Mine vibration fine tuning machine vision auxiliary shaft operation vehicle safety detection device

Abstract

The invention relates to the technical field of safety detection, and provides a mine vibration fine-tuning machine vision auxiliary shaft operation vehicle safety detection device which comprises a machine vision camera, and when mechanical equipment in a mine begins to operate, generated vibration is transmitted to the detection device through a mine structure. At the moment, the rotating ball mechanism starts to play a damping role, fine adjustment of movement of the rotating ball body can be achieved by accurately controlling the rotating speed and direction of the synchronous motor, so that external vibration is counteracted to a certain degree, the rotating ball body is spherical or approximately spherical, and the shape has natural stability; and vibration energy can be uniformly dispersed in multiple directions. When external vibration is transmitted to the rotating ball body, the ball shape of the rotating ball body is allowed to rotate freely within a certain range, so that part of vibration is counteracted, the influence on the machine vision camera is reduced, and the influence of vibration on the machine vision camera is reduced through buffering of rotation of the rotating ball body.

Description

Technical Field

[0001] The present invention relates to the technical field of safety detection, and in particular to a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device. Background Art

[0002] In the current coal mining industry, mine machine vision auxiliary shaft vehicle operation safety detection devices play a vital role. Such devices are mainly used to monitor the position status of auxiliary shaft vehicle operation equipment and personnel operation behavior in real time to ensure the safety and efficiency of the operation process. However, due to the complexity and particularity of the mine environment, these machine vision detection devices face many challenges in practical applications, especially in terms of visual acquisition stability and image clarity.

[0003] Chinese invention patent, application number CN201910484331.X, an intelligent mine safety monitoring device, including a mine monitoring device body, a chassis, an alarm light and a monitoring device, a monitoring device is fixedly installed on the other side of the mine monitoring device body, a detection port is fixedly installed on the bottom of the mine monitoring device body, a servo motor is fixedly installed inside the mine monitoring device body, a vibration detector is fixedly installed on one side of the servo motor, an oxygen detector is fixedly installed below the vibration detector, a chassis is fixedly installed on the top of the mine monitoring device body, and a heat dissipation port is fixedly opened on the outer surface of the chassis. The present invention arranges an oxygen detector and a detection port, and the airflow inside the mine flows in through the detection port, and the gas is detected by the oxygen detector.

[0004] However, there are some shortcomings in the operation of the existing mine machine vision auxiliary shaft operation, which still need to be improved. The existing mechanical equipment in the mine will produce bumps during operation. These external factors will directly affect the stability of the machine vision detection device. The bumps of the mechanical equipment in the mine will also affect the machine vision detection and acquisition accordingly. This vibration will cause the relative position of the camera lens and the imaging system to change, resulting in image blur or jitter. When the device is vibrated, its lens and imaging system may shift, resulting in blurred or distorted images.

[0005] In high-vibration environments such as mines, traditional machine vision inspection devices often have difficulty maintaining stability, resulting in unclear and jittery image acquisition, which seriously affects image quality and subsequent data processing and analysis.

[0006] Existing detection devices usually do not have an effective shock absorption mechanism and cannot effectively disperse the vibration energy to reduce the impact on the camera, which limits their application scope in high-vibration environments.

[0007] The supporting structure of traditional detection devices is not stable enough and is easily affected by external vibrations, causing displacement or deformation, which further affects the stability and accuracy of image acquisition. The images collected by traditional detection devices in high-vibration environments often have problems such as blurring and jitter, which makes it difficult to meet the needs of high-precision image processing. In emergency situations, such as equipment failure or safety hazards, traditional detection devices may not be able to respond and issue warning signals in time, delaying the resolution of the problem. Some detection devices use wired transmission, which is not only cumbersome to wire, but may also cause data transmission interruptions or delays due to line problems.

[0008] The light sources used in traditional mine machine vision inspection devices are usually lighting equipment with fixed brightness and color temperature. After installation, the lighting parameters of these devices cannot be automatically adjusted according to the complex and changeable light conditions in the mine. The light conditions in the mine are affected by many factors, including changes in natural light in different time periods, uneven lighting caused by mine depth and tunnel layout, shadows caused by equipment operation, and scattering and absorption of light by environmental factors such as dust. Since the existing technology cannot achieve adaptive adjustment of light sources, this leads to the following serious problems:

[0009] In the case of too strong or too weak light, the image obtained by the machine vision camera may be overexposed or underexposed, resulting in loss of image details and affecting the accuracy of detection. For example, when there is strong natural light coming in from the wellhead, a light source with a fixed brightness may cause some areas to be too bright, while corners with darker light cannot be imaged clearly.

[0010] Light sources with a fixed color temperature cannot adapt to the color temperature differences in different areas of the mine, which may distort the color of the acquired images and bring difficulties to subsequent image processing and analysis. For example, the light in some areas is yellowish, while in other areas it is blue, which will lead to deviations in the judgment of the color and features of objects.

[0011] When the working conditions of a mine change, such as adding new equipment or changing the mining area, fixed light sources are difficult to meet the new lighting needs, and complex light source layout and debugging are required.

[0012] In areas with sufficient light, the fixed brightness light source continues to operate at maximum power, resulting in unnecessary energy consumption; in areas with insufficient light, it cannot provide sufficient lighting, affecting the detection effect.

