Opencast coal mine dust safety monitoring and early warning method, system and equipment and storage medium

Abstract

The invention relates to the technical field of coal mine dust monitoring and control, in particular to an open pit coal mine dust safety monitoring and early warning method, system and device and a storage medium. In order to solve the technical problems of low accuracy and poor effect of dust safety early warning in the prior art, the method comprises the following steps: firstly, acquiring dust concentrations of a plurality of monitoring points, and then selecting whether to execute image combination to further analyze the dust safety condition in a coal shed according to the size comparison condition of the dust concentrations of the monitoring points and a dust concentration threshold value; in the process of executing the image combination analysis, the dust concentration value of each dust area is obtained based on the pixel information of the fisheye spliced image, and then a dust danger value is determined; then, according to the comparison relation between the dust danger value and the dust danger value threshold value, continuous monitoring or alarming is decided, or further dust danger value refining is carried out by combining the temperature of the monitoring point and the temperature of the coal pile; the method is applied to the aspect of safety monitoring and early warning of open pit coal mine dust, and is higher in accuracy and better in flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine dust monitoring and control, and in particular to an open-pit coal mine dust safety monitoring and early warning method, system, equipment and storage medium. Background Art

[0002] The dust in the coal shed not only reduces the service life of the equipment, but also affects the health of the miners. High-concentration dust will explode when exposed to high temperature or open flames, endangering the lives of underground workers and causing huge losses. Therefore, real-time knowledge of the dust concentration in different areas of the coal mine can detect dangerous situations in time and take measures in advance to avoid explosion accidents.

[0003] However, the space in the coal shed is usually large and the ventilation conditions are complex, and the air flow is unstable, which will lead to uneven dust distribution, making it difficult for the data obtained by the monitoring points to accurately represent the dust conditions in the entire coal shed, resulting in poor accuracy of the calculated safety factor and poor safety warning effect. Summary of the invention

[0004] The purpose of the present invention is to provide an open-pit coal mine dust safety monitoring and early warning method, system, equipment and storage medium.

[0005] The technical solution of the present invention is as follows: A dust safety monitoring and early warning method for an open-pit coal mine comprises the following operations: S1. Real-time acquisition of dust concentrations at several monitoring points in the coal shed of an open-pit coal mine; if the dust concentration at any monitoring point is not lower than the second dust concentration threshold, a dust hazard alarm is issued; if the dust concentration at any monitoring point is between the first dust concentration threshold and the second dust concentration threshold, S2 is executed; the first dust concentration threshold is less than the second dust concentration threshold; S2. Obtain several fisheye images in the coal shed, stitch them after correction, and obtain the overall area map of the coal shed; obtain several dust areas based on the pixel distribution information in the overall area map of the coal shed; obtain the average dust concentration of several dust areas based on the pixel distribution information in the several dust areas and the dust concentration of the corresponding monitoring points; obtain the danger values ​​of several dust areas based on the average dust concentration of several dust areas, the dust concentration safety value and the maximum dust concentration of the corresponding areas; multiply the danger values ​​of several dust areas by the corresponding area weights and add them together to obtain the dust danger value, and execute S3; S3. Determine whether the dust hazard value exceeds the dust hazard value threshold; if it is between the first dust hazard value threshold and the second dust hazard value threshold, obtain the dust hazard precise value based on the dust hazard value and the temperature of the monitoring point, as well as the temperature of the coal pile in the coal shed; determine whether the dust hazard precise value exceeds the second dust hazard value threshold; if it exceeds, issue a dust hazard alarm; if it is not lower than the second dust hazard value threshold, issue a dust hazard alarm; the first dust hazard value threshold is less than the second dust hazard value threshold.

[0006] In S2, the operations for obtaining the overall area map of the coal shed are specifically as follows: based on the actual pixel coordinates and real-world coordinates of the calibration plate in the fisheye image, the intrinsic parameters and distortion coefficients are obtained; based on the intrinsic parameters and distortion coefficients, several fisheye images are corrected respectively to obtain several fisheye corrected images; the gradient feature vector of each feature point in each fisheye corrected image is obtained, and based on the gradient feature vector of the feature point, the matching points between adjacent fisheye corrected images are searched, and the transformation matrix is ​​calculated; based on the transformation matrix, the adjacent fisheye corrected images are pixel mapped to achieve splicing to obtain the overall area map of the coal shed.

