, after generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, to determine the roof fall index of the roof support by a third formula under the deformation index and the abnormality index, wherein the third formula is: MDi=BXi*c1+YCi*c2, MDi represents the roof fall index, BXi represents the deformation index, YCi represents the abnormality index, c1 represents the deformation index conversion factor, and c2 represents the abnormality index conversion factor; a second generating unit, used to generate a warning signal when the roof fall index is greater than the roof fall index threshold, wherein the warning signal is used to prompt the workers in the return airway to evacuate; and a storage unit, used to store the monitoring time of the roof support, the number of the roof support, and the depth of the roof support in the return airway when the roof fall index is not greater than the roof fall index threshold.

[0028] Optionally, the inspection device for the coal mine return air roadway further includes: a second acquisition unit for acquiring an image of the target object at the entrance of the return air roadway; a comparison unit for comparing the image of the target object with a reference image to obtain a comparison result, wherein the reference image is an image acquired when the target object is wearing safety protective equipment, and the safety protective equipment includes at least: a safety helmet, a respirator, protective gloves, and protective shoes; a third generation unit for generating a pass signal when the comparison result indicates that the image is consistent with the reference image; and a fourth generation unit for generating a disallow pass signal when the comparison result indicates that the image is inconsistent with the reference image.

[0029] According to another aspect of the present invention, an inspection system for a coal mine return airway is also provided, wherein the inspection system for the coal mine return airway uses any of the above-described inspection methods for coal mine return airways.

[0030] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes any of the above-described methods for inspecting coal mine return air roadways.

[0031] According to another aspect of the present invention, a processor is also provided, the processor being used to run a program, wherein the program, when running, executes any of the above-described methods for inspecting coal mine return air roadways.

[0032] In this embodiment of the invention, an image acquisition device is used to acquire images of the roof support columns in the return air roadway and the corresponding floor images of the roof support in the return air roadway. Simultaneously, an audio acquisition device is used to acquire audio signals above the roof support. The roof support columns are the columns of the roof support. Image analysis is performed on the column images to obtain the deformation index of the roof support columns, and image analysis is performed on the floor images to obtain the gangue density of the floor images. Analysis of the audio signals is used to obtain the number of abnormal noises and the duration of the abnormal noises above the roof support. The duration of the abnormal noise is the sum of the durations of each abnormal noise. The abnormal index of the roof corresponding to the roof support is determined based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises. When the deformation index is determined to be less than the deformation index threshold of the roof support, a roof support abnormal signal is generated. At the same time, when the abnormal index is determined to be greater than the abnormal index threshold, a roof abnormal signal is generated to inspect the return air roadway. The support abnormal signal is used to indicate that the roof support needs to be repaired, and the roof abnormal signal is used to indicate that the roof needs to be repaired. The above technical solutions achieve the goal of monitoring for abnormalities in the roof support and the corresponding roof by analyzing images of the columns, the bottom plate, and audio signals above the roof support. This enables automated inspection of coal mine return airway. In case of abnormalities, further instructions can be given to personnel inside and outside the coal mine return airway based on the risk of roof collapse, thereby restricting personnel from entering the coal mine return airway, improving inspection efficiency, and solving the technical problem of relying on manual inspection of coal mine return airway, which poses safety hazards to inspection personnel. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0034] Figure 1 This is a hardware structure block diagram of a mobile terminal for an inspection method of a coal mine return air roadway according to an embodiment of the present invention.

[0035] Figure 2This is a flowchart of a coal mine return air roadway inspection method according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of an optional inspection system for a coal mine return airway according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of an inspection device for a coal mine return airway according to an embodiment of the present invention. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] As described in the background section, related technologies rely on manual inspection of coal mine return air roadways, which poses safety hazards to inspection personnel. To address these shortcomings, embodiments of the present invention provide a method, apparatus, and system for inspecting coal mine return air roadways.

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0042] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for an inspection method of a coal mine return air roadway according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0043] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the coal mine return air roadway inspection method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one instance, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0044] According to an embodiment of the present invention, a method embodiment for inspecting a coal mine return air roadway is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0045] Figure 2 This is a flowchart of a coal mine return airway inspection method according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0046] Step S202: The image acquisition device acquires the image of the roof support column in the return air roadway and the image of the bottom plate corresponding to the roof support in the return air roadway. At the same time, the audio signal above the roof support is acquired by the audio acquisition device. The roof support column is the column of the roof support.

[0047] Optionally, the aforementioned image acquisition devices include, but are not limited to, devices with image acquisition functions such as cameras, scanners, and sensors.

[0048] Optionally, the aforementioned audio acquisition devices include, but are not limited to: voice recorders, audio recorders, mobile phones, smartwatches, and other devices with audio acquisition capabilities.

[0049] The following is combined with Figure 3 The embodiments of the present invention will be described in detail below. Figure 3 This is a schematic diagram of an optional inspection system for coal mine return air roadways according to an embodiment of the present invention, such as... Figure 3 As shown, the inspection system used to implement the above-mentioned inspection method for coal mine return air roadways can include the following modules: image acquisition module, database, roof support monitoring module, roof detection module, safety equipment identification module, and personnel instruction module. Among them, the database is mainly used to store information such as safety equipment images, rock strata abnormal noise waveform diagrams, monitoring information, roof support numbers, and the depth of the roof supports.

[0050] In the image acquisition module, a portable camera is used as an example to capture images of workers entering the coal mine return airway, the roof support and the corresponding bottom plate of the roof support in the coal mine return airway, and obtain the corresponding image data. At the same time, the sound above the roof support is captured by the built-in recording device or recorder on the camera to obtain the corresponding audio data, which is convenient for subsequent processing.

[0051] Step S204: Perform image analysis on the column image to obtain the deformation index of the top plate column, and simultaneously perform image analysis on the bottom plate image to obtain the gangue density of the bottom plate image.

[0052] Optionally, the aforementioned deformation index refers to the degree of deformation of the current roof slab column relative to a normal roof slab column.