[0013] Therefore, we propose a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device. Summary of the invention

[0014] The purpose of the present invention is to address the problems raised by the existing background technology. In order to achieve the above-mentioned purpose of the invention, the present invention provides the following technical solutions: a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device, including a machine vision camera, a light source sensor is provided on the rear side of the machine vision camera, the light source sensor is connected to the light source adaptive adjustment module, the machine vision camera is installed and fixed on the detection device mounting frame, the photosensitive element size of the machine vision camera is 1 / 2.5 inches, the pixel size is 3.45μm, and the minimum illumination is 0.01Lux, an octagonal connecting platform is provided on the detection device mounting frame, the detection device mounting frame is provided with a safety detection scanning module, the safety detection scanning module and the safety detection image acquisition module and the safety thermal detection module are data-connected to the safety detection data processor, and the safety detection data processor is connected to the safety detection alarm;

[0015] The field of view angle calculation formula of the safety detection image acquisition module is as follows:

[0016]

[0017] Where d is the diagonal length of the image sensor (unit: mm), and f is the focal length of the lens (unit: mm). The field of view of the image is calculated using the field of view angle calculation formula of the safety detection image acquisition module;

[0018] The safety detection data processor is connected to the octagonal connection platform through a square connecting rod. A circular shell is arranged below the safety detection data processor. The safety detection data processor adopts a quad-core processor with a main frequency of 1.8GHz and is equipped with 4GB DDR4 memory. A wireless signal transmitter is arranged above the safety detection data processor. The wireless signal transmitter supports the IEEE 802.11b / g / n standard and has an operating frequency of 2.4GHz.

[0019] The transmission power of the wireless signal transmitter is P (unit: dBm), and the propagation loss of the signal in free space is L (unit: dB). The signal transmission distance is calculated by the following formula:

[0020] L=20log 10 (d)+20log 10 (f) -147.55;

[0021] Where: d is the signal transmission distance (unit: km), f is the signal frequency (unit: MHz), and the signal transmission distance is calculated by the formula to estimate the signal strength at different distances.

[0022] A rotating ball mechanism is arranged inside the octagonal connecting platform, and the rotating ball mechanism can perform 360° continuous rotation. The rotating ball mechanism comprises a rotating ball body, a rotating shaft, a circular gasket, and a synchronous motor. The rotating ball body is provided with a rotating shaft, and a circular gasket is sleeved on the rotating shaft. The rotating shaft is connected to the synchronous motor, and the rated power of the synchronous motor is 5W and the rated speed is 3000rpm. The rotating ball mechanism is arranged inside the ring frame mechanism, and the ring frame mechanism comprises an inner ring and an outer ring, and the inner ring is movably matched with the outer ring, and the rotating ball body is arranged inside the inner ring.

[0023] As a preferred technical solution of the present invention, a device fixing frame is arranged on the side of the detection device mounting frame, fixing bolts are arranged on the device fixing frame, a connecting rod is arranged on the detection device mounting frame, and a connecting flange is arranged on the connecting rod.

[0024] As a preferred technical solution of the present invention, the machine vision camera, the safety detection scanning module and the safety thermal detection module, the safety thermal detection module adopts an infrared thermal imager with a resolution of 320×240 pixels and a thermal sensitivity of less than 50mK; the operation data collected from the mine auxiliary shaft operation vehicle is transmitted to the safety detection image acquisition module;

[0025] The average temperature of the safety thermal detection module is expressed as:

[0026]

[0027] Where: T(x,y) is the temperature at point (x,y), A is the area of ​​the safety detection scan, and the temperature distribution of the entire area is obtained by calculating the average temperature;

[0028] The operating data of the mine auxiliary shaft car includes the auxiliary shaft car appearance, track status, auxiliary shaft car loading and auxiliary shaft car position and speed data. The temperature measurement range of the safety thermal detection module is -20℃ to +500℃ with an accuracy of ±2℃.

[0029] As a preferred technical solution of the present invention, the safety detection image acquisition module transmits data to the safety detection data processor through a circuit, and the safety detection data processor performs image denoising, enhancement, and edge detection processing on the data of the safety detection image acquisition module;

[0030] The formula for image denoising of the safety detection data processor is:

[0031] F(x,y)=median{g(s,t)},(s,t)∈W;

[0032] Among them, F(x,y) is the processed image, g(s,t) is the pixel value in a window W of the original image, and the formula replaces the value of the central pixel by selecting the median of the pixel values ​​in the window to remove isolated noise points in the image.

[0033] As a preferred technical solution of the present invention, the safety detection data processor analyzes and judges the data extracted by the safety detection image acquisition module, and compares it with the operation rules and safety standards of the mine auxiliary shaft operation, and transmits the operation status and safety risks of the mine auxiliary shaft operation to the safety center through a wireless signal transmitter. The transmission distance of the wireless signal transmitter is 5km and the transmission rate is 2Mbps.

[0034] The feature extraction formula in the safety detection data processor process is:

[0035]

[0036] Among them: δ is the eigenvalue, I represents the gray value function of the image; in binary images, it usually takes the value of 0 or 1, where 1 represents the target pixel and 0 represents the background pixel; r, s represent the position coordinates of the pixel in the image; in discrete digital images, it is an integer value, but in the case of continuous images, it is a non-integer; p, q represent the order of the moment.

[0037] As a preferred technical solution of the present invention, an intermediate connecting body is arranged outside the outer ring, and a first semicircular body is arranged on the upper part of the intermediate connecting body.

[0038] As a preferred technical solution of the present invention, a second semicircular body is provided at the lower part of the intermediate connecting body.

[0039] As a preferred technical solution of the present invention, a top cover round buckle is arranged on the upper part of the first semicircular body, and a round buckle hook is arranged inside the lower side of the top cover round buckle.

[0040] As a preferred technical solution of the present invention, a mounting hole is provided at the lower portion of the second semicircular body.