[0007] The feature point is the pixel point where the pixels of the fisheye correction image are all extreme values ​​after Gaussian blur processing at different scales; the gradient feature vector is the total vector obtained by splicing the corresponding vectors of the pixel gradient direction histogram of all sub-areas in the neighborhood centered on the feature point.

[0008] The operation of searching for matching points between adjacent fisheye-corrected images is specifically as follows: based on the gradient feature vector, a similarity measure between the current feature point in the current fisheye-corrected image and all feature points in the next fisheye-corrected image is obtained, and the feature point corresponding to the minimum similarity measure is used as the nearest neighbor feature point of the current feature point; the feature point corresponding to the second smallest similarity measure is used as the second nearest neighbor feature point of the current feature point; if the ratio of the similarity measure between the current feature point and the nearest neighbor feature point and the similarity measure between the current feature point and the second nearest neighbor feature point is less than a ratio threshold, the nearest neighbor feature point is the matching point of the current feature point; and so on, the matching points corresponding to all feature points of the current fisheye-corrected image in the next fisheye-corrected image are obtained.

[0009] S1 also includes obtaining the dust concentration increase value within the historical neighborhood time for the monitoring points whose dust concentration exceeds the first dust concentration threshold; if the dust concentration increase value exceeds the dust concentration increase threshold, a dust hazard alarm is issued.

[0010] S2 also includes identifying events in the overall area map of the coal shed and assigning event hazard values. The event hazard values ​​of all events are aggregated and calculated to obtain the total event hazard value; the total event hazard value and the dust hazard value are weighted to obtain the optimized hazard value, which is used to execute the operations in S3.

[0011] The dust concentration at the monitoring point is measured by setting a suspended laser dust sensor at the monitoring point; the temperature at the monitoring point is measured by setting a suspended temperature sensor at the monitoring point; the temperature of the coal pile is measured by a fiber optic temperature sensor inserted in the coal pile.

[0012] An open-pit coal mine dust safety monitoring and early warning system is used to implement the above-mentioned open-pit coal mine dust safety monitoring and early warning method, comprising: Laser dust sensor, used to obtain dust concentration at monitoring points; Fisheye camera, used to obtain fisheye images inside the coal shed; A control module, including a dust concentration judgment module at a monitoring point, an image analysis module, and a dust hazard value judgment module; The dust concentration judgment module is used to judge whether the dust concentration of several monitoring points exceeds the dust concentration threshold; if the dust concentration of a monitoring point is not lower than the second dust concentration threshold, a signal is sent to the alarm module; if the dust concentration of a monitoring point is between the first dust concentration threshold and the second dust concentration threshold, a signal is sent to the image analysis module; The image analysis module is used to obtain several fisheye images in the coal shed, and stitch them after correction to obtain the overall area map of the coal shed; based on the pixel distribution information in the overall area map of the coal shed, several dust areas are obtained; based on the pixel distribution information in several dust areas and the dust concentration of the corresponding monitoring points, the average dust concentration of several dust areas is obtained; based on the average dust concentration of several dust areas, the dust concentration safety value and the maximum dust concentration of the corresponding areas, the danger values ​​of several dust areas are obtained; the danger values ​​of several dust areas are multiplied by the corresponding area weights and then added to obtain the dust danger value, and the dust danger value is sent to the dust danger value judgment module; The dust hazard value judgment module is used to judge whether the dust hazard value exceeds the dust hazard value threshold; if it is between the first dust hazard value threshold and the second dust hazard value threshold, the dust hazard precision value is obtained based on the dust hazard value and the temperature of the monitoring point, as well as the temperature of the coal pile in the coal shed; judge whether the dust hazard precision value exceeds the second dust hazard value threshold; if it exceeds, send a signal to the alarm module; if it is not lower than the second dust hazard value threshold, send a signal to the alarm module; the first dust hazard value threshold is less than the second dust hazard value threshold; the first dust concentration threshold is less than the second dust concentration threshold; Alarm module for dust hazard alarm.

[0013] An open-pit coal mine dust safety monitoring and early warning device comprises a processor and a memory, wherein the processor implements the above-mentioned open-pit coal mine dust safety monitoring and early warning method when executing a computer program stored in the memory.

