Intelligent safety management and control system for mine crushing based on digital twin technology

Abstract

The present invention discloses an intelligent safety management and control system for mine crushing based on digital twin technology, which relates to the field of intelligent safety management and control technology, including a data acquisition management unit, an ore processing unit, a signal monitoring unit, a data relay unit, a safety warning unit and a safety control unit. The present invention detects the image of ore particles on the conveyor belt through the ore processing unit, analyzes the size of the doped crushed particles and the position distribution of the ore during the transportation process, and provides data for the degree of ore crushing by the crusher and the safety of the ore transportation process, so as to provide early warning. In addition, the blasting vibration waveform signal is collected through the signal monitoring unit, and data is provided for the blasting vibration state, so as to provide safety early warning. The data is aggregated and transmitted through the data relay unit, and the vibration signal is visualized, so as to realize the flexible transmission of data and ensure the timeliness of data transmission.

Description

Technical Field

[0001] The present invention relates to the field of intelligent safety management and control technology, and specifically to a mine crushing intelligent safety management and control system based on digital twin technology. Background Art

[0002] Large open-pit mines have the characteristics of large annual output, high mining cost, wide distribution range, and great difficulty in management and control. In order to further improve production capacity and efficiency, it is necessary to introduce advanced digital science and technology to promote the development of mines towards intelligent manufacturing. Digital twin technology is a technology that combines the physical system of the real world with the digital model of the virtual world. Through digital twin technology, physical systems in the real world can be monitored and simulated in a virtual environment, and the status information of these systems can be monitored in real time. In the Chinese patent application number 202410245446.4, "a smart mine management and control method and system based on digital twins are disclosed, the method includes: establishing a geometric model of mining equipment, and reconstructing and rendering the mine environment data of the geometric model, and constructing a digital twin management and control system of the mine based on the five-dimensional architecture of digital twins; based on a pre-trained hybrid prediction model, predicting the future state of the twin data to obtain a prediction result; mapping the prediction result to the digital twin system to update the predicted state of the virtual entity of the mining equipment; analyzing the fault events in the prediction results, and dynamically scheduling the fault elimination of the specified fault events according to preset rules."

[0003] The above-mentioned documents solve the problem of backward mining control in the existing technology and can improve the safety and reliability of equipment. However, in the entire mine crushing process, in addition to the stable operation of the equipment, ore transportation and measures to prevent and control mine blasting vibration are also very important. When the ore is crushed and transported, if it is unevenly distributed on the conveyor belt, it may cause the ore to slip, thereby hindering the normal construction of on-site workers, and even causing serious safety hazards. Among them, the particle size of the ore is an important parameter for evaluating the crushing effect and realizing automated mineral processing. It can not only reflect the efficiency of equipment crushing, but also effectively prevent equipment damage and possible risks caused by long-term high-pressure operation of the equipment. In addition, the vibration effect of mine blasting can easily induce damage to the mine rock engineering and affect the normal production operation of the mine. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent safety management and control system for mine crushing based on digital twin technology to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, the present invention provides the following technical solution: a mine crushing intelligent safety management and control system based on digital twin technology, comprising:

[0006] Data acquisition management unit, which deploys sensor networks in various locations in the mine and collects environmental parameters, equipment operation data and location information of staff in real time. These data are aggregated as twin data and transmitted to the central monitoring room through a stable communication network. The data processing center is responsible for analyzing and processing the information collected by the central monitoring room in order to implement real-time monitoring, safety warnings and provide decision support;

[0007] An ore processing unit detects the ore particles after mine crushing based on digital images, and obtains the size of the crushed stone particles and their position distribution during transportation through image processing, ore particle area segmentation and analysis, and continuous image acquisition;

[0008] The signal monitoring unit is responsible for real-time identification and collection of blasting vibration waveform signals, and parsing them into data files of monitoring items, as well as arranging wireless WIFIAP devices internally to create a local area network environment, efficiently transmitting the generated monitoring data files, and being equipped with corresponding power conversion modules to achieve long-term stable power supply;

[0009] Data relay unit, which is responsible for receiving and forwarding the monitoring data files generated by the signal monitoring unit and the data obtained by the ore processing unit. At the same time, it cooperates with the signal monitoring unit to form a wireless monitoring network, and transmits the received data to the terminal database for data management through manual copying or the industrial Ethernet built by the mine itself;

[0010] A safety warning unit, which provides mild, moderate and severe warnings for the safety of the ore transportation process, the degree of ore crushing by the crusher and the blasting vibration state, and informs the staff to make rapid adjustments through warnings;

[0011] A safety control unit constrains the control of mechanical equipment operation and behavior execution information, so that the obtained operation feedback information is transmitted in a timely and correct manner, thereby reducing the losses caused by mine crushing and impact ground pressure.