[0041] As a preferred technical solution of the present invention, a circular cavity is formed inside the first semicircular body, the second semicircular body and the intermediate connecting body, and the rotating spherical body is arranged at the center of the circular cavity.

[0042] Compared with the prior art, the present invention has the following beneficial effects: In the scheme of the present invention: When the mechanical equipment in the mine starts to run, the vibration generated is transmitted to the detection device through the mine structure. At this time, the rotating ball mechanism begins to play its shock-absorbing role. By precisely controlling the rotation speed and direction of the synchronous motor, it is possible to fine-tune the movement of the rotating ball body, thereby offsetting external vibrations to a certain extent. The rotating ball body is spherical or approximately spherical, and this shape has natural stability and can evenly disperse vibration energy in multiple directions. When external vibrations are transmitted to the rotating ball body, its spherical shape allows free rotation within a certain range, thereby offsetting part of the vibration and reducing the impact on the machine vision camera. The impact of vibration on the machine vision camera is reduced by buffering the rotation of the rotating ball body;

[0043] By combining the rotating ball mechanism and the ring frame mechanism, the stability of the machine vision inspection device in a vibration environment is effectively improved, and the clarity and accuracy of image acquisition are guaranteed. The shock absorption effect of the rotating ball mechanism can disperse the vibration energy, reduce the impact on the machine vision camera, and improve the quality of image acquisition. The stable support of the ring frame mechanism provides a relatively stable support environment for the rotating ball mechanism, limits the excessive displacement of the rotating ball body, and allows necessary rotational movement to cope with vibration. The structural optimization of the intermediate connector and the upper second semicircular body enhances the structural strength of the entire device, and realizes the rapid installation and disassembly of the device, which is convenient for maintenance and repair. The design of the circular cavity provides sufficient space for the rotating ball mechanism, ensuring its flexibility of free rotation. The installation and debugging process is simple and easy to operate. During the startup and operation process, the rotating ball mechanism plays its shock absorption role and reduces the impact of vibration on the machine vision camera. During the image acquisition and processing process, the machine vision camera performs image acquisition in a relatively stable environment to ensure that the acquired image is clear and jitter-free. Maintenance and overhaul are convenient. The detection device is regularly maintained and overhauled, including cleaning the lens, checking the wear of the rotating ball mechanism and the ring frame mechanism, replacing the circular gasket, etc. High stability is achieved: The rotating ball body, rotating shaft, circular gasket, synchronous motor and ring frame mechanism work together to achieve high stability.

[0044] The adaptive light source process is realized through the machine vision camera, light source sensor and light source adaptive adjustment module: the machine vision camera is responsible for collecting image information in the mine. The light source sensor is used to detect the light intensity and color temperature in the mine. The light source adaptive adjustment module analyzes and processes the light data obtained by the light source sensor, and realizes automatic adjustment of brightness and color temperature by controlling the driving circuit of the light source. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of the structure provided by the present invention;

[0046] Figure 2 A schematic diagram of the structure of a machine vision camera provided by the present invention;

[0047] Figure 3 A schematic diagram of the main structure provided by the present invention;

[0048] Figure 4 A bottom-up structural schematic diagram provided by the present invention;

[0049] Figure 5 A schematic diagram of the structure of the detection device mounting frame provided by the present invention;

[0050] Figure 6 A schematic diagram of the semicircular structure of the detection device provided by the present invention;

[0051] Figure 7 A schematic diagram of the internal structure of the detection device provided by the present invention;

[0052] Figure 8 This is a schematic diagram of the structure of the rotating ball mechanism of the detection device provided by the present invention.

[0053] Indicated in the figure:

[0054] 1. Machine vision camera; 101. Light source sensor; 102. Light source adaptive adjustment module; 2. Detection device mounting frame; 201. Octagonal connecting platform; 3. Safety detection scanning module; 4. Safety detection image acquisition module; 5. Safety thermal detection module; 6. Safety detection data processor; 601. Square connecting rod; 602. Circular shell; 603. Wireless signal transmitter; 7. Device fixing frame; 701. Fixing bolt; 8. Connecting rod; 801. Connecting flange; 9. Rotating ball mechanism; 901. Rotating ball body; 9011. Rotating shaft; 902. Circular gasket; 903. Synchronous motor; 10. Ring frame mechanism; 101. Inner ring; 102. Outer ring; 11. First semicircular body; 12. Second semicircular body; 13. Intermediate connecting body; 14. Upper cover round buckle; 141. Round buckle hook; 15. Mounting hole. DETAILED DESCRIPTION

[0055] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0056] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features and technical solutions in the embodiments can be combined with each other without conflict. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0057] Example 1: Please refer to Figure 1-Figure 8 A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device, comprising a machine vision camera 1, a light source sensor 101 is arranged at the rear side of the machine vision camera 1, the light source sensor 101 is connected to a light source adaptive adjustment module 102, the machine vision camera 1 is mounted and fixed on a detection device mounting frame 2, the photosensitive element size of the machine vision camera 1 is 1 / 2.5 inch, the pixel size is 3.45μm, and the minimum illumination is 0.01Lux, an octagonal connecting platform 201 is arranged on the detection device mounting frame 2, and a safety detection scanning module 3 is arranged on the detection device mounting frame 2, the safety detection scanning module 3 and the safety detection image acquisition module 4 and the safety heat detection module 5 are data-connected with a safety detection data processor 6;

[0058] The calculation formula of the field of view angle of the safety detection image acquisition module 4 is as follows:

[0059]

[0060] Wherein d is the diagonal length of the image sensor (unit: mm), and f is the focal length of the lens (unit: mm). The visual field range of the image is calculated using the visual field angle calculation formula of the safety detection image acquisition module (4).