[0014] A computer-readable storage medium is used to store a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned open-pit coal mine dust safety monitoring and early warning method.

[0015] The beneficial effects of the present invention are: The open-pit coal mine dust safety monitoring and early warning method provided by the present invention first obtains the dust concentration of several monitoring points, and then chooses whether to perform image combination to further analyze the dust safety situation in the coal shed according to the size comparison between the dust concentration of the monitoring point and the dust concentration threshold, so that on the basis of improving the accuracy of safety monitoring, resources can be reasonably allocated and computing resources and time can be reduced; in the process of performing image combination analysis, several fisheye images with a wide viewing angle range are used to form an overall area map of the coal shed that avoids blind spots in the field of vision, and then the dust concentration value of each dust area is obtained based on the image pixel information, and then the danger value of different dust areas is obtained, and the danger values ​​of different dust areas are weighted and summed to obtain a comprehensive dust danger value that can more accurately reflect the safety characteristics of the coal shed; then, according to the size comparison relationship between the dust danger value and the dust danger value threshold, it is decided to continue monitoring or alarm, or to further refine the dust danger value in combination with the temperature of the monitoring point and the coal pile, so as to improve the accuracy and flexibility of dust safety monitoring; the method is applied to the dust safety monitoring and early warning of coal sheds in open-pit coal mines, and has higher accuracy and better flexibility. DETAILED DESCRIPTION

[0016] This embodiment provides an open-pit coal mine dust safety monitoring and early warning system, which is used to implement an open-pit coal mine dust safety monitoring and early warning method, including: The laser dust sensor is used to obtain the dust concentration at the monitoring point; the dust concentration at the monitoring point is measured by setting a suspended laser dust sensor at the monitoring point; Fisheye camera, used to obtain fisheye images inside the coal shed; The temperature sensor is used to obtain the temperature of the monitoring point; the temperature of the monitoring point is measured by setting a hanging temperature sensor at the monitoring point; The optical fiber temperature sensor is used to obtain the temperature of the coal pile; the temperature of the coal pile is measured by the optical fiber temperature sensor inserted into the coal pile; A control module, including a dust concentration judgment module at a monitoring point, an image analysis module, and a dust hazard value judgment module; The dust concentration judgment module is used to judge whether the dust concentration of several monitoring points exceeds the dust concentration threshold; if the dust concentration of a monitoring point is not lower than the second dust concentration threshold, a signal is sent to the alarm module; if the dust concentration of a monitoring point is between the first dust concentration threshold and the second dust concentration threshold, a signal is sent to the image analysis module; The image analysis module is used to obtain several fisheye images in the coal shed, and stitch them after correction to obtain the overall area map of the coal shed; based on the pixel distribution information in the overall area map of the coal shed, several dust areas are obtained; based on the pixel distribution information in several dust areas and the dust concentration of the corresponding monitoring points, the average dust concentration of several dust areas is obtained; based on the average dust concentration of several dust areas, the dust concentration safety value and the maximum dust concentration of the corresponding areas, the danger values ​​of several dust areas are obtained; the danger values ​​of several dust areas are multiplied by the corresponding area weights and then added to obtain the dust danger value, and the dust danger value is sent to the dust danger value judgment module; The dust hazard value judgment module is used to judge whether the dust hazard value exceeds the dust hazard value threshold; if it is between the first dust hazard value threshold and the second dust hazard value threshold, the dust hazard precision value is obtained based on the dust hazard value and the temperature of the monitoring point, as well as the temperature of the coal pile in the coal shed; judge whether the dust hazard precision value exceeds the second dust hazard value threshold; if it exceeds, send a signal to the alarm module; if it is not lower than the second dust hazard value threshold, send a signal to the alarm module; the first dust hazard value threshold is less than the second dust hazard value threshold; the first dust concentration threshold is less than the second dust concentration threshold; Alarm module for dust hazard alarm.

[0017] The specific operation of the open-pit coal mine dust safety monitoring and early warning method provided in this embodiment is as follows.

[0018] S1. Obtain dust concentrations at several monitoring points in the coal shed of the open-pit coal mine in real time; if there is a monitoring point where the dust concentration is not lower than the second dust concentration threshold, issue a dust hazard alarm; if there is a monitoring point where the dust concentration is between the first dust concentration threshold and the second dust concentration threshold, execute S2.