[0053] It should be noted that the deformation index here is determined based on the overlapping area between the column's geometric shape diagram and the original geometric shape diagram. The larger the overlapping area, the closer the current column is to a normal column. Therefore, the larger the deformation index, the smaller the degree of deformation of the current column, and vice versa.

[0054] According to the above embodiments of the present invention, in step S204, regarding how to obtain the deformation index of the roof support column, image analysis can be performed on the column image to obtain the deformation index of the roof support column, including: performing edge detection on the column image to obtain the column geometry map of the roof support column in the column image; comparing the column geometry map with the original geometry map of the roof support column to obtain the overlapping area of ​​the column geometry map and the original geometry map, wherein the original geometry map is the geometry map of the roof support column when no abnormality occurs; determining the current column length of the roof support column based on the column geometry map; and determining the deformation index based on the overlapping area and the current column length.

[0055] Optionally, the overlapping area mentioned above is the area obtained by comparing the normal column geometry diagram with the current column geometry diagram.

[0056] In the above embodiments of the present invention, determining the current column length of the top plate column according to the column geometry diagram includes: determining the geometric column length of the column geometry diagram; multiplying the geometric column length by a scaling factor to obtain the current column length.

[0057] Optionally, the scaling ratio mentioned above refers to the ratio between the actual size of the object and the size of the object on the drawing.

[0058] For example, if the actual measured length of the column is 5 meters, but the length of the column is determined to be 5 centimeters when drawing, then the drawing is drawn at a scaling ratio of 100:1. Therefore, when determining the actual length of the column based on the measured length of the column on the drawing, you only need to multiply the measured length of the column on the drawing by 100.

[0059] In the above embodiments of the present invention, determining the deformation index based on the overlapping area and the current column length includes: determining the deformation index using a first formula based on the overlapping area and the current column length, wherein the first formula is: BXi represents the deformation index, FSi represents the overlapping area, Li represents the current column length, YSi represents the original area of ​​the roof column, YLi represents the original length of the roof column, a1 represents the weighting factor of the overlapping area, and a2 represents the weighting factor of the current column length.

[0060] As above Figure 3As shown, the roof support monitoring module is used to analyze the deformation index of the corresponding columns of the roof support. In this module, the columns corresponding to the roof support in the coal mine return airway are first designated as roof columns. Based on the image data of the roof columns acquired by the image acquisition module, the edges of the roof columns in the images are identified to obtain the geometric shape map of the corresponding surface. This map is then measured to obtain the length of the geometric shape map. The length of the geometric shape map is multiplied by a scaling factor to obtain the length Li of the corresponding column. Next, the geometric shape map of the corresponding surface is compared with the original geometric shape map of the corresponding surface stored in the database to obtain the overlapping area FSi of the geometric shape map and the original geometric shape map. Finally, the original area YSi and the original length YLi of the corresponding column are retrieved from the database.

[0061] Then according to the formula (The first formula, where a1 represents the weighting factor of the overlapping area and a2 represents the weighting factor of the current column length) calculates the deformation index BXi of the column corresponding to the roof support, providing a data foundation for subsequent analysis of the deformation index of the column corresponding to the roof support. Simultaneously, by analyzing the images of the column corresponding to the roof support, the state of the roof support can be quickly determined, improving the detection efficiency. If no abnormalities are found, the return airway inspection robot replaces the personnel for inspection work, improving inspection efficiency. It also helps personnel take appropriate measures to avoid serious safety accidents when problems are found with the roof support.

[0062] According to the above embodiments of the present invention, in step S204, regarding how to obtain the gangue density of the base plate image, image analysis can be performed on the base plate image to obtain the gangue density of the base plate image, including: determining the grayscale value of the gangue; identifying the gangue in the base plate image based on the grayscale value to obtain the total number of gangue in the base plate image; determining the gangue density in the base plate image based on the shooting area and the total number of gangue in the base plate image to obtain the gangue density.

[0063] Optionally, gangue refers to the portion of a rock or ore that has no economic value.

[0064] Optionally, the density of gangue may vary slightly depending on the type and composition of the ore.

[0065] As above Figure 3As shown, the roof detection module is used to analyze the abnormal index of the roof corresponding to the roof support. The module includes a gangue identification unit and an abnormal noise capture unit. The gangue identification unit is used to identify the features of gangue in the image of the floor corresponding to the roof support of the coal mine return air roadway. Then, the gangue density is obtained based on the number of gangue and the image shooting area of ​​the floor corresponding to the roof support of the coal mine return air roadway. In this unit, firstly, based on the image data of the corresponding roof support and corresponding floor in the coal mine return airway acquired by the image acquisition module, the image shooting area Si (i is the number of the corresponding roof support in the coal mine return airway, and the value of i is a positive integer) is recorded. Then, the image of the corresponding floor in the coal mine return airway is processed, and the image of the corresponding roof support and corresponding floor in the coal mine return airway is recorded as the floor image. Based on the different gray values ​​of gangue in the image, the gangue in the floor image is feature-identified to obtain the number Ni of gangue in the floor image. Then, the formula is used to... By performing calculations, the density Pi of the gangue in the base plate can be obtained, providing a data basis for the deformation index analysis of the corresponding columns of the top plate support in the subsequent process.

[0066] Step S206: Analyze the audio signal to obtain the number of abnormal noises above the top plate support and the duration of the abnormal noises, wherein the duration of the abnormal noises is the sum of the durations of each abnormal noise.

[0067] Optionally, the above-mentioned abnormal noise refers to an unusual noise that is different from the sound under normal working conditions.

[0068] According to the above embodiments of the present invention, in step S206, regarding how to obtain the number of abnormal noises, the audio signal can be analyzed to obtain the number of abnormal noises above the roof support, including: denoising the audio signal to obtain a denoised audio signal; converting the denoised audio signal into a digital signal; converting the digital signal into an abnormal noise waveform; matching the multiple abnormal noise waveforms corresponding to the abnormal noise waveform with the rock stratum abnormal noise waveform to obtain the number of abnormal noise waveforms in the multiple abnormal noise waveforms that successfully match the rock stratum abnormal noise waveform; and determining the number of abnormal noise waveforms as the number of abnormal noises.