[0061] The safety detection data processor 6 is connected to the safety detection alarm. The safety detection data processor 6 is connected to the octagonal connection platform 201 through a square connecting rod 601. A circular shell 602 is arranged below the safety detection data processor 6. The safety detection data processor 6 adopts a quad-core processor with a main frequency of 1.8GHz and is equipped with 4GB DDR4 memory. A wireless signal transmitter 603 is arranged above the safety detection data processor 6. The wireless signal transmitter 603 supports the IEEE 802.11b / g / n standard and has an operating frequency of 2.4GHz.

[0062] The transmission power of the wireless signal transmitter (603) is P (unit: dBm), and the propagation loss of the signal in free space is L (unit: dB). The signal transmission distance is calculated by the following formula:

[0063] L=20log 10 (d)+20log 10 (f) -147.55;

[0064] Where: d is the signal transmission distance (unit: km), f is the signal frequency (unit: MHz), and the signal transmission distance is calculated by the formula to estimate the signal strength at different distances;

[0065] A rotating ball mechanism 9 is arranged inside the octagonal connecting platform, and the rotating ball mechanism 9 can perform 360° continuous rotation. The rotating ball mechanism 9 includes a rotating ball body 901, a rotating shaft 9011, a circular gasket 902, and a synchronous motor 903. The rotating ball body 901 is provided with a rotating shaft 9011, and a circular gasket 902 is sleeved on the rotating shaft 9011. The rotating shaft 9011 is connected to the synchronous motor 903. The rated power of the synchronous motor 903 is 5W, and the rated speed is 3000rpm. The rotating ball mechanism 9 is arranged inside the ring frame mechanism 10, and the ring frame mechanism 10 includes an inner ring 101 and an outer ring 102. The inner ring 101 and the outer ring 102 are movably matched, and the rotating ball body 901 is arranged inside the inner ring 101. A device fixing frame 7 is arranged on the side of the detection device mounting frame 2 , and a fixing bolt 701 is arranged on the device fixing frame 7 . A connecting rod 8 is arranged on the detection device mounting frame 2 , and a connecting flange 801 is arranged on the connecting rod 8 .

[0066] The machine vision camera 1, the safety detection scanning module 3 and the safety thermal detection module 5, the safety thermal detection module 5 adopts an infrared thermal imager with a resolution of 320×240 pixels and a thermal sensitivity of less than 50mK; the collected operation data of the mine auxiliary shaft vehicle operation is transmitted to the safety detection image acquisition module 4, the operation data of the mine auxiliary shaft vehicle operation includes the appearance of the auxiliary shaft vehicle operation, track status, auxiliary shaft vehicle operation loading and auxiliary shaft vehicle operation position and speed data, and the temperature measurement range of the safety thermal detection module 5 is -20℃ to +500℃, with an accuracy of ±2℃.

[0067] The machine vision camera, light source sensor and light source adaptive adjustment module realize the adaptive light source process: the machine vision camera is responsible for collecting image information in the mine. The light source sensor is used to detect the light intensity and color temperature in the mine. The light source adaptive adjustment module analyzes and processes the light data obtained by the light source sensor, and realizes automatic adjustment of brightness and color temperature by controlling the driving circuit of the light source.

[0068] The light source adaptive adjustment module sets the initial light source brightness and color temperature values.

[0069] The light source sensor continuously monitors the light conditions in the mine, including light intensity and color temperature. It transmits the detected data to the light source adaptive adjustment module in the form of electrical signals.

[0070] The light source adaptive adjustment module receives data from the sensor and compares and analyzes it with the preset ideal light condition range.

[0071] If the detected light intensity is lower than the ideal range, the adjustment module will increase the brightness of the light source; if the light intensity is too high, the brightness of the light source will be reduced. For color temperature, if the detected color temperature deviates from the ideal range, the adjustment module will adjust the color temperature of the light source accordingly to make it closer to the ideal value.

[0072] According to the adjustment decision, the light source adaptive adjustment module sends a control signal to the driving circuit of the light source, and the driving circuit changes the current or voltage of the light source to adjust the brightness and color temperature.

[0073] The machine vision camera continuously collects images, and the system further optimizes the adjustment of the light source based on the feedback of image quality, forming a dynamic closed-loop control process to ensure that a good working environment is always provided for machine vision.

[0074] When the lighting in the mine suddenly dims, the light source sensor detects the drop in light intensity, and the light source adaptive adjustment module quickly increases the light source brightness, allowing the machine vision camera to continue to obtain clear images. Similarly, if the color temperature of the light in the mine changes, causing image color distortion, the adjustment module will adjust the light source color temperature accordingly to ensure image accuracy and readability.

[0075] Through the above continuous working process, the adaptive light source system can adapt to the complex and changeable light conditions in the mine in real time, provide a stable and reliable lighting environment for the auxiliary shaft vehicle operation safety detection device of the machine vision, and improve the accuracy and reliability of the detection.

[0076] The safety detection image acquisition module 4 transmits the data to the safety detection data processor 6 through the circuit, and the safety detection data processor 6 performs image denoising, enhancement, and edge detection processing on the data of the safety detection image acquisition module 4 .

[0077] The calculation formula of the field of view angle of the safety detection image acquisition module 4 is as follows:

[0078]

[0079] Wherein d is the diagonal length of the image sensor (unit: mm), and f is the focal length of the lens (unit: mm). The visual field range of the image is calculated using the visual field angle calculation formula of the safety detection image acquisition module (4).