[0019] First, the dust concentration of several monitoring points is obtained. Then, based on the comparison between the dust concentration of the monitoring points and the dust concentration threshold, it is decided whether to perform image combination to further analyze the dust safety situation in the coal shed. This can reasonably allocate resources and reduce computing resources and time on the basis of improving the accuracy of safety monitoring.

[0020] The feed and discharge ports of the loading and unloading equipment in the coal shed of the open-pit coal mine, which are the main sources of dust generation, the downwind area of ​​the loading and unloading area, which is convenient for analyzing dust diffusion, the fan inlet and outlet, which is convenient for understanding the actual working effect of the ventilation equipment, the inside and outlet of the ventilation duct, which is convenient for understanding the transmission of dust in the duct, the top and surrounding of the coal pile that is prone to dust generation, the passages between the coal piles, the personnel passages and entrances and exits in the high-activity areas, and the work platform and the operation room are used as monitoring points, and the dust concentration (coal dust concentration) of the monitoring points in the coal shed of the open-pit coal mine is obtained in real time. Among them, the dust concentration of the monitoring point is measured by setting a suspended laser dust sensor at the monitoring point.

[0021] When the dust concentration at all monitoring points does not exceed the first dust concentration threshold, it proves that the dust concentration in the coal shed is low and the coal shed is relatively safe, and the dust concentration should continue to be monitored.

[0022] If the dust concentration at a monitoring point is not lower than the second dust concentration threshold, it proves that the dust concentration at a certain monitoring point in the coal shed is too high and dangerous, and a dust hazard alarm is issued.

[0023] If there is a monitoring point where the dust concentration is between the first dust concentration threshold and the second dust concentration threshold, it is necessary to perform S2 and conduct a general safety analysis of all monitoring points in the coal shed in combination with the image.

[0024] The first dust concentration threshold is smaller than the second dust concentration threshold.

[0025] In addition, in order to further improve the accuracy of safety monitoring, S1 also includes obtaining the dust concentration increase value within the historical neighborhood time for the monitoring points where the dust concentration exceeds the first dust concentration threshold. If the dust concentration increase value exceeds the dust concentration increase threshold, it means that the dust concentration at the monitoring point at this location is rising rapidly. It also indicates that the degree of danger is increasing and timely measures need to be taken to control it, so a dust hazard alarm is issued.

[0026] S2. Obtain several fisheye images in the coal shed, stitch them after correction, and obtain an overall area map of the coal shed; obtain several dust areas based on the pixel distribution information in the overall area map of the coal shed; obtain the average dust concentration of several dust areas based on the pixel distribution information in the several dust areas and the dust concentration of the corresponding monitoring points; obtain the danger values ​​of several dust areas based on the average dust concentration of several dust areas and the dust concentration safety value and the maximum dust concentration of the corresponding areas; multiply the danger values ​​of several dust areas by the corresponding area weights and then add them together to obtain the dust danger value, and execute S3.

[0027] By using several fisheye images with a wide viewing angle, an overall area map of the coal shed is formed to avoid blind spots in the field of vision. The spatial relationship between objects and areas in the coal shed can be clearly and accurately presented. Then, based on the image pixel information, the dust occurrence area can be accurately located, and the dust concentration value of each dust area can be obtained, and then the hazard value of different dust areas can be obtained. Different weights are assigned to different dust areas according to regional differences. Finally, the hazard values ​​of different dust areas are weighted and summed to obtain a comprehensive dust hazard value that can more accurately reflect the safety characteristics of the coal shed.

[0028] Firstly, several fisheye cameras are set up in the coal shed to ensure that the field of view of each fisheye camera can cover a part of the coal shed, and the fields of view of adjacent cameras have a certain overlap, which is 30%-50% of the field of view. Several fisheye images in the coal shed are obtained by using the fisheye cameras. The several fisheye images are stitched after correction to obtain the overall area map of the coal shed.