[0012] Preferably, the data acquisition management unit includes an environmental equipment management module, a personnel management module and a transportation management module. The environmental equipment management module uses a vibration sensor, a sound sensor, a temperature sensor and a pressure sensor to respectively monitor the vibration frequency of the crusher bearing, the operating state frequency of the crusher, the operating temperature of the crusher and the rock burst signal of the mine. In view of the fact that the transmission power instability and the mechanical mixed sound interference in the working process of the crusher cause errors in the original signal obtained, the wavelet threshold denoising method is used to remove the bearing vibration noise and operating state noise monitored by the crusher, and the abnormalities in the real-time operating temperature of the crusher and the rock burst signal of the mine are eliminated by the Laida criterion. The personnel management module uses radio frequency identification and positioning technology to continuously track the real-time location of miners in the mining area, ensure rapid and accurate personnel positioning and rescue in emergency situations, and monitor the miners entering and leaving the mining area, thereby effectively managing personnel flow, ensuring the safety of staff, and improving work efficiency. Managers can view the distribution of miners in real time through the central monitoring room and make scheduling decisions in a timely manner. The transportation management module installs sensors and GPS tracking systems on the mine conveyor belts to monitor the ore transportation location, operating status and load in real time. These data are fed back to the control center in real time to monitor the performance of mine cars, predict maintenance needs, and avoid potential safety risks.

[0013] Preferably, the ore processing unit includes an image preprocessing module and a smoothing segmentation module. During the transportation of the crushed ore, the image preprocessing module obtains an image of crushed ore particles and grayscales the two-dimensional image of the ore. The grayscale image forms a histogram describing the grayscale level and probability density. The histogram is equalized by a transformation function, and then a median filter is used to remove the noise generated during the acquisition, quantization and transmission of the image, so as to efficiently retain the edge information of the ore particles. The smoothing segmentation module smoothes the image finally obtained by the image preprocessing module through opening and closing operations. The opening operation refers to removing small protruding parts and disconnecting narrow connections, while the closing operation refers to connecting narrow gaps in the image and filling holes smaller than structural elements. Then, the Canny edge detection operator is used to binarize the ore particles and the background area and to segment the particles with overlapping edges.

[0014] Preferably, the ore processing unit also includes a particle size calibration module and a particle size distribution module. The particle size calibration module marks the white area of ​​the segmented image as 1, indicating the edge area and background, and the black area as 0, indicating the ore particles. After the ore particles are segmented from the image, the particle detection is completed by analyzing the particle area, perimeter, equivalent diameter, and shape factor in the particle characteristics. In the MATLAB image processing toolbox, the region descriptor of the segmented binary image is calculated using the function regionprops, and the parameters of the particle projection in the image are obtained through the region descriptor, thereby obtaining the size of the ore particles. The particle size distribution module continuously collects the ore particle image online to obtain the detection result of the surface layer particle size distribution of the material in the detection area. The surface layer particle size detection result is used as input, and the overall particle size distribution of the material in the stacking state is obtained through the BP neural network, thereby obtaining the distribution area of ​​the ore particles on the conveyor belt during dynamic transportation.

[0015] Preferably, the signal monitoring unit is composed of a vibration sensor, a host computer, a power conversion module and a hardware device of a router. The vibration sensor converts the blasting vibration physical wave signal into an electrical signal for output. The host computer completes the communication task with the vibration sensor and uses an AC power supply cable to connect with the power conversion module as an input voltage, which is converted into a DC power supply voltage after passing through the power conversion module. The router is connected to the host computer via a USB data cable and is powered by the host computer to create a local area network environment. The host computer communicates with the vibration sensor by sending and receiving serial command data frames in different formats.

[0016] The data file of the signal monitoring unit includes monitoring project information and its spatiotemporal attributes and measuring point monitoring data and its spatiotemporal attributes. The monitoring project information includes the location of the explosion source and the engineering information of the measurement point layout for each detonation. The measurement point detection data is the blasting vibration monitoring data collected by the monitoring equipment arranged at fixed measurement points during blasting detonation. The spatiotemporal attributes of the data include the detonation time of the blasting and the spatial position of the explosion source and the measurement point. This information is managed through a data table structure.