[0080] The safety detection data processor 6 analyzes and judges the data extracted by the safety detection image acquisition module 4, and compares it with the operating rules and safety standards of the mine auxiliary shaft vehicle operation, and transmits the evaluated operating status and safety risks of the mine auxiliary shaft vehicle operation to the safety center through the wireless signal transmitter 603.

[0081] The rotating ball mechanism 9 includes a rotating ball body 901 , a rotating shaft 9011 , a circular gasket 902 , and a synchronous motor 903 . The rotating ball body 901 is provided with a rotating shaft 9011 , a circular gasket 902 is sleeved on the rotating shaft 9011 , and the rotating shaft 9011 is connected to the synchronous motor 903 .

[0082] The rotating ball mechanism 9 is arranged inside the ring frame mechanism 10 . The ring frame mechanism 10 includes an inner ring 101 and an outer ring 102 . The inner ring 101 and the outer ring 102 are movably matched. The rotating ball body 901 is arranged inside the inner ring 101 .

[0083] An intermediate connecting body 13 is disposed outside the outer ring 102 , a first semicircular body 11 is disposed on an upper portion of the intermediate connecting body 13 , and a second semicircular body 12 is disposed on a lower portion of the intermediate connecting body 13 .

[0084] The upper part of the first semicircular body 11 is provided with an upper cover round buckle 14, and the lower side of the upper cover round buckle 14 is provided with a round buckle hook 141. The lower part of the second semicircular body 12 is provided with a mounting hole 15, and the first semicircular body 11, the second semicircular body 12 and the intermediate connecting body 13 form a circular cavity, and the rotating ball body 901 is arranged at the center of the circular cavity.

[0085] Embodiment 2: A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device, the machine vision camera 1 has a photosensitive element size of 1 / 2.5 inches and a pixel size of 3.45μm. The minimum illumination of the camera 1 is 0.01Lux, and it can work under low light conditions. The image formats supported by the camera 1 include JPEG, PNG and BMP. The material of the detection device mounting frame 2 is aluminum alloy, which has excellent corrosion resistance and vibration resistance. The design of the octagonal connecting table 201 allows ±30° tilt adjustment, which is convenient for adjusting the camera angle. The rotating ball mechanism 9 can rotate 360° continuously, providing a full range of monitoring range. The synchronous motor 903 adopts a stepping motor with a step angle of 1.8° to ensure precise control. The ring frame mechanism 10 is made of stainless steel to ensure structural strength and durability. The device fixing frame 7 is designed with anti-vibration gaskets to reduce the impact of vibration on equipment performance. The fixing bolt 701 is made of high-strength steel with a tensile strength of 800MPa. The connection flange 801 is designed with a sealing ring to ensure that the waterproof and dustproof level of the connection reaches IP67. The safety detection data processor 6 adopts a quad-core processor with a main frequency of 1.8GHz and is equipped with 4GB DDR4 memory. The wireless signal transmitter 603 supports the IEEE 802.11b / g / n standard and has an operating frequency of 2.4GHz. The sound pressure level of the safety detection alarm is 85dB, and the effective warning distance is at least 50 meters. The safety detection scanning module 3 integrates a variety of sensors, including infrared, ultrasonic and laser sensors, to meet different detection needs. The safety thermal detection module 5 adopts an infrared thermal imager with a resolution of 320×240 pixels and a thermal sensitivity of less than 50mK. The safety detection image acquisition module 4 supports real-time image compression technology, and the compression ratio can reach 1:50 without distortion. The operating temperature range of the whole device is -20℃ to +60℃, and it can operate stably in an environment with a relative humidity of 95% without condensation. The power input of the device is 24V DC, and the power consumption does not exceed 50W.

[0086] Through automated detection, the time and labor costs of manual inspections are greatly reduced, and detection efficiency is improved. The application of multi-sensor data fusion and deep learning algorithms makes detection more accurate and reliable, effectively reducing safety hazards. The device can collect and process data in real time, and promptly discover and deal with safety issues. The use of advanced algorithms such as convolutional neural networks improves the intelligence level of the device, making detection more intelligent and automated.

[0087] Image acquisition: The machine vision camera 1, the safety detection scanning module 3, the safety detection image acquisition module 4 and the safety thermal detection module 5 respectively collect the image data of the auxiliary shaft operation vehicle. Image processing: The collected image data is preprocessed, including image enhancement, denoising, etc., to improve the image quality. Feature extraction and matching: The safety detection data processor 6 extracts features from the image and uses the similarity between feature vectors to measure the similarity between two images to achieve image matching;

[0088] The average temperature of the safety thermal detection module 5 is expressed as:

[0089]

[0090] Where: T(x,y) is the temperature at point (x,y), A is the area of ​​the safety detection scan, and the temperature distribution of the entire area is obtained by calculating the average temperature.

[0091] Area population recognition: The object detector based on the convolutional neural network CNN recognizes the number of people in the area of ​​the image and calculates the total loss. Loading status detection: The safety heat detection module 5 is used to detect the loading status in the tank cage and calculate the accuracy of the loading status detection. Safety area intrusion detection: A threshold is used to determine whether there is a person intruding into the safety area.

[0092] Multi-sensor data fusion: The safety detection data processor 6 performs fusion processing on the data of multiple sensors to obtain more comprehensive and accurate information. Safety detection alarm: According to the detection results, the safety detection data processor 6 controls the safety detection alarm to give an alarm prompt so that safety measures can be taken in time.

[0093] The safety detection data processor 6 is connected to the safety detection alarm. The safety detection data processor 6 is connected to the octagonal connecting platform 201 through a square connecting rod 601. A circular shell 602 is provided below the safety detection data processor 6. A wireless signal transmitter 603 is provided above the safety detection data processor 6.