[0029] The specific operations for obtaining the overall area map of the coal shed are as follows: based on the actual pixel coordinates and real-world coordinates of the calibration plate in the fisheye image, the intrinsic parameters and distortion coefficients are obtained; based on the intrinsic parameters and distortion coefficients, several fisheye images are corrected respectively to obtain several fisheye corrected images; the gradient feature vector of each feature point in each fisheye corrected image is obtained, and based on the gradient feature vector of the feature point, the matching points between adjacent fisheye corrected images are searched, and the transformation matrix is ​​calculated; based on the transformation matrix, the adjacent fisheye corrected images are stitched by pixel mapping the overlapping parts to obtain the overall area map of the coal shed.

[0030] Among them, the feature points are the pixels of the fisheye corrected image with extreme values ​​after Gaussian blur processing at different scales. These pixels are usually the key points such as the edge of the coal pile, the outline of the equipment, and the intersection of the bracket, which can well describe the local characteristics of the image.

[0031] The gradient feature vector is the total vector obtained by concatenating the corresponding vectors of the pixel gradient direction histograms of all sub-regions within the neighborhood centered on the feature point. The number of sub-regions within the neighborhood can be set according to actual needs; the pixel gradient direction histogram is the histogram in the direction of the maximum value of the pixel gradient change in the sub-region.

[0032] The operation of searching for matching points between adjacent fisheye-corrected images is as follows: based on the gradient feature vector, obtain the similarity measure between the current feature point in the current fisheye-corrected image and all the feature points in the next fisheye-corrected image, take the feature point corresponding to the minimum similarity measure as the nearest neighbor feature point of the current feature point; take the feature point corresponding to the second smallest similarity measure as the second nearest neighbor feature point of the current feature point; if the ratio of the similarity measure between the current feature point and the nearest neighbor feature point and the similarity measure between the current feature point and the second nearest neighbor feature point is less than the ratio threshold, then the nearest neighbor feature point is the matching point of the current feature point; and so on, obtain the matching degree corresponding to all the feature points of the current fisheye-corrected image in the next fisheye-corrected image. The similarity measure is the gradient feature vector difference between the two feature points. The current feature point and the next fisheye-corrected image are two adjacent images with overlapping parts.

[0033] Then, based on the pixel distribution information in the overall area map of the coal shed, several dust areas are obtained. The pixel distribution information in the overall area map of the coal shed is analyzed by edge detection method to obtain the contour information of the dust distribution area, thereby obtaining the dust area.

[0034] Next, based on the pixel distribution information in several dust areas and the dust concentration of the corresponding monitoring points, the average dust concentration of several dust areas is obtained. Specifically, the ratio of the dust concentration of the monitoring point and the pixel value of the monitoring point in the current dust area is multiplied by all the pixel values ​​of the current dust area and divided by the total number of pixels to obtain the average dust concentration of the current dust area.

[0035] Subsequently, based on the average dust concentration of several dust areas, as well as the dust concentration safety value and the maximum dust concentration of the corresponding areas, the danger values ​​of several dust areas are obtained.

[0036] The risk value can be calculated using the following formula: , r is the danger value of the current dust area, C is the average dust concentration in the current dust area, C s is the dust concentration safety value in the current dust area, C max It is the maximum dust concentration in the current dust area.

[0037] If there is no monitoring point in the current dust area, the dust concentration mean of the dust area corresponding to the minimum difference between the pixel mean of the current dust area and the current dust area is taken as the dust concentration mean of the previous dust area.

[0038] Finally, the hazard values ​​of several dust areas are multiplied by the corresponding area weights and then added to obtain the dust hazard value, and S3 is executed.

[0039] In order to further improve the accuracy of the dust area hazard value in reflecting the safety of the coal shed, S2 also includes identifying events in the overall area map of the coal shed and assigning event hazard values. The event hazard values ​​of all events are aggregated and calculated to obtain the total event hazard value; the total event hazard value and the dust hazard value are weighted to obtain the optimized hazard value, which is used to execute the operations in S3.

[0040] Among them, for beneficial dust elimination events in the events (such as manual use of dust removal spray cannons for dust removal, manual use of fans to reduce dust concentration, manual inspection of equipment, etc.), the corresponding event hazard value is negative, the event hazard value of normal events (such as human coal transportation) is 0, and the event hazard value of violation events (such as personnel illegal operation (miners smoking), equipment abnormalities (conveyor belt breaks), etc.) is positive.