[0069] As above Figure 3 As shown, the abnormal noise capture unit of the roof detection module is used to collect and denoise the sound above the roof support, obtaining the number of abnormal noises and the total duration of the abnormal noises. In this unit, the audio data above the roof support collected by the image acquisition module using the sound acquisition device is first acquired. Then, the collected sound is denoised to obtain the abnormal noise sound above the roof support. After that, the abnormal noise sound above the roof support is converted into a digital signal, and then further processed to obtain the abnormal noise waveform.

[0070] Next, the abnormal noise sound is processed by frame segmentation. Based on the frame segmentation results, the abnormal noise waveform is segmented to obtain abnormal noise bands. Then, the abnormal noise waveforms of rock strata stored in the database are matched with the corresponding waveforms of the abnormal noise bands. When the abnormal noise waveforms of rock strata stored in the database are successfully matched with the corresponding waveforms of the abnormal noise bands, the abnormal noise band is marked as a rock strata abnormal noise band. The number of abnormal noise bands of rock strata is counted to obtain the number of abnormal noises Mi above the roof support. This provides a data basis for the deformation index analysis of the corresponding columns of the roof support in the subsequent process.

[0071] According to the above embodiments of the present invention, in step S206, for obtaining the duration of abnormal noise, the audio signal can be analyzed to obtain the duration of abnormal noise above the top plate support, including: determining the corresponding target abnormal noise waveform based on the number of abnormal noise waveforms; determining the duration of each abnormal noise based on the target abnormal noise waveform; and determining the sum of the durations of each abnormal noise as the duration of abnormal noise.

[0072] Based on the abnormal sound bands of the rock strata marked in the above process, the duration of each segment can be determined. Then, the duration of each abnormal sound band of the rock strata is summed by the summation formula to obtain the total duration Ti of the abnormal sound, which provides a data basis for the deformation index analysis of the corresponding column of the roof support in the subsequent process.

[0073] Step S208: Determine the abnormality index of the roof corresponding to the roof support based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises.

[0074] Optionally, the above-mentioned anomaly index is used to indicate the degree of anomaly of the roof corresponding to the roof support.

[0075] According to the above embodiments of the present invention, in step S208, determining the abnormality index of the roof corresponding to the roof support based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises includes: determining the abnormality index using a second formula based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises, wherein the second formula is: YCi represents the anomaly index, p represents the gangue density threshold, m represents the abnormal noise frequency threshold, t represents the abnormal noise duration threshold, b1 represents the gangue density weighting factor, b2 represents the abnormal noise frequency weighting factor, b3 represents the abnormal noise duration weighting factor, Pi represents the gangue density, Mi represents the abnormal noise frequency, Ti represents the abnormal noise duration, and i represents the number of the roof support.

[0076] Based on the calculated gangue density Pi, abnormal noise frequency Mi, and total abnormal noise duration Ti of the bottom plate diagram from steps S204 and S206 above, combined with preset gangue density threshold p, preset abnormal noise frequency threshold m, preset abnormal noise duration threshold t, preset gangue density weighting factor b1, preset abnormal noise frequency weighting factor b2, and preset abnormal noise duration weighting factor b3, according to the formula... The abnormal index YCi of the roof corresponding to the roof support can be obtained by calculating (the second formula). By calculating the density of gangue on the bottom plate corresponding to the roof and capturing abnormal noises of the roof, the stability of the roof can be further evaluated. Only the roof with an abnormal index greater than the roof index threshold is subject to knocking and questioning operations. This not only reduces maintenance costs but also improves the work efficiency of the staff and avoids economic losses caused by accidents.

[0077] Step S210: When the deformation index is determined to be less than the deformation index threshold of the roof support column, a roof support column abnormality signal is generated. At the same time, when the abnormality index is determined to be greater than the abnormality index threshold, a roof abnormality signal is generated to inspect the return air roadway. The support column abnormality signal is used to indicate that the roof support column needs to be repaired, and the roof abnormality signal is used to indicate that the roof needs to be repaired.

[0078] Optionally, the aforementioned deformation index threshold is a standard used to determine whether there is a risk in the current degree of column deformation.

[0079] Optionally, the above-mentioned abnormality index threshold is a standard used to determine whether there is a risk in the current degree of roof abnormality.

[0080] For example, after calculating the deformation index and abnormality index of the corresponding column of the roof support in the above process, the deformation index of the corresponding column of the roof support is compared with a preset deformation index threshold. If the deformation index of the corresponding column of the roof support is greater than the preset deformation index threshold, it means that the geometric shape of the current column overlaps with the geometric shape of the normal column, and thus it can be determined that the roof support is not damaged and is in a normal state, generating a support normal signal; if the deformation index of the corresponding column of the roof support is less than the preset deformation index threshold, it means that the geometric shape of the current column overlaps with the geometric shape of the normal column, and thus it can be determined that the roof support is damaged and is in an abnormal state, generating a support abnormal signal.

[0081] The abnormality index of the roof corresponding to the roof support is compared with a preset abnormality index threshold. If the abnormality index of the roof corresponding to the roof support is greater than the preset abnormality index threshold, it is determined that the roof of the roof support is at risk of roof collapse and is in a dangerous state, generating a roof-probing signal. If the abnormality index of the roof corresponding to the roof support is less than the preset abnormality index threshold, it is determined that the roof of the roof support will not experience a roof collapse accident and is in a safe state, generating a safety signal. The generated safety signal or roof-probing signal is sent to the personnel instruction module so that the staff can take corresponding measures according to the signal instructions.

[0082] According to the above embodiments of the present invention, after step S210, that is, after determining that the deformation index is less than the deformation index threshold of the roof support, an abnormal signal for the roof support is generated, and / or after determining that the abnormal index is greater than the abnormal index threshold, an abnormal signal for the roof support is generated, the inspection method of the coal mine return air roadway further includes: generating maintenance signals and maintenance information, so as to prompt the roof support to be maintained according to the maintenance information through the maintenance signals, wherein the maintenance information includes at least: the number of the roof support and the depth of the roof support in the return air roadway.