[0094] The transmission power of the wireless signal transmitter 603 is P (unit: dBm), and the propagation loss of the signal in free space is L (unit: dB). The signal transmission distance is calculated by the following formula:

[0095] L=20log 10 (d) +20log10(f) -147.55;

[0096] Where: d is the signal transmission distance (unit: km), f is the signal frequency (unit: MHz), and the signal transmission distance is calculated by the formula to estimate the signal strength at different distances;

[0097] Machine vision camera 1: responsible for collecting real-time video images of the auxiliary shaft operation area, with high resolution and wide viewing angle, and can clearly capture the situation at the operation site. Safety detection scanning module 3: used to quickly scan the auxiliary shaft operation area, identify and locate possible safety hazards. Safety detection image acquisition module 4: at night or in low light conditions, it uses infrared imaging technology to detect the movement of people or objects to ensure safe operation. Safety thermal detection module 5: used to detect the loading status in the tank cage, and use thermal imaging technology to identify the temperature and distribution of objects in the tank cage, so as to determine whether the loading status is normal. Safety detection data processor 6: as the core part of the entire device, it is responsible for receiving and processing data from various sensors, performing image feature extraction, matching, number recognition, loading status analysis, safety area intrusion detection, and multi-sensor data fusion. Safety detection alarm: according to the instructions of the safety detection data processor 6, it issues an audible and visual alarm when a safety hazard is detected, reminding the operator to take timely measures. The detection device mounting frame 2 is used to fix and install components such as machine vision camera 1, safety detection scanning module 3, safety detection image acquisition module 4 and safety thermal detection module 5 to ensure their stability and reliability. Image data of the auxiliary shaft operation area are collected through the machine vision camera 1, the safety detection scanning module 3, the safety detection image acquisition module 4 and the safety thermal detection module 5, and the data is transmitted to the safety detection data processor 6.

[0098] The feature extraction formula in the process of the safety detection data processor 6 is:

[0099]

[0100] Among them: δ is the eigenvalue, I represents the gray value function of the image; in binary images, it usually takes the value of 0 or 1, where 1 represents the target pixel and 0 represents the background pixel; r, s represent the position coordinates of the pixel in the image; in discrete digital images, it is an integer value, but in continuous cases, it is a non-integer; p, q represent the order of the moment;

[0101] The safety thermal detection module 5 detects the loading status in the cage, identifies the temperature and distribution of objects in the cage through thermal imaging technology, and calculates the accuracy of the loading status detection. If an abnormal loading status is detected, an alarm signal is issued. The threshold judgment method is used to detect whether there are people or objects invading the set safety area. Once an intrusion is detected, an alarm signal is immediately issued. The safety detection data processor 6 fuses the data from different sensors to obtain more comprehensive and accurate information. Based on the fusion results, a comprehensive assessment is made of the safety status of the auxiliary shaft operation. The loading status in the cage is analyzed and predicted using a deep learning model. Based on the prediction results, it is determined whether the cage meets the safety requirements. When a safety hazard is detected, the safety detection data processor 6 controls the safety detection alarm to send out an audible and visual alarm signal. The operator takes corresponding safety measures based on the alarm information to ensure the safety of the auxiliary shaft operation;

[0102] The image denoising formula of the safety detection data processor 6 is:

[0103] F(x,y)=median{g(s,t)},(s,t)∈W;

[0104] Among them, F(x,y) is the processed image, g(s,t) is the pixel value in a window W of the original image, and the formula replaces the value of the central pixel by selecting the median of the pixel values ​​in the window to remove isolated noise points in the image.

[0105] In order to solve the problem of bumps caused by the operation of mechanical equipment in mines, the mine machine vision auxiliary shaft vehicle operation safety detection device of the present invention is combined with an innovative rotating ball mechanism 9 and a ring frame mechanism 10, which effectively improves the stability of the machine vision detection device in a vibration environment, thereby ensuring the clarity and accuracy of image acquisition.

[0106] The shock absorption effect of the rotating ball mechanism 9: The rotating ball mechanism 9 is composed of a rotating ball body 901, a rotating shaft 9011, a circular gasket 902 and a synchronous motor 903. When external vibration is transmitted to the detection device, the rotating ball body 901 can rotate freely in its spherical space, and a certain degree of buffering and shock absorption effect is achieved through the cooperation of the rotating shaft 9011 and the synchronous motor 903. The circular gasket 902 plays a role in lubrication and friction reduction, further protecting the smooth operation of the rotating ball mechanism 9.

[0107] The ring frame mechanism 10 is firmly supported: the ring frame mechanism 10 is composed of an inner ring 101 and an outer ring 102, which are flexibly matched to provide a relatively stable supporting environment for the rotating ball mechanism 9. The rotating ball body 901 is accommodated inside the inner ring 101, and its structure limits the excessive displacement of the rotating ball body 901, while allowing necessary rotational movement to cope with vibration. The outer ring 102 serves as the external frame of the entire mechanism, providing additional rigidity and stability. The structure of the intermediate connector 13 and the upper second semicircular body 12 is optimized: the intermediate connector 13 and the upper first semicircular body 11 and the lower second semicircular body 12 not only enhance the structural strength of the entire device, but also realize the rapid installation and disassembly of the device through the use of the upper cover round buckle 14 and the round buckle hook 141, which is convenient for maintenance and repair. At the same time, the circular cavity provides sufficient space for the rotating ball mechanism 9, ensuring its flexibility of free rotation.