[0017] Preferably, the data relay unit includes a mode selection module and a curve display module. The mode selection module selects the host computer of the data relay unit according to two modes. One mode is that when the mine itself has an available industrial network, the data relay unit selects the same host computer as the signal monitoring unit and is arranged at the monitoring site for long-term data transmission. The other mode is that when the network facilities of the mine itself are imperfect, long-distance wireless data copying is carried out by carrying a mobile device to the site. The two modes are matched with each other to realize flexible transmission of monitoring data. Based on the complex and changeable mining environment, the curve display module displays the real-time monitoring data on the site in a low-latency, high-smoothness web page in a graphical manner, so as to realize the visualization of the regional blasting vibration results caused by the mine blasting work. The user selects the monitoring location point and the monitoring time point through interactive operation to obtain the monitoring data curve. The data curve is used to reflect the vibration state of the measuring point area during the blasting construction.

[0018] Preferably, the safety warning unit includes a category classification module, a transportation warning module and an equipment warning module. The category classification module divides the ore particles on the conveyor belt into three areas according to the two side edges and the middle part, and divides the particle size into primary particle size, secondary particle size and tertiary particle size in order from small to large particle size, and calculates the distribution probability of ore particles of different particle sizes in each area respectively. The transportation warning module is responsible for issuing an early warning for the ore transportation process. If the probability distribution of ore particles in an area on one side of the conveyor belt exceeds that in the middle part and the exceeding part is less than or equal to 20% of the middle part, a mild early warning is issued. If the probability distribution of ore particles in an area on one side of the conveyor belt exceeds that in the middle part, a slight early warning is issued. If the probability distribution of one side area exceeds 20% and is less than or equal to 50% of the middle part, a moderate warning is issued; if the probability distribution of one side area exceeds 50% and is greater than the middle part, a severe warning is issued. The equipment warning module is responsible for issuing a warning on the degree of ore crushing. If the probability of the third-level particle size is greater than 0 and less than or equal to 5% or the probability of the second-level particle size is greater than 10% and less than or equal to 15%, a mild warning is issued; if the probability of the third-level particle size is greater than 5% and less than or equal to 10% or the probability of the second-level particle size is greater than 15% and less than or equal to 20%, a moderate warning is issued; if the probability of the third-level particle size is greater than 10% or the probability of the second-level particle size is greater than 20%, a severe warning is issued.

[0019] Preferably, the safety warning unit also includes a vibration warning module and a notification adjustment module. The vibration warning module checks the vibration status of the measuring point area during the blasting construction according to the curve display module. If the peak value of the curve is greater than half of the preset value and less than 75% of the preset value, a mild warning is issued. If the peak value of the curve is greater than or equal to 75% of the preset value and less than the preset value, a moderate warning is issued. If the peak value of the curve is greater than or equal to the preset value, a severe warning is issued. When the mechanism of the transportation warning module, the equipment warning module and the vibration warning module is triggered, the notification adjustment module will quickly notify the staff by sound and light alarm and information push. Different degrees of warning generate light alarm signals of different colors and sound alarm signals of different sound volumes. The sound of the sound alarm signal of the severe warning is louder than that of the moderate warning, and the sound of the sound alarm signal of the moderate warning is louder than that of the mild warning, so as to ensure that the staff can make adjustments.

[0020] Preferably, the safety control unit includes a component composition module, a behavior judgment module and a control loop module. The component composition module includes a control module, an execution module and a sensor module. The control module includes various management departments, monitoring equipment and staff. The execution module includes various measures to prevent impact ground pressure. The sensor module includes an impact ground pressure monitoring system. The behavior judgment module obtains feedback information transmitted by the sensor module for the control module. The control module first determines whether the behavior issued by the execution module to the controlled process is a safety control behavior. The controlled process refers to unsafe behavior of personnel and unsafe energy state. If so, the control module decides to provide control behavior and continue to enter the control loop module. Otherwise, no instructions are issued. The control loop module enables the control module to grasp the real-time state of the controlled process, thereby obtaining the feedback information of the controlled process transmitted by the sensor module, and applying control behavior through this information, so as to ensure that the entire system is in a pre-set constraint state in the case of external interference. The feedback information and control behavior between modules are accurately and timely transmitted to form a control loop structure to prevent entering a dangerous state.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention can collect environmental parameters, equipment operation data and location information of staff through the data acquisition management unit, provide twin data support for the ore processing unit and the signal monitoring unit, detect the image of ore particles on the conveyor belt through the ore processing unit, analyze the size of the doped broken particles and the location distribution of the ore during the transportation process, and provide data for the degree of ore crushing by the crusher and the safety of the ore transportation process for early warning. In addition, the blasting vibration waveform signal is collected through the signal monitoring unit to provide data for the blasting vibration state for safety early warning. The data is summarized and transmitted through the data relay unit and the vibration signal is visualized, thereby realizing flexible data transmission and ensuring the timeliness of data transmission;