[0083] As above Figure 3 As shown, the personnel instruction module is used to analyze the roof hazard index and identify signals sent by the roof support detection module and the roof detection module. In this module, signals sent by the roof support detection module and the roof detection module are first received and identified. When an abnormal support signal or a roof-prone signal is detected, a maintenance signal and maintenance information are sent to the personnel. The maintenance information includes the roof support number and the depth of the roof support in the coal mine return airway, instructing the personnel to enter the coal mine return airway and proceed to the corresponding location for maintenance. If both a normal support signal and a safety signal are detected simultaneously, an exemption signal is sent to the personnel.

[0084] It should be noted that, depending on the different maintenance information, the maintenance content for staff mainly includes two parts. The first part is to determine the maintenance location based on the number and depth of the roof support, and inspect the corresponding roof support. If any damage is found, the parts should be replaced or repaired in a timely manner to ensure the normal function of the roof support and avoid roof collapse accidents caused by abnormal roof support function. The second part is to determine the maintenance location based on the number and depth of the roof support, and perform a knocking and probing operation on the roof of the corresponding roof support to eliminate potential risks of roof collapse and ensure the safety of the staff.

[0085] When staff receive an exemption signal, the return airway inspection robot will replace the staff in carrying out routine inspections of the coal mine's return airway. When staff only receive a maintenance signal, that is, when there is no risk of roof collapse, the staff will be instructed to make the corresponding work preparations and enter the coal mine's return airway to carry out maintenance work according to the maintenance information, thereby eliminating potential accident risks and providing effective protection for the safety of the staff.

[0086] According to the above embodiments of the present invention, after step S210, that is, after generating a roof support abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support, and / or after generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, the inspection method of the coal mine return airway further includes: determining the roof fall index of the roof support by a third formula under the deformation index and the abnormality index, wherein the third formula is: MDi=BXi*c1+YCi*c2, MDi represents the roof fall index, BXi represents the deformation index, YCi represents the abnormality index, c1 represents the deformation index conversion factor, and c2 represents the abnormality index conversion factor; generating an early warning signal when the roof fall index is greater than the roof fall index threshold, wherein the early warning signal is used to prompt the workers in the return airway to evacuate; storing the monitoring time of the roof support, the number of the roof support, and the depth of the roof support in the return airway when the roof fall index is not greater than the roof fall index threshold.

[0087] Optionally, the aforementioned roof fall index is used to detect the likelihood of a roof fall accident occurring.

[0088] Optionally, the aforementioned roof fall index threshold is a standard used to determine whether a roof fall accident will occur.

[0089] For example, when the roof fall index is greater than the roof fall index threshold and the roof fall index is relatively large, it can be judged that the possibility of a roof fall accident is high. In this case, a warning message is sent to the workers who are working in the coal mine return air roadway to remind them to evacuate, so as to prevent casualties caused by the roof fall accident and further ensure the safety of the workers. At the same time, workers who are about to enter the coal mine return air roadway are prohibited from entering the site to avoid increasing the number of casualties.

[0090] Based on the deformation index BXi of the corresponding column of the roof support and the abnormal index YCi of the roof support corresponding to the roof obtained in the above process, combined with the preset deformation index conversion factor c1 and the preset abnormal index conversion factor c2, the roof fall index MDi can be obtained by using the formula MDi=BXi*c1+YCi*c2 (third formula). Then, the roof fall index is compared with the preset roof fall index threshold. When the roof fall index is greater than the roof fall index threshold, an early warning signal is generated; when the roof fall index is less than the roof fall index threshold, the monitoring time, roof support number and the depth of the roof support are sent to the database for storage as monitoring information.

[0091] When workers receive both maintenance and warning signals simultaneously, indicating a risk of roof collapse, they are instructed to evacuate from the coal mine's return airway immediately. At the same time, workers about to enter the coal mine's return airway are prohibited from entering the site to avoid further casualties caused by the accident.

[0092] According to the above embodiments of the present invention, before workers enter the return airway of a coal mine, it is necessary to identify their safety equipment. Based on the identification results of the safety equipment, restrictions are imposed on workers' entry into the return airway. That is, the inspection method for the return airway of a coal mine may further include: acquiring an image of a target object at the entrance of the return airway; comparing the image of the target object with a reference image to obtain a comparison result, wherein the reference image is an image acquired when the target object is wearing safety protective equipment, which includes at least: a safety helmet, a respirator, protective gloves, and protective shoes; generating a pass signal if the comparison result indicates that the image is consistent with the reference image; and generating a disallow pass signal if the comparison result indicates that the image is inconsistent with the reference image.

[0093] As above Figure 3 As shown, the safety equipment identification module is used to identify the safety equipment of workers about to enter the coal mine return airway. The identification process is as follows:

[0094] First, high-definition cameras are used to capture images of the workers who are about to enter the coal mine return airway. The captured images include front and back views of the workers who are about to enter the coal mine return airway. These front and back views of the workers entering the coal mine return airway are referred to as the front view and back view of the workers.

[0095] Then, the corresponding parts of the front and back images of the staff are identified, including the staff's head, face, hands, and feet, to obtain images of the corresponding parts of the staff. The images of the staff's head, face, hands, and feet are matched with images of safety helmets, respirators, protective gloves, and protective shoes stored in the database, respectively. The images of the corresponding parts of the staff are matched with images of safety equipment stored in the database, and the number of successful matches is counted.

[0096] The number of successful matches is then compared with a preset threshold. If the number of successful matches equals the preset threshold, it is determined that the worker has worn all safety equipment and is allowed to enter the coal mine return airway to work. Otherwise, it is determined that the worker has not worn all safety equipment and is prohibited from entering the coal mine return airway to work.