[0108] Specific process: Installation and debugging: First, fix the machine vision camera on the rotating ball mechanism 9 to ensure that the lens is accurately aligned with the imaging system. Then, install the rotating ball mechanism 9 inside the inner ring 101, and adjust the initial position of the synchronous motor 903. Next, assemble the inner ring 101 and the outer ring 102 together to ensure smooth movement and coordination between the two. Finally, fix the first semicircular body 11 and the second semicircular body 12 to the outside of the outer ring 102 through the intermediate connector 13, and use the upper cover round buckle 14 and the round buckle hook 141 to complete the fastening.

[0109] Startup and operation: Start the synchronous motor 903 to put the rotating ball mechanism 9 in standby mode. When the mechanical equipment in the mine starts to operate, the vibration generated is transmitted to the detection device through the mine structure. At this time, the rotating ball mechanism 9 begins to play its shock absorption role, reducing the impact of vibration on the machine vision camera through free rotation and the buffering of the rotating shaft 9011. Image acquisition and processing: The machine vision camera performs image acquisition in a relatively stable environment to ensure that the acquired images are clear and jitter-free. The acquired images are sent to the image processing unit through the transmission system for further analysis and processing to achieve real-time monitoring and early warning of the safety status of the auxiliary shaft operation. Maintenance and overhaul: Regularly maintain and overhaul the detection device, including cleaning the lens, checking the wear of the rotating ball mechanism 9 and the ring frame mechanism 10, replacing the circular gasket 902, etc. When necessary, the upper second semicircular body 12 can be quickly opened by removing the upper cover round buckle 14 and the round buckle hook 141 to maintain or replace the internal mechanism.

[0110] In order to achieve high stability, the rotating ball mechanism 9 and its components, the rotating ball body 901, the rotating shaft 9011, the circular gasket 902, the synchronous motor 903 and the ring frame mechanism 10 in the mine machine vision auxiliary shaft vehicle operation safety detection device of the present invention work together through the following mechanisms:

[0111] The rotating ball body 901 is spherical or approximately spherical, and this shape has natural stability and can evenly disperse vibration energy in multiple directions. When external vibration is transmitted to the rotating ball body 901, its spherical shape allows free rotation within a certain range, thereby offsetting part of the vibration and reducing the impact on the machine vision camera. The rotating shaft 9011 connects the rotating ball body 901 with the synchronous motor 903, while allowing the rotating ball body 901 to rotate around it. The rotating shaft 9011 should ensure sufficient rigidity and wear resistance to withstand the force and friction generated during the rotation process. At the same time, the connecting part of the rotating shaft 9011 with the rotating ball body 901 and the synchronous motor 903 should have a precision bearing or similar mechanism to reduce friction and vibration transmission. The circular gasket 902 is installed on the rotating shaft 9011, mainly for lubrication and friction reduction. By reducing energy loss and heat generation during rotation, the circular gasket 902 helps to maintain the smooth operation of the rotating ball mechanism 9. In addition, the gasket can also serve as a buffer element to further absorb and disperse vibration energy.

[0112] The synchronous motor 903 provides power and control for the rotating ball mechanism 9. By precisely controlling the rotation speed and direction of the synchronous motor 903, the movement of the rotating ball body 901 can be fine-tuned, thereby offsetting external vibrations to a certain extent.

[0113] As the main supporting structure of the rotating ball mechanism 9, the inner ring 101 should ensure sufficient rigidity and stability. The inner shape of the inner ring 101 matches the rotating ball body 901 to provide precise positioning and support. At the same time, the active fit between the inner ring 101 and the outer ring 102 allows a certain degree of relative movement to cope with external vibrations.

[0114] The outer ring 102 serves as the outer frame of the entire ring frame mechanism 10, and it should enhance the stability and rigidity of the overall structure. The outer ring 102 is connected to the mine environment or other fixed structures to ensure the stable installation of the entire detection device in the mine. The outer ring 102 also protects the internal mechanism from external interference and damage.

[0115] Shock absorption and buffering: The spherical shape of the rotating ball mechanism 9 and the control function of the synchronous motor 903 together achieve the shock absorption and buffering effect of external vibration. When the vibration is transmitted to the detection device, the rotating ball body 901 can rotate freely to disperse the vibration energy, and the synchronous motor 903 further offsets the vibration by adjusting the rotation speed and direction.

[0116] Precision fit and positioning: The active fit between the inner ring 101 and the outer ring 102 and the precise connection between the rotating ball body 901 and the rotating shaft 9011 ensure the accuracy of the relative position and movement of the components. This precise fit reduces the extra vibration and noise caused by loose or misaligned components.

[0117] Lubrication and friction reduction: The lubrication of the circular gasket 902 on the rotating shaft 9011 reduces friction and energy loss, maintaining the smooth operation of the rotating ball mechanism 9. At the same time, this also reduces the heat and wear caused by friction, extending the service life of the components.

[0118] Overall structural stability: The stability of the ring frame mechanism 10 provides the basic support for the entire detection device. By strengthening the connection between the outer ring 102 and the mine environment and the precise support of the inner ring 101 to the rotating ball mechanism 9, the entire device can maintain high stability and reliability in a complex mine environment.