[0041] The above-mentioned identification of events in the overall area map of the coal shed can be achieved by training a neural network with an event data set acquired in advance, and then processing the overall area map of the coal shed with the trained neural network.

[0042] The optimization of the risk value can be achieved through the following formula: , R 1 To optimize the risk value, C j For the j The average dust concentration in each dust area is C j,s For the j The dust concentration safety value of each dust area is: C j,max For the j The maximum dust concentration in each dust area is J is the total number of dust areas, w j For the j The regional weight of each dust region, I m For the m The event risk value of an event, M is the total number of events, λ1 and λ2 are the dust weight and event weight respectively.

[0043] In order to further improve the accuracy of the dust zone's danger value in reflecting the safety of the coal shed, it also includes obtaining the average dust concentration of each dust zone and the dust concentration change value within the historical neighborhood time; based on the dust concentration change values ​​of several dust zones, as well as the dust concentration change safety value and the maximum dust concentration change value of the corresponding zones, the concentration change danger values ​​of several dust zones are obtained; the concentration change danger value is weightedly processed with the total event danger value and the dust danger value to obtain the optimal danger value for executing the operations in S3.

[0044] The optimal risk value can be achieved through the following formula:

[0045] R 2 is the optimal risk value, C j For the j The average dust concentration in each dust area is C j,s For the j The dust concentration safety value of each dust area is: C j,max For the j The maximum dust concentration in each dust area is ΔC j For the j The dust concentration change value of each dust area, ΔC j,s For the j The dust concentration change safety value in each dust area, ΔC max is the maximum value of dust concentration, J is the total number of dust areas, w j For the j The regional weight of each dust region, I m For the m The event risk value of an event, M is the total number of events, λ1 and λ2 are the dust weight and event weight respectively.

[0046] S3. Determine whether the dust hazard value exceeds the dust hazard value threshold; if it is between the first dust hazard value threshold and the second dust hazard value threshold, obtain the dust hazard precise value based on the dust hazard value and the temperature of the monitoring point, as well as the temperature of the coal pile in the coal shed; determine whether the dust hazard precise value exceeds the second dust hazard value threshold; if it exceeds, issue a dust hazard alarm; if it is not lower than the second dust hazard value threshold, issue a dust hazard alarm.

[0047] Based on the comparative relationship between the dust hazard value and the dust hazard value threshold, a decision is made to continue monitoring or to issue an alarm, or to further refine the dust hazard value in combination with the temperature of the monitoring point and the coal pile, so as to improve the accuracy and flexibility of dust safety monitoring.

[0048] First, determine whether the dust hazard value, the optimized hazard value, or the optimal hazard value exceeds the dust hazard value threshold.

[0049] If it does not exceed the first dust hazard value threshold, continue to monitor the dust concentration.

[0050] If it is not lower than the second dust hazard value threshold, a dust hazard alarm is issued; the first dust hazard value threshold is lower than the second dust hazard value threshold.

[0051] If it is between the first dust hazard value threshold and the second dust hazard value threshold, the dust hazard precise value is obtained based on the dust hazard value or the optimized hazard value or the optimal hazard value, the temperature of the monitoring point, and the temperature of the coal pile in the coal shed.

[0052] The temperature of the above monitoring point is measured by setting a hanging temperature sensor at the monitoring point in the coal shed; the temperature of the coal pile is measured by an optical fiber temperature sensor inserted into the coal pile.

[0053] The dust hazard value can be obtained by the following formula: , R 3 is the dust hazard value, R 0 For dust hazard value or optimized hazard value or optimal hazard value, β 1 is the monitoring point temperature coefficient, T n For the n The temperature of each monitoring point, T s is the temperature safety value of the monitoring point, w n For the n The position weight of each detection point, N is the total number of monitoring points, β 2 is the coal pile temperature coefficient, T k For the k The temperature of the coal pile, T q is the safe value of coal pile temperature, w k For the k where λ is the location weight of each coal pile, K is the total number of coal piles, λ3, λ4, and λ5 are the third weight, monitoring point temperature, and coal pile temperature weights, respectively.

[0054] This embodiment also provides an open-pit coal mine dust safety monitoring and early warning device, including a processor and a memory, wherein the processor implements the above-mentioned open-pit coal mine dust safety monitoring and early warning method when executing a computer program stored in the memory.