[0023] 2. The present invention divides the warning degree through the safety warning unit, and uses sound and light alarms and information push to notify, so that the staff can understand the situation in real time and take corresponding measures. The safety control unit performs closed-loop control on the commands issued by the control system, so that the control module can grasp the real-time state of the controlled process, thereby obtaining the controlled process feedback information transmitted by the sensor module, and exerting control behavior through this information, so as to ensure that the entire system is in a pre-set constraint state in the case of external interference, thereby reducing the losses caused by the impact ground pressure phenomenon of mine crushing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the overall system flow provided by an embodiment of the present invention;

[0025] Figure 2 A module block diagram of a data acquisition management unit provided in an embodiment of the present invention;

[0026] Figure 3 A module block diagram of an ore processing unit provided in an embodiment of the present invention;

[0027] Figure 4 A module block diagram of a data relay unit provided in an embodiment of the present invention;

[0028] Figure 5 A module block diagram of a security warning unit provided in an embodiment of the present invention;

[0029] Figure 6 A module block diagram of a safety control unit provided in an embodiment of the present invention.

[0030] In the figure: 1. Data acquisition management unit; 101. Environmental equipment management module; 102. Personnel management module; 103. Transportation management module; 2. Ore processing unit; 201. Image preprocessing module; 202. Smooth segmentation module; 203. Particle size calibration module; 204. Particle size distribution module; 3. Signal monitoring unit; 4. Data relay unit; 401. Mode selection module; 402. Curve display module; 5. Safety warning unit; 501. Category classification module; 502. Transportation warning module; 503. Equipment warning module; 504. Vibration warning module; 505. Notification adjustment module; 6. Safety control unit; 601. Component composition module; 602. Behavior judgment module; 603. Control loop module. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0032] See also Figures 1 to 6 The present invention provides a technical solution: a mine crushing intelligent safety management and control system based on digital twin technology, comprising:

[0033] Data acquisition management unit 1: The data acquisition management unit 1 arranges sensor networks in various places in the mine and collects environmental parameters, equipment operation data and location information of staff in real time. These data are aggregated as twin data and transmitted to the central monitoring room through a stable communication network. The data processing center is responsible for analyzing and processing the information collected by the central monitoring room in order to implement real-time monitoring, safety warning and provide decision support;

[0034] Ore processing unit 2, which detects the ore particles after mine crushing based on digital images, obtains the size of the crushed stone particles and their position distribution during transportation through image processing, ore particle area segmentation and analysis, and continuous image acquisition;

[0035] Signal monitoring unit 3, which is responsible for real-time identification and collection of blasting vibration waveform signals, and parsing them into data files of monitoring items, as well as arranging wireless WIFIAP devices internally to create a local area network environment, efficiently transmitting the generated monitoring data files, and being equipped with corresponding power conversion modules to achieve long-term stable power supply;

[0036] Data relay unit 4, which is responsible for receiving and forwarding the monitoring data files generated by the signal monitoring unit 3 and the data obtained by the ore processing unit 2, and at the same time cooperates with the signal monitoring unit 3 to form a wireless monitoring network, and transmits the received data to the terminal database through manual copying or the industrial Ethernet built by the mine itself for data management;

[0037] Safety warning unit 5: Safety warning unit 5 issues mild, moderate and severe warnings for the safety of ore transportation, the degree of ore crushing by the crusher and the blasting vibration status, and informs the staff to make quick adjustments through warnings;

[0038] The safety control unit 6 constrains the control of the operation of the mechanical equipment and the behavior execution information, so that the obtained operation feedback information is transmitted in time and correctly communicated, reducing the losses caused by the impact ground pressure phenomenon of mine crushing.

[0039] The data acquisition management unit 1 includes an environmental equipment management module 101, a personnel management module 102 and a transportation management module 103. The environmental equipment management module 101 uses a vibration sensor, a sound sensor, a temperature sensor and a pressure sensor to respectively monitor the vibration frequency of the crusher bearing, the operating state frequency of the crusher, the operating temperature of the crusher and the rock burst signal of the mine, and uses a wavelet threshold denoising method to remove the bearing vibration noise and operating state noise monitored by the crusher, and uses the Laida criterion to remove abnormal values ​​in the real-time operating temperature of the crusher and the rock burst signal of the mine. The personnel management module 102 uses radio frequency identification positioning technology to continuously track the real-time position of miners in the mining area, ensure rapid and accurate personnel positioning and rescue in an emergency, and realize the monitoring of miners entering and leaving the mining area, so as to effectively manage the flow of personnel. The manager can view the distribution of miners in real time through the central monitoring room and make scheduling decisions in time. The transportation management module 103 installs sensors and GPS tracking systems on the mine conveyor belt to monitor the ore transportation position, operating state and load in real time. These data are fed back to the control center in real time to monitor the performance of the mine car, predict maintenance needs and avoid potential safety risks.