[0119] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device, characterized in that: The invention comprises a machine vision camera (1), a light source sensor (101) is arranged at the rear side of the machine vision camera (1), the light source sensor (101) is connected to a light source adaptive adjustment module (102), the machine vision camera (1) is mounted and fixed on a detection device mounting frame (2), the photosensitive element size of the machine vision camera (1) is 1 / 2.5 inch, the pixel size is 3.45 μm, and the minimum illumination is 0.01 Lux, an octagonal connecting platform (201) is arranged on the detection device mounting frame (2), and the detection device mounting frame (2) is characterized in that the detection device mounting frame (2) is provided with a safety detection scanning module (3), and the safety detection scanning module (3) and the safety detection image acquisition module (4) and the safety heat detection module (5) are data-connected to a safety detection data processor (6); The calculation formula of the viewing angle of the safety detection image acquisition module (4) is as follows: Wherein d is the diagonal length of the image sensor (unit: mm), and f is the focal length of the lens (unit: mm); the field of view range of the image is calculated using the field of view angle calculation formula of the safety detection image acquisition module (4); The safety detection data processor (6) is connected to the safety detection alarm, the safety detection data processor (6) is connected to the octagonal connecting platform (201) through a square connecting rod (601), a circular shell (602) is arranged below the safety detection data processor (6), and a wireless signal transmitter (603) is arranged above the safety detection data processor (6). The transmission power of the wireless signal transmitter (603) is P (unit: dBm), and the propagation loss of the signal in free space is L (unit: dB). The signal transmission distance is calculated by the following formula: L=20log 10 (d)+20log 10 (f)-147.55; Where: d is the signal transmission distance (unit: km), f is the signal frequency (unit: MHz), and the signal transmission distance is calculated by the formula to estimate the signal strength at different distances; A rotating ball mechanism (9) is arranged inside the octagonal connecting platform. The rotating ball mechanism (9) can rotate continuously by 360 degrees. The rotating ball mechanism (9) comprises a rotating ball body (901), a rotating shaft (9011), a circular gasket (902), and a synchronous motor (903). The rotating ball body (901) is provided with a rotating shaft (9011). The rotating shaft (9011) is sleeved with a circular gasket (902). The rotating shaft (9011) is connected to the synchronous motor (903). The rated power of the synchronous motor (903) is 5W and the rated speed is 3000rpm. The rotating ball mechanism (9) is arranged inside the ring frame mechanism (10). The ring frame mechanism (10) comprises an inner ring (101) and an outer ring (102). The inner ring (101) and the outer ring (102) are movably matched. The rotating ball body (901) is arranged inside the inner ring (101).

2. According to claim 1, a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device is characterized in that: A device fixing frame (7) is arranged on the side of the detection device mounting frame (2), and a fixing bolt (701) is arranged on the device fixing frame (7). A connecting rod (8) is arranged on the detection device mounting frame (2), and a connecting flange (801) is arranged on the connecting rod (8).

3. According to claim 2, a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device is characterized in that: The machine vision camera (1), the safety detection scanning module (3) and the safety thermal detection module (5), wherein the safety thermal detection module (5) adopts an infrared thermal imager; The average temperature of the safety thermal detection module (5) is expressed as: Where: T(x,y) is the temperature at point (x,y), A is the area of ​​the safety detection scan, and the temperature distribution of the entire area is obtained by calculating the average temperature; The resolution is 320×240 pixels and the thermal sensitivity is less than 50mK; the collected operation data of the mine auxiliary shaft vehicle is transmitted to the safety detection image acquisition module (4); The operation data of the mine auxiliary shaft vehicle includes auxiliary shaft vehicle appearance, track status, auxiliary shaft vehicle loading and auxiliary shaft vehicle position and speed data. The temperature measurement range of the safety thermal detection module (5) is -20°C to +500°C, with an accuracy of ±2°C.

4. According to claim 3, a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device is characterized in that: The safety detection image acquisition module (4) transmits data to the safety detection data processor (6) through a circuit, and the safety detection data processor (6) performs image denoising, enhancement, and edge detection processing on the data of the safety detection image acquisition module (4); The image denoising formula of the safety detection data processor (6) is: F(x,y)=median{g(s,t)},(s,t)∈W; Among them, F(x,y) is the processed image, g(s,t) is the pixel value in a window W of the original image, and the formula replaces the value of the central pixel by selecting the median of the pixel values ​​in the window to remove isolated noise points in the image.

5. According to claim 4, a mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device is characterized in that: The safety detection data processor (6) analyzes and judges the data extracted by the safety detection image acquisition module (4), and compares it with the operation rules and safety standards of the mine auxiliary shaft vehicle operation, and transmits the operation status and safety risks of the mine auxiliary shaft vehicle operation to the safety center through the wireless signal transmitter (603). The transmission distance of the wireless signal transmitter (603) is 5km and the transmission rate is 2Mbps; The feature extraction formula in the process of the safety detection data processor (6) is: Among them: δ is the eigenvalue, I represents the gray value function of the image; in binary images, it usually takes the value of 0 or 1, where 1 represents the target pixel and 0 represents the background pixel; r, s represent the position coordinates of the pixel in the image; in discrete digital images, it is an integer value, but in the case of continuous images, it is a non-integer; p, q represent the order of the moment.

6. A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device according to claim 5, characterized in that: An intermediate connecting body (13) is arranged outside the outer ring (102), and a first semicircular body (11) is arranged on the upper part of the intermediate connecting body (13).

7. A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device according to claim 6, characterized in that: A second semicircular body (12) is provided at the lower part of the intermediate connecting body (13).

8. A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device according to claim 7, characterized in that: The upper part of the first semicircular body (11) is provided with an upper cover round buckle (14), and the lower side of the upper cover round buckle (14) is provided with a round buckle hook (141).

9. A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device according to claim 8, characterized in that: A mounting hole (15) is provided at the lower part of the second semicircular body (12), and the diameter of the mounting hole (15) is 10 mm.

10. A mine vibration fine-tuning machine vision auxiliary shaft vehicle operation safety detection device according to claim 9, characterized in that: The first semicircular body (11), the second semicircular body (12) and the intermediate connecting body (13) form a circular cavity inside, and the rotating spherical body (901) is arranged at the center of the circular cavity.

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