[0097] By analyzing the images of workers about to enter the coal mine return airway, it can be determined whether the workers are wearing safety equipment as required. Only workers wearing complete safety equipment are allowed to enter the coal mine return airway to work. This improves the workers' awareness of safety regulations and, to a certain extent, prevents safety accidents caused by incomplete safety equipment.

[0098] In addition, the information collected or monitored by each of the above modules will be sent to the staff's terminals so that the staff can be aware of it.

[0099] As described above, through the above steps, image acquisition equipment can be used to acquire images of the roof support columns in the return air roadway and the corresponding floor images of the roof support in the return air roadway. Simultaneously, audio signals above the roof support are acquired using audio acquisition equipment. The roof support columns are the columns of the roof support. Then, image analysis is performed on the column images to obtain the deformation index of the roof support columns. Simultaneously, image analysis is performed on the floor images to obtain the gangue density of the floor images. Next, the audio signals are analyzed to obtain the number of abnormal noises and the duration of the abnormal noises above the roof support. The duration of the abnormal noises is the sum of the durations of each abnormal noise. Then, based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises, the abnormal index of the roof corresponding to the roof support is determined. Finally, if the deformation index is less than that of the roof support columns, the abnormal index is determined. An abnormal signal for the roof support column is generated when the abnormality index reaches a threshold, and a roof abnormality signal is generated when the abnormality index exceeds the threshold. This is used to inspect the return airway. The abnormal support column signal indicates the need for maintenance of the roof support column, and the roof abnormality signal indicates the need for maintenance of the roof. This achieves the goal of monitoring for abnormalities in the roof support and the corresponding roof by analyzing the images of the roof support column, the floor image, and the audio signal above the roof support. This realizes the effect of automated inspection of the coal mine return airway. When an abnormality occurs, further instructions can be given to the personnel inside and outside the coal mine return airway based on whether there is a risk of roof fall, thereby restricting the personnel from entering the coal mine return airway and improving inspection efficiency.

[0100] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art that relies on manual inspection of coal mine return air roadways, which poses safety hazards to inspection personnel.

[0101] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0103] According to embodiments of the present invention, an inspection device for a coal mine return air roadway is also provided for implementing the above-described inspection method for coal mine return air roadways. Figure 4 This is a schematic diagram of an inspection device for a coal mine return air roadway according to an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: a first acquisition unit 41, a first acquisition unit 43, a second acquisition unit 45, a first determination unit 47, and an inspection unit 49. The inspection device for the coal mine return air roadway will be described in detail below.

[0104] The first acquisition unit 41 is used to acquire images of the roof support columns in the return air roadway and the bottom plate images of the corresponding bottom plate of the roof support in the return air roadway through the image acquisition device, and at the same time to acquire audio signals above the roof support through the audio acquisition device, wherein the roof support columns are the columns of the roof support.

[0105] The first acquisition unit 43 is used to perform image analysis on the column image to obtain the deformation index of the top plate column, and at the same time perform image analysis on the bottom plate image to obtain the gangue density of the bottom plate image.

[0106] The second acquisition unit 45 is used to analyze the audio signal to obtain the number of abnormal noises above the top plate support and the duration of the abnormal noises, wherein the duration of the abnormal noises is the sum of the durations of each abnormal noise.

[0107] The first determining unit 47 is used to determine the abnormality index of the roof corresponding to the roof support based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises.

[0108] Inspection unit 49 is used to generate a roof column abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof column, and to generate a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, so as to inspect the return air roadway. The column abnormality signal is used to indicate that the roof column needs to be repaired, and the roof abnormality signal is used to indicate that the roof needs to be repaired.

[0109] It should be noted that the first acquisition unit 41, the first acquisition unit 43, the second acquisition unit 45, the first determination unit 47, and the inspection unit 49 mentioned above correspond to steps S202 to S210 in the above embodiments. The five units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0110] As can be seen from the above, in the scheme described in the above embodiments of the present invention, the first acquisition unit can use an image acquisition device to acquire images of the roof support columns in the return air roadway and the bottom plate images of the corresponding bottom plates of the roof support in the return air roadway, and simultaneously use an audio acquisition device to acquire audio signals above the roof support, wherein the roof support columns are the columns of the roof support; then the first acquisition unit performs image analysis on the column images to obtain the deformation index of the roof support columns, and simultaneously performs image analysis on the bottom plate images to obtain the gangue density of the bottom plate; then the second acquisition unit analyzes the audio signals to obtain the number of abnormal noises and the duration of abnormal noises above the roof support, wherein the duration of abnormal noises is the sum of the durations of each abnormal noise; then the first determination unit determines the abnormality index of the roof corresponding to the roof support based on the gangue density, the number of abnormal noises, and the duration of abnormal noises; finally... Subsequently, the inspection unit generates a roof support abnormality signal when the deformation index is less than the roof support deformation index threshold, and generates a roof abnormality signal when the abnormality index is greater than the abnormality index threshold, to inspect the return air roadway. The support abnormality signal indicates that the roof support needs maintenance, and the roof abnormality signal indicates that the roof needs maintenance. This achieves the goal of monitoring whether there are abnormalities in the roof support and the roof corresponding to the roof support by analyzing the images of the roof support and the corresponding support, the bottom plate image, and the audio signal above the support. This realizes the effect of automated inspection of the coal mine return air roadway. When an abnormality occurs, it can give further instructions to the staff inside and outside the coal mine return air roadway based on whether there is a risk of roof fall, thereby restricting the staff from entering the coal mine return air roadway and improving inspection efficiency.

[0111] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art that relies on manual inspection of coal mine return air roadways, which poses safety hazards to inspection personnel.

[0112] Optionally, the first acquisition unit includes: a first acquisition module, used to perform edge detection on the column image to obtain a geometric shape map of the top plate column in the column image; a second acquisition module, used to compare the geometric shape map of the column with the original geometric shape map of the top plate column to obtain the overlapping area of ​​the geometric shape map of the column and the original geometric shape map, wherein the original geometric shape map is the geometric shape map of the top plate column when no abnormality occurs; a first determination module, used to determine the current column length of the top plate column based on the column geometric shape map; and a second determination module, used to determine the deformation index based on the overlapping area and the current column length.