[0040] The ore processing unit 2 includes an image preprocessing module 201 and a smoothing segmentation module 202. The image preprocessing module 201 obtains an image of ore particles during the transportation of the crushed ore, and grayscales the two-dimensional image of the ore. The grayscale image forms a histogram describing the grayscale level and probability density. The histogram is equalized by a transformation function, and then a median filter is used to remove the noise generated in the process of image acquisition, quantization and transmission, so as to efficiently retain the edge information of the ore particles. The smoothing segmentation module 202 smoothes the image finally obtained by the image preprocessing module 201 by an opening operation and a closing operation. The opening operation refers to removing small protruding parts and disconnecting narrow connections, while the closing operation refers to connecting narrow gaps in the image and filling holes smaller than structural elements. Then, the Canny edge detection operator is used to separate the ore particles from the background area by binarization and to separate the particles with overlapping edges.

[0041] The transformation function is specifically:

[0042]

[0043] in, represents the equalized histogram, Represents the number of gray levels, Indicates that the gray level in the image is The number of pixels, Represents the total number of pixels in the image, Indicates the image number. Represents the probability density, that is, the distribution of the gray levels of the image;

[0044] The ore processing unit 2 also includes a particle size calibration module 203 and a particle size distribution module 204. The particle size calibration module 203 marks the white area of ​​the segmented image as 1, indicating the edge area and background, and the black area as 0, indicating the ore particles. After the ore particles are segmented from the image, the particle detection is completed by analyzing the particle area, perimeter, equivalent diameter, and shape factor in the particle features. In the MATLAB image processing toolbox, the region descriptor of the segmented binary image is calculated using the function regionprops. The parameters of the particle projection in the image are obtained through the region descriptor, thereby obtaining the size of the ore particles. The particle size distribution module 204 continuously collects the ore particle image online to obtain the detection result of the surface layer particle size distribution of the material in the detection area. The surface layer particle size detection result is used as input to obtain the overall particle size distribution of the material in the stacking state through the BP neural network, thereby obtaining the distribution area of ​​the ore particles on the conveyor belt during dynamic transportation;

[0045] The distribution area is the probability distribution, including the probability algorithm, specifically:

[0046]

[0047] In the formula, Indicates particle size In the area The percentage of ore particles in the total number, Indicates particle size In the area The number of ore particles in Indicates the total number of ore particles of different sizes. Indicates the detection order, Indicates the total number of detections. Indicates the particle size, Indicates the detection area on the conveyor belt;

[0048] The signal monitoring unit 3 is composed of the hardware equipment of a vibration sensor, a host computer, a power conversion module and a router. The vibration sensor converts the blasting vibration physical wave signal into an electrical signal for output. The host computer completes the communication task with the vibration sensor and uses an AC power supply cable to connect to the power conversion module as the input voltage, which is converted into a DC power supply voltage after passing through the power conversion module. The router is connected to the host computer via a USB data cable and is powered by the host computer to create a local area network environment. The host computer communicates with the vibration sensor by sending and receiving serial port command data frames in different formats.

[0049] The data file of the signal monitoring unit 3 includes monitoring project information and its spatiotemporal attributes and measuring point monitoring data and its spatiotemporal attributes. The monitoring project information includes the location of the blast source and the engineering information of the measuring point arrangement for each blast. The measuring point detection data is the blasting vibration monitoring data collected by the monitoring equipment arranged at the fixed measuring point during the blasting blasting. The spatiotemporal attributes of the data include the blasting blasting time and the spatial location of the blast source and the measuring point. This information is managed through the data table structure.

[0050] The data relay unit 4 includes a mode selection module 401 and a curve display module 402. The mode selection module 401 selects the host computer of the data relay unit 4 according to two modes. One mode is that when the mine itself has an available industrial network, the data relay unit selects the same host computer as the signal monitoring unit and is arranged at the monitoring site for long-term data transmission. The other mode is that when the network facilities of the mine itself are imperfect, a mobile device is carried to the site for long-distance wireless data copying. The two modes are matched with each other to realize flexible transmission of monitoring data. Based on the complex and changeable mining environment, the curve display module 402 displays the real-time monitoring data on the site in a low-latency, high-smoothness web page in a graphical manner, so as to realize the visualization of the regional blasting vibration results caused by the mining blasting work. The user selects the monitoring location point and the monitoring time point through interactive operation to obtain the monitoring data curve. The data curve is used to reflect the vibration state of the measuring point area during the blasting construction.