[0055] This embodiment also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned open-pit coal mine dust safety monitoring and early warning method.

[0056] The open-pit coal mine dust safety monitoring and early warning method provided in this embodiment first obtains the dust concentration of several monitoring points, and then chooses whether to perform image combination to further analyze the dust safety situation in the coal shed based on the comparison between the dust concentration at the monitoring point and the dust concentration threshold. In this way, resources can be reasonably allocated and computing resources and time can be reduced on the basis of improving the accuracy of safety monitoring. In the process of performing image combination analysis, several fisheye images with a wide viewing angle range are used to form an overall area map of the coal shed that avoids blind spots in the field of vision, and then the dust concentration value of each dust area is obtained based on the image pixel information, and then the danger value of different dust areas is obtained, and the danger values ​​of different dust areas are weighted and summed to obtain a comprehensive dust danger value that can more accurately reflect the safety characteristics of the coal shed. Then, based on the comparison relationship between the dust danger value and the dust danger value threshold, it is decided to continue monitoring or alarm, or to further refine the dust danger value in combination with the temperature of the monitoring point and the coal pile to improve the accuracy and flexibility of dust safety monitoring. This method is used in dust safety monitoring and early warning of open-pit coal mines, with higher accuracy and better flexibility.

Claims

1. A dust safety monitoring and early warning method for open-pit coal mines, characterized in that: The following operations are included: S1. Real-time acquisition of dust concentration at several monitoring points in the coal shed of an open-pit coal mine; If the dust concentration at any monitoring point is not lower than the second dust concentration threshold, a dust hazard alarm is issued; If there is a dust concentration at the monitoring point between the first dust concentration threshold and the second dust concentration threshold, execute S2; The first dust concentration threshold is less than the second dust concentration threshold; S2, obtaining a number of fisheye images in the coal shed, stitching them after correction, and obtaining an overall area map of the coal shed; Based on the pixel distribution information in the overall area map of the coal shed, several dust areas are obtained; based on the pixel distribution information in several dust areas and the dust concentrations at the corresponding monitoring points, the average dust concentrations of several dust areas are obtained; Based on the average dust concentration of several dust areas, the dust concentration safety value and the maximum dust concentration of the corresponding areas, the danger values ​​of several dust areas are obtained; the danger values ​​of several dust areas are multiplied by the corresponding area weights and then added to obtain the dust danger value, and S3 is executed; S3, judging whether the dust hazard value exceeds the dust hazard value threshold; If it is between the first dust hazard value threshold and the second dust hazard value threshold, based on the dust hazard value and the temperature of the monitoring point, as well as the temperature of the coal pile in the coal shed, the dust hazard precise value is obtained; and it is determined whether the dust hazard precise value exceeds the second dust hazard value threshold; If it exceeds, a dust hazard alarm will be issued; If it is not lower than the second dust hazard value threshold, a dust hazard alarm is issued; the first dust hazard value threshold is lower than the second dust hazard value threshold.

2. The open-pit coal mine dust safety monitoring and early warning method according to claim 1 is characterized in that: In S2, the operation of obtaining the overall area map of the coal shed is specifically as follows: Based on the actual pixel coordinates and real-world coordinates of the calibration plate in the fisheye image, intrinsic parameters and distortion coefficients are obtained; based on the intrinsic parameters and distortion coefficients, several fisheye images are corrected to obtain several fisheye corrected images; The gradient feature vector of each feature point in each fisheye corrected image is obtained. Based on the gradient feature vector of the feature point, the matching points between adjacent fisheye corrected images are searched, and the transformation matrix is ​​calculated. Based on the transformation matrix, the adjacent fisheye corrected images are spliced ​​by pixel mapping to obtain the overall area map of the coal shed.

3. The open-pit coal mine dust safety monitoring and early warning method according to claim 2 is characterized in that: The characteristic points are pixels of extreme values ​​after the fisheye-corrected image is processed by Gaussian blur at different scales; The gradient feature vector is a total vector obtained by concatenating the corresponding vectors of the pixel gradient direction histograms of all sub-regions within a neighborhood centered on the feature point.