[0113] Optionally, the first determining module includes: a first determining submodule, used to determine the geometric column length of the column geometry diagram; and a first obtaining submodule, used to multiply the geometric column length by a scaling factor to obtain the current column length.

[0114] Optionally, the second determining module includes: a second determining submodule, used to determine the deformation index using a first formula based on the overlapping area and the current column length, wherein the first formula is: BXi represents the deformation index, FSi represents the overlapping area, Li represents the current column length, YSi represents the original area of ​​the roof column, YLi represents the original length of the roof column, a1 represents the weighting factor of the overlapping area, and a2 represents the weighting factor of the current column length.

[0115] Optionally, the first acquisition unit includes: a third determining module for determining the grayscale value of the gangue; a third acquisition module for identifying the gangue in the base plate image based on the grayscale value to obtain the total number of gangue in the base plate image; and a fourth determining module for determining the density of the gangue in the base plate image based on the shooting area and the total number of gangue in the base plate image to obtain the gangue density.

[0116] Optionally, the second acquisition unit includes: a fourth acquisition module for denoising the audio signal to obtain a denoised audio signal; a first conversion module for converting the denoised audio signal into a digital signal; a second conversion module for converting the digital signal into an abnormal noise waveform; a fifth acquisition module for matching multiple abnormal noise waveforms corresponding to the abnormal noise waveform with the rock stratum abnormal noise waveform to obtain the number of abnormal noise waveforms in the multiple abnormal noise waveforms that successfully match the rock stratum abnormal noise waveform; and a fifth determination module for determining the number of abnormal noise waveforms as the number of abnormal noises.

[0117] Optionally, the second acquisition unit includes: a sixth determining module, used to determine the corresponding target abnormal noise waveform based on the number of abnormal noise waveforms; a seventh determining module, used to determine the duration of each abnormal noise based on the target abnormal noise waveform; and an eighth determining module, used to determine that the sum of the durations of each abnormal noise is the duration of the abnormal noise.

[0118] Optionally, the first determining unit includes: a ninth determining module, used to determine an anomaly index using a second formula based on gangue density, number of abnormal noises, and duration of abnormal noises, wherein the second formula is: YCi represents the anomaly index, p represents the gangue density threshold, m represents the abnormal noise frequency threshold, t represents the abnormal noise duration threshold, b1 represents the gangue density weighting factor, b2 represents the abnormal noise frequency weighting factor, b3 represents the abnormal noise duration weighting factor, Pi represents the gangue density, Mi represents the abnormal noise frequency, Ti represents the abnormal noise duration, and i represents the number of the roof support.

[0119] Optionally, the inspection device for the return air roadway of the coal mine further includes: a first generation unit, used to generate a roof support abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support, and / or, after generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, generate a maintenance signal and maintenance information, so as to prompt the roof support to be maintained according to the maintenance information through the maintenance signal, wherein the maintenance information includes at least: the number of the roof support and the depth of the roof support in the return air roadway.

[0120] Optionally, the inspection device for the return air roadway of the coal mine further includes: a second determining unit, used to generate a roof support abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support, and / or, after generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, to determine the roof fall index of the roof support by a third formula under the deformation index and the abnormality index, wherein the third formula is: MDi=BXi*c1+YCi*c2, MDi represents the roof fall index, BXi represents the deformation index, YCi represents the abnormality index, c1 represents the deformation index conversion factor, and c2 represents the abnormality index conversion factor; a second generating unit, used to generate an early warning signal when the roof fall index is greater than the roof fall index threshold, wherein the early warning signal is used to prompt the personnel in the return air roadway to evacuate; and a storage unit, used to store the monitoring time of the roof support, the number of the roof support, and the depth of the roof support in the return air roadway when the roof fall index is not greater than the roof fall index threshold.

[0121] Optionally, the inspection device for the coal mine return air roadway further includes: a second acquisition unit for acquiring an image of the target object at the entrance of the return air roadway; a comparison unit for comparing the image of the target object with a reference image to obtain a comparison result, wherein the reference image is an image acquired when the target object is wearing safety protective equipment, and the safety protective equipment includes at least: a safety helmet, a respirator, protective gloves, and protective shoes; a third generation unit for generating a pass signal if the comparison result indicates that the image is consistent with the reference image; and a fourth generation unit for generating a disallow pass signal if the comparison result indicates that the image is inconsistent with the reference image.

[0122] According to another aspect of the present invention, an inspection system for a coal mine return airway is also provided, which uses any of the above-described inspection methods for coal mine return airways.

[0123] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes any of the above-described methods for inspecting coal mine return air roadways.

[0124] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0125] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: acquiring images of the roof support columns in the return air roadway and the corresponding floor images of the roof support in the return air roadway using an image acquisition device, and simultaneously acquiring audio signals above the roof support using an audio acquisition device, wherein the roof support columns are the columns of the roof support; performing image analysis on the column images to obtain the deformation index of the roof support columns, and simultaneously performing image analysis on the floor images to obtain the gangue density of the floor images; analyzing the audio signals to obtain the roof support... The system tracks the number of abnormal noises and their duration above the support frame, where the duration is the sum of the durations of each abnormal noise. Based on the gangue density, the number of abnormal noises, and their duration, the system determines the abnormality index of the roof corresponding to the roof support. When the deformation index is less than the deformation index threshold of the roof support column, a roof support column abnormality signal is generated; conversely, when the abnormality index is greater than the abnormality index threshold, a roof abnormality signal is generated to inspect the return airway. The support column abnormality signal indicates the need for roof support column maintenance, and the roof abnormality signal indicates the need for roof maintenance.