[0051] The safety warning unit 5 includes a classification module 501, a transportation warning module 502 and an equipment warning module 503. The classification module 501 divides the ore particles on the conveyor belt into three areas according to the edges on both sides and the middle part, and divides the particle size into primary particle size, secondary particle size and tertiary particle size in order from small to large particle size, and calculates the distribution probability of ore particles of different particle sizes in each area respectively. The transportation warning module 502 is responsible for warning the ore transportation process. If the probability distribution of ore particles in the area on one side of the conveyor belt exceeds that in the middle part and the exceeding part is less than or equal to 20% of the middle part, a slight warning is issued. If the probability distribution of ore particles in the area on one side of the conveyor belt exceeds that in the middle part, a slight warning is issued. If the exceeding part is greater than 20% of the middle part and less than or equal to 50% of the middle part, a moderate warning is issued. If the probability distribution of the exceeding part of one side area is greater than 50% of the middle part, a severe warning is issued. The equipment warning module 503 is responsible for issuing a warning on the degree of ore crushing. If the probability of the third-level particle size is greater than 0 and less than or equal to 5% or the probability of the second-level particle size is greater than 10% and less than or equal to 15%, a mild warning is issued. If the probability of the third-level particle size is greater than 5% and less than or equal to the 10% interval or the probability of the second-level particle size is greater than 15% and less than or equal to 20%, a moderate warning is issued. If the probability of the third-level particle size is greater than 10% or the probability of the second-level particle size is greater than 20%, a severe warning is issued.

[0052] The safety warning unit 5 also includes a vibration warning module 504 and a notification adjustment module 505. The vibration warning module 504 checks the vibration state of the measuring point area during the blasting construction according to the curve display module 402. If the peak value of the curve is greater than half of the preset value and less than 75% of the preset value, a mild warning is issued. If the peak value of the curve is greater than or equal to 75% of the preset value and less than the preset value, a moderate warning is issued. If the peak value of the curve is greater than or equal to the preset value, a severe warning is issued. When the mechanism of the transportation warning module 502, the equipment warning module 503 and the vibration warning module 504 is triggered, the notification adjustment module 505 will quickly use sound and light alarms and information push methods to notify the staff. Different degrees of warnings generate light alarm signals of different colors and sound alarm signals of different sound levels. The sound of the sound alarm signal of the severe warning is greater than that of the moderate warning, and the sound of the sound alarm signal of the moderate warning is greater than that of the mild warning, so as to ensure that the staff can make adjustments.

[0053] The safety control unit 6 includes a component composition module 601, a behavior judgment module 602 and a control loop module 603. The component composition module 601 includes a control module, an execution module and a sensor module. The control module includes various management departments, monitoring equipment and staff. The execution module includes various measures to prevent impact ground pressure. The sensor module includes an impact ground pressure monitoring system. The behavior judgment module 602 obtains feedback information transmitted by the sensor module for the control module. The control module first determines whether the behavior issued by the execution module to the controlled process is a safety control behavior. The controlled process refers to the unsafe behavior of personnel and the unsafe energy state. If so, the control module decides to provide control behavior and continues to enter the control loop module 603. Otherwise, no instructions are issued. The control loop module 603 enables the control module to grasp the real-time state of the controlled process, thereby obtaining the feedback information of the controlled process transmitted by the sensor module, and applying control behavior through this information, so as to ensure that the entire system is in a pre-set constraint state in the case of external interference. The feedback information and control behavior between modules are accurately and timely transmitted to form a control loop structure to prevent entering a dangerous state.

[0054] Working principle: When the present invention is used, the environmental parameters, equipment operation data and location information of the staff required by the ore processing unit 2 and the signal monitoring unit 3 are collected through the data collection management unit 1. These data are analyzed as twin data in the data processing center, so as to control the ore processing unit 2 to grayscale, smooth and edge segment the particle image of the crushed ore conveyed, and efficiently retain the edge information of the ore particles, so as to provide data support for the particle size calibration module 203. The particle detection is completed by analyzing the area, perimeter, equivalent diameter and shape factor of the ore particles segmented in the image, and the size of the ore particles is obtained according to the obtained particle projection parameters. After the particle size distribution module 204 continuously collects the ore particle image online, the overall particle size distribution in the stacking state is obtained according to the obtained surface layer particle size distribution detection result, so as to further obtain the distribution area of ​​the ore particles on the conveyor belt during dynamic transportation. In addition, the data processing center controls the signal monitoring unit 3 to recognize and collect the blasting vibration waveform signal in real time, and parse it into a data file of the monitoring project. The vibration sensor is used to convert the blasting vibration physical wave signal into an electrical signal for output, and the host computer completes the communication task with the vibration sensor;