4. The open-pit coal mine dust safety monitoring and early warning method according to claim 2 is characterized in that: The specific operation of searching for matching points between adjacent fisheye-rectified images is: Based on the gradient feature vector, obtain the similarity measure between the current feature point in the current fisheye-corrected image and all feature points in the next fisheye-corrected image, and take the feature point corresponding to the minimum value of the similarity measure as the nearest neighbor feature point of the current feature point; The feature point with the second smallest similarity measure is used as the next nearest neighbor feature point of the current feature point; if the ratio of the similarity measure between the current feature point and the nearest neighbor feature point and the similarity measure between the current feature point and the next nearest neighbor feature point is less than the ratio threshold, the nearest neighbor feature point is the matching point of the current feature point; In this way, the matching points corresponding to all feature points of the current fisheye-rectified image in the next fisheye-rectified image are obtained.

5. The open-pit coal mine dust safety monitoring and early warning method according to claim 1 is characterized in that: The S1 also includes obtaining the dust concentration increase value within the historical neighborhood time for the monitoring points whose dust concentration exceeds the first dust concentration threshold; if the dust concentration increase value exceeds the dust concentration increase threshold, a dust hazard alarm is issued.

6. The open-pit coal mine dust safety monitoring and early warning method according to claim 1, characterized in that: The S2 also includes identifying events in the overall area map of the coal shed and assigning event risk values, and the event risk values ​​of all events are aggregated and calculated to obtain a total event risk value; The total event hazard value and the dust hazard value are weighted to obtain an optimized hazard value, which is used to execute the operation in S3.

7. The open-pit coal mine dust safety monitoring and early warning method according to claim 1 is characterized in that: The dust concentration at the monitoring point is measured by setting a suspended laser dust sensor at the monitoring point; the temperature at the monitoring point is measured by setting a suspended temperature sensor at the monitoring point; the temperature of the coal pile is measured by a fiber optic temperature sensor inserted in the coal pile.

8. An open-pit coal mine dust safety monitoring and early warning system, used to implement the open-pit coal mine dust safety monitoring and early warning method according to claim 1, characterized in that: include: Laser dust sensor, used to obtain dust concentration at monitoring points; Fisheye camera, used to obtain fisheye images inside the coal shed; A control module, including a dust concentration judgment module at a monitoring point, an image analysis module, and a dust hazard value judgment module; The dust concentration judgment module is used to judge whether the dust concentration of several monitoring points exceeds the dust concentration threshold; if the dust concentration of a monitoring point is not lower than the second dust concentration threshold, a signal is sent to the alarm module; if the dust concentration of a monitoring point is between the first dust concentration threshold and the second dust concentration threshold, a signal is sent to the image analysis module; The image analysis module is used to obtain several fisheye images in the coal shed, and stitch them after correction to obtain the overall area map of the coal shed; based on the pixel distribution information in the overall area map of the coal shed, several dust areas are obtained; based on the pixel distribution information in several dust areas and the dust concentration of the corresponding monitoring points, the average dust concentration of several dust areas is obtained; based on the average dust concentration of several dust areas, the dust concentration safety value and the maximum dust concentration of the corresponding areas, the danger values ​​of several dust areas are obtained; the danger values ​​of several dust areas are multiplied by the corresponding area weights and then added to obtain the dust danger value, and the dust danger value is sent to the dust danger value judgment module; The dust hazard value judgment module is used to judge whether the dust hazard value exceeds the dust hazard value threshold; if it is between the first dust hazard value threshold and the second dust hazard value threshold, the dust hazard precision value is obtained based on the dust hazard value and the temperature of the monitoring point, as well as the temperature of the coal pile in the coal shed; judge whether the dust hazard precision value exceeds the second dust hazard value threshold; if it exceeds, send a signal to the alarm module; if it is not lower than the second dust hazard value threshold, send a signal to the alarm module; the first dust hazard value threshold is less than the second dust hazard value threshold; the first dust concentration threshold is less than the second dust concentration threshold; Alarm module for dust hazard alarm.

9. An open-pit coal mine dust safety monitoring and early warning device, characterized in that: It comprises a processor and a memory, wherein when the processor executes the computer program stored in the memory, the open-pit coal mine dust safety monitoring and early warning method as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the open-pit coal mine dust safety monitoring and early warning method as described in any one of claims 1 to 7 is implemented.

Images