[0126] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: performing edge detection on the column image to obtain a column geometry map of the top plate column in the column image; comparing the column geometry map with the original geometry map of the top plate column to obtain the overlapping area of ​​the column geometry map and the original geometry map, wherein the original geometry map is the geometry map of the top plate column when no abnormality occurs; determining the current column length of the top plate column based on the column geometry map; and determining the deformation index based on the overlapping area and the current column length.

[0127] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the geometric column length of the column geometry diagram; multiplying the geometric column length by a scaling factor to obtain the current column length.

[0128] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the deformation index using a first formula based on the overlapping area and the current column length, wherein the first formula is: BXi represents the deformation index, FSi represents the overlapping area, Li represents the current column length, YSi represents the original area of ​​the roof column, YLi represents the original length of the roof column, a1 represents the weighting factor of the overlapping area, and a2 represents the weighting factor of the current column length.

[0129] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the grayscale value of the gangue; identifying the gangue in the base plate image based on the grayscale value to obtain the total number of gangue in the base plate image; and determining the density of the gangue in the base plate image based on the shooting area and the total number of gangue in the base plate image to obtain the gangue density.

[0130] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: denoising the audio signal to obtain a denoised audio signal; converting the denoised audio signal into a digital signal; converting the digital signal into an abnormal noise waveform; matching the multiple abnormal noise waveforms corresponding to the abnormal noise waveform with the rock stratum abnormal noise waveform respectively to obtain the number of abnormal noise waveforms in the multiple abnormal noise waveforms that successfully match the rock stratum abnormal noise waveform; and determining the number of abnormal noise waveforms as the number of abnormal noises.

[0131] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the corresponding target abnormal noise waveform based on the number of abnormal noise waveforms; determining the duration of each abnormal noise based on the target abnormal noise waveform; and determining the sum of the durations of each abnormal noise as the duration of the abnormal noise.

[0132] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining an anomaly index using a second formula based on gangue density, number of abnormal noises, and duration of abnormal noises, wherein the second formula is: YCi represents the anomaly index, p represents the gangue density threshold, m represents the abnormal noise frequency threshold, t represents the abnormal noise duration threshold, b1 represents the gangue density weighting factor, b2 represents the abnormal noise frequency weighting factor, b3 represents the abnormal noise duration weighting factor, Pi represents the gangue density, Mi represents the abnormal noise frequency, Ti represents the abnormal noise duration, and i represents the number of the roof support.

[0133] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: generating maintenance signals and maintenance information, so as to prompt the roof support to be maintained according to the maintenance information through the maintenance signals, wherein the maintenance information includes at least: the number of the roof support and the depth of the roof support in the return air roadway.

[0134] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the roof fall index of the roof support using a third formula under the deformation index and the anomaly index, wherein the third formula is: MDi=BXi*c1+YCi*c2, where MDi represents the roof fall index, BXi represents the deformation index, YCi represents the anomaly index, c1 represents the deformation index conversion factor, and c2 represents the anomaly index conversion factor; generating an early warning signal when the roof fall index is greater than the roof fall index threshold, wherein the early warning signal is used to prompt the personnel in the return airway to evacuate; and storing the monitoring time of the roof support, the number of the roof support, and the depth of the roof support in the return airway when the roof fall index is not greater than the roof fall index threshold.

[0135] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: acquiring an image of a target object at the entrance of the return airway; comparing the image of the target object with a reference image to obtain a comparison result, wherein the reference image is an image acquired when the target object is wearing safety protective equipment, and the safety protective equipment includes at least: a safety helmet, a respirator, protective gloves, and protective shoes; generating a pass signal if the comparison result indicates that the image is consistent with the reference image; and generating a disallow pass signal if the comparison result indicates that the image is inconsistent with the reference image.

[0136] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes any of the above-described methods for inspecting coal mine return air roadways.

[0137] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0138] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0140] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0143] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for inspecting return air roadways in coal mines, characterized in that, include: The image acquisition device acquires images of the roof support columns in the return air roadway and the bottom plate image of the corresponding bottom plate of the roof support in the return air roadway. At the same time, the audio acquisition device acquires audio signals above the roof support. The roof support columns are the columns of the roof support. Image analysis is performed on the column image to obtain the deformation index of the top plate column, and image analysis is performed on the bottom plate image to obtain the gangue density of the bottom plate image; The audio signal is analyzed to obtain the number of abnormal noises above the top plate support and the duration of the abnormal noises, wherein the duration of the abnormal noises is the sum of the durations of each abnormal noise; The abnormality index of the roof corresponding to the roof support is determined based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises. A roof support column abnormality signal is generated when the deformation index is determined to be less than the deformation index threshold of the roof support column; simultaneously, a roof abnormality signal is generated when the abnormality index is determined to be greater than the abnormality index threshold, in order to conduct inspections of the return airway. The support column abnormality signal is used to indicate the need for maintenance of the roof support column, and the roof abnormality signal is used to indicate the need for maintenance of the roof. Image analysis of the column image to obtain the deformation index of the roof column includes: edge detection of the column image to obtain the column geometry of the roof column in the column image; comparison of the column geometry with the original geometry of the roof column to obtain the overlapping area between the column geometry and the original geometry, wherein the original geometry is the geometry of the roof column when no abnormality is observed; determination of the current column length of the roof column based on the column geometry; and determination of the deformation index based on the overlapping area and the current column length.

2. The inspection method for coal mine return air roadways according to claim 1, characterized in that, Determining the current column length of the roof slab column based on the column geometry diagram includes: Determine the geometric length of the column as shown in the column geometry diagram; Multiply the geometric column length by the scaling factor to obtain the current column length.

3. The inspection method for coal mine return air roadways according to claim 1, characterized in that, The deformation index is determined based on the overlapping area and the current column length, including: Given the overlapping area and the current column length, the deformation index is determined using a first formula, wherein the first formula is: , This represents the deformation index. This represents the overlapping area. This indicates the current column length. This represents the original area of ​​the top plate column. This indicates the original length of the top plate column. The weighting factor represents the overlapping area. The weighting factor represents the current column length.