[0055] The data processed by the ore processing unit 2 and the signal monitoring unit 3 are transmitted to the terminal database for data management through manual copying or the industrial Ethernet built by the mine itself through the data relay unit 4, and the real-time monitoring data on site is graphically displayed in a low-latency, high-fluency web page through the curve display module 402, so as to realize the visualization of the regional blasting vibration results caused by the mine blasting work. The user selects the monitoring location point and the monitoring time point through interactive operation to obtain the monitoring data curve. The data curve is used to reflect the vibration state of the measuring point area during the blasting construction. The safety warning unit 5 is divided into the transportation The early warning module 502, the equipment early warning module 503 and the vibration early warning module 504, the transport early warning module 502 makes light, medium and severe early warnings according to the distribution area of ​​ore particles on the conveyor belt during dynamic transportation, the equipment early warning module 503 makes light, medium and severe early warnings according to the degree of ore crushing particles, and the vibration early warning module 504 makes light, medium and severe early warnings according to the degree of vibration of the data curve. The safety control unit 6 constrains the control of the operation of mechanical equipment and the behavior execution information, so that the obtained operation feedback information is transmitted in time and correctly communicated, thereby reducing the losses caused by the impact ground pressure phenomenon of mine crushing.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The intelligent safety management and control system for mine crushing based on digital twin technology is characterized by: include: A data collection management unit (1), wherein the data collection management unit (1) arranges a sensor network at various locations in the mine and collects environmental parameters, equipment operation data and location information of staff in real time. These data are aggregated as twin data and transmitted to a central monitoring room via a stable communication network. The data processing center is responsible for analyzing and processing the information collected by the central monitoring room so as to implement real-time monitoring, safety warnings and provide decision support; An ore processing unit (2), wherein the ore processing unit (2) detects ore particles after being crushed in a mine based on digital images, and obtains the size of the crushed stone particles and their position distribution during transportation through image processing, ore particle area segmentation and analysis, and continuous image acquisition; The ore processing unit (2) comprises an image preprocessing module (201) and a smoothing segmentation module (202). The image preprocessing module (201) obtains an image of crushed ore particles during the conveying process of crushed ore, and grayscales the two-dimensional image of the ore. The grayscale image forms a histogram describing the grayscale level and probability density. The histogram is equalized by a transformation function, and then a median filter is used to remove noise generated during the acquisition, quantization and transmission of the image, so as to efficiently retain the edge information of the ore particles. The smoothing segmentation module (202) smoothes the image finally obtained by the image preprocessing module (201) by an opening operation and a closing operation. The opening operation refers to removing small protruding parts and disconnecting narrow connections, while the closing operation refers to connecting narrow gaps in the image and filling holes smaller than structural elements. The Canny edge detection operator is then used to separate the ore particles from the background area by binarization and to separate particles with overlapping edges. The transformation function is specifically: in, represents the equalized histogram, Represents the number of gray levels, Indicates that the gray level in the image is The number of pixels, Represents the total number of pixels in the image, Indicates the image number, Represents the probability density, that is, the distribution of the gray levels of the image; The ore processing unit (2) further comprises a particle size calibration module (203) and a particle size distribution module (204). The particle size calibration module (203) marks the white area of ​​the segmented image as 1, indicating the edge area and background, and marks the black area as 0, indicating the ore particles. After the ore particles are segmented from the image, the particle detection is completed by analyzing the particle area, perimeter, equivalent diameter and shape factor in the particle features. In the MATLAB image processing toolbox, the region descriptor of the segmented binary image is calculated using the function regionprops. The parameters of the particle projection in the image are obtained through the region descriptor, thereby obtaining the size of the ore particles. The particle size distribution module (204) continuously collects the ore particle image online to obtain the detection result of the surface layer particle size distribution of the material in the detection area. The surface layer particle size detection result is used as input to obtain the overall particle size distribution of the material in the stacking state through the BP neural network, thereby obtaining the distribution area of ​​the ore particles on the conveyor belt during dynamic transportation. The distribution area is the probability distribution, including the probability algorithm, specifically: In the formula, Indicates particle size In the area The percentage of ore particles in the total Indicates particle size In the area The number of ore particles in Indicates the total number of ore particles of different sizes. Indicates the detection order, Indicates the total number of detections. Indicates the particle size, Indicates the detection area on the conveyor belt; A signal monitoring unit (3), the signal monitoring unit (3) is responsible for real-time identification and collection of blasting vibration waveform signals, and parsing them into data files of monitoring items, and arranging wireless WIFIAP equipment internally to create a local area network environment, and efficiently transmitting the generated monitoring data files, and is equipped with a corresponding power conversion module to achieve long-term stable power supply; A data relay unit (4), the data relay unit (4) is responsible for receiving and forwarding the monitoring data file generated by the signal monitoring unit (3) and the data obtained by the ore processing unit (2), and at the same time cooperates with the signal monitoring unit (3) to form a wireless monitoring network, and transmits the received data to the terminal database through manual copying or the industrial Ethernet built by the mine itself for data management; The data relay unit (4) comprises a mode selection module (401) and a curve display module (402). The mode selection module (401) selects a host computer of the data relay unit (4) according to two modes. One mode is that when the mine itself has an available industrial network, the data relay unit selects the same host computer as the signal monitoring unit and is arranged at the monitoring site for long-term data transmission. The other mode is that when the network facilities of the mine itself are imperfect, a mobile device is carried to the site for long-distance wireless data copying. The two modes are matched to each other to realize flexible transmission of monitoring data. Based on the complex and changeable environment of the mine, the curve display module (402) displays the real-time monitoring data on the site in a graphical manner on a low-latency, high-fluency web page, thereby realizing a visual display of the regional blasting vibration results caused by the mine blasting work. The user selects the monitoring position point and the monitoring time point through interactive operation to obtain the monitoring data curve. The data curve is used to reflect the vibration state of the measuring point area during the blasting construction. A safety warning unit (5), the safety warning unit (5) respectively issues mild, moderate and severe warnings for the safety of the ore transportation process, the degree of ore crushing by the crusher and the blasting vibration state, and informs the staff to make rapid adjustments through the warnings; A safety control unit (6), the safety control unit (6) constrains the control of the operation of the mechanical equipment and the behavior execution information, so that the obtained operation feedback information is transmitted in time and correctly, thereby reducing the losses caused by the rock burst phenomenon in the mine; The safety control unit (6) comprises a component composition module (601), a behavior judgment module (602) and a control loop module (603). The component composition module (601) comprises a control module, an execution module and a sensor module. The control module comprises various management departments, monitoring equipment and staff. The execution module comprises various measures to prevent rock burst. The sensor module comprises a rock burst monitoring system. The behavior judgment module (602) receives feedback information transmitted by the sensor module from the control module. The control module first judges whether the behavior issued by the execution module to the controlled process is a safety control behavior. The controlled process refers to the unsafe behavior of personnel and the unsafe energy state. If so, the control module decides to provide control behavior and continues to enter the control loop module (603). Otherwise, no instruction is issued. The control loop module (603) enables the control module to grasp the real-time state of the controlled process, thereby obtaining the feedback information of the controlled process transmitted by the sensor module, and applying control behavior through this information, so as to ensure that the entire system is in a pre-set constraint state in the case of external interference. The feedback information and control behavior between modules are accurately and timely transmitted to form a control loop structure to prevent entering a dangerous state.

2. The intelligent safety management and control system for mine crushing based on digital twin technology according to claim 1 is characterized by: The data acquisition management unit (1) comprises an environment equipment management module (101), a personnel management module (102) and a transportation management module (103). The environment equipment management module (101) uses a vibration sensor, a sound sensor, a temperature sensor and a pressure sensor to respectively monitor the vibration frequency of the crusher bearing, the operating state frequency of the crusher, the operating temperature of the crusher and the rock burst signal of the mine. The wavelet threshold denoising method is used to remove the bearing vibration noise and operating state noise monitored by the crusher. The abnormal values ​​in the real-time operating temperature of the crusher and the rock burst signal of the mine are eliminated by the Laida criterion. Module (102) uses radio frequency identification positioning technology to continuously track the real-time location of miners in the mining area, ensure rapid and accurate personnel positioning and rescue in emergency situations, and monitor the miners entering and leaving the mining area, thereby effectively managing personnel flow. Managers can view the distribution of miners in real time through the central monitoring room and make scheduling decisions in a timely manner. The transportation management module (103) installs sensors and GPS tracking systems on the mine conveyor belt to monitor the ore transportation location, operating status and load in real time. These data are fed back to the control center in real time to monitor the performance of the mine car, predict maintenance needs and avoid potential safety risks.

3. The mine crushing intelligent safety management and control system based on digital twin technology according to claim 1 is characterized by: The signal monitoring unit (3) is composed of a vibration sensor, a host computer, a power conversion module and a router hardware device. The vibration sensor converts the blasting vibration physical wave signal into an electrical signal for output. The host computer completes the communication task with the vibration sensor and uses an AC power supply cable to connect to the power conversion module as an input voltage, which is converted into a DC power supply voltage after passing through the power conversion module. The router is connected to the host computer via a USB data cable and is powered by the host computer to create a local area network environment. The host computer communicates with the vibration sensor by sending and receiving serial port command data frames in different formats. The data file of the signal monitoring unit (3) includes monitoring project information and its spatiotemporal attributes and measuring point monitoring data and its spatiotemporal attributes. The monitoring project