4. The inspection method for coal mine return air roadways according to claim 1, characterized in that, Image analysis is performed on the base plate image to obtain the gangue density of the base plate image, including: Determine the grayscale value of the gangue; Based on the grayscale values, the gangue in the base plate image is identified to obtain the total number of gangue in the base plate image; The density of the gangue in the base plate image is determined based on the captured area and the total quantity, thus obtaining the gangue density.

5. The inspection method for coal mine return air roadways according to claim 1, characterized in that, The audio signal is analyzed to obtain the number of abnormal noises above the top plate support, including: The audio signal is denoised to obtain the denoised audio signal. The denoised audio signal is converted into a digital signal; Convert the digital signal into an abnormal noise waveform; The abnormal noise waveform diagrams corresponding to the abnormal noise waveform diagrams are matched with the abnormal noise waveform diagrams of the rock strata respectively to obtain the number of abnormal noise waveform diagrams in the multiple abnormal noise waveform diagrams that are successfully matched with the abnormal noise waveform diagrams of the rock strata; The number of abnormal noise waveforms is determined as the number of abnormal noises.

6. The inspection method for coal mine return air roadways according to claim 5, characterized in that, The audio signal was analyzed to obtain the duration of the abnormal noise above the top plate support, including: The corresponding target abnormal noise waveform is determined based on the number of abnormal noise waveforms. The duration of each abnormal noise is determined based on the target abnormal noise waveform diagram; The sum of the durations of each abnormal noise is determined as the duration of the abnormal noise.

7. The inspection method for coal mine return air roadways according to claim 1, characterized in that, The abnormality index of the roof corresponding to the roof support is determined based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises, including: The anomaly index is determined by a second formula based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises, wherein the second formula is: , This indicates the abnormal index. Indicates the threshold density of gangue. Indicates the threshold for the number of abnormal noises. This indicates the threshold for the duration of the abnormal noise. This represents the weighting factor for gangue density. Indicates the weighting factor for the number of abnormal noises. This indicates the weighting factor for the duration of the abnormal noise. This indicates the density of the gangue. Indicates the number of times the abnormal noise occurred. The duration of the abnormal noise is indicated by , and i represents the number of the top plate support.

8. The inspection method for coal mine return air roadways according to claim 1, characterized in that, Generating a roof column abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof column, and / or, after generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, further comprising: A maintenance signal and maintenance information are generated so as to prompt the roof support to be maintained according to the maintenance information through the maintenance signal. The maintenance information includes at least: the number of the roof support and the depth of the roof support in the return air roadway.

9. The inspection method for coal mine return air roadways according to claim 1, characterized in that, Generating a roof column abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof column, and / or, after generating a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, further comprising: Under the deformation index and the anomaly index, the roof fall index of the roof support is determined by a third formula, wherein the third formula is: , This represents the collapse index. This represents the deformation index. This indicates the abnormal index. Indicates the deformation index conversion factor. Indicates the abnormal index conversion factor; When the roof fall index is greater than the roof fall index threshold, an early warning signal is generated, wherein the early warning signal is used to prompt the staff in the return air roadway to evacuate; When the roof fall index is not greater than the roof fall index threshold, the monitoring time of the roof support, the number of the roof support, and the depth of the roof support in the return airway are stored.

10. The inspection method for a coal mine return air roadway according to any one of claims 1 to 9, characterized in that, Also includes: Acquire an image of the target object at the entrance of the return air tunnel; The image of the target object is compared with a reference image to obtain a comparison result. The reference image is an image captured when the target object is wearing safety protection equipment. The safety protection equipment includes at least: a safety helmet, a respirator, protective gloves, and protective shoes. If the comparison result indicates that the image matches the reference image, a pass signal is generated; If the comparison result indicates that the image is inconsistent with the reference image, a signal indicating that passage is not allowed is generated.

11. An inspection device for a coal mine return air roadway, characterized in that, include: The first acquisition unit is used to acquire images of the roof support columns in the return air roadway and the bottom plate images of the corresponding bottom plates of the roof support in the return air roadway through an image acquisition device, and at the same time acquire audio signals above the roof support through an audio acquisition device, wherein the roof support columns are the columns of the roof support. The first acquisition unit is used to perform image analysis on the column image to obtain the deformation index of the top plate column, and simultaneously perform image analysis on the bottom plate image to obtain the gangue density of the bottom plate image. The second acquisition unit is used to analyze the audio signal to obtain the number of abnormal noises above the top plate support and the duration of the abnormal noises, wherein the duration of the abnormal noises is the sum of the durations of each abnormal noise; The first determining unit is used to determine the abnormality index of the top plate corresponding to the top plate support based on the gangue density, the number of abnormal noises, and the duration of the abnormal noises. The inspection unit is used to generate a roof support column abnormality signal when the deformation index is determined to be less than the deformation index threshold of the roof support column, and to generate a roof abnormality signal when the abnormality index is determined to be greater than the abnormality index threshold, so as to inspect the return airway. The support column abnormality signal is used to indicate that the roof support column needs to be repaired, and the roof abnormality signal is used to indicate that the roof needs to be repaired. The first acquisition unit includes: a first acquisition module, configured to perform edge detection on the column image to obtain a geometric shape diagram of the top plate column in the column image; a second acquisition module, configured to compare the geometric shape diagram of the column with the original geometric shape diagram of the top plate column to obtain the overlapping area of ​​the geometric shape diagram of the column and the original geometric shape diagram, wherein the original geometric shape diagram is the geometric shape diagram of the top plate column when no abnormality occurs; a first determination module, configured to determine the current column length of the top plate column based on the column geometric shape diagram; and a second determination module, configured to determine the deformation index based on the overlapping area and the current column length.

12. An inspection system for a coal mine return air roadway, characterized in that, The inspection system for the coal mine return air roadway uses the inspection method for the coal mine return air roadway as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program executes the inspection method for coal mine return air roadways according to any one of claims 1 to 10.

14. A processor, characterized in that, The processor is used to run a program, wherein the program executes the inspection method for coal mine return air roadways according to any one of claims 1 to 10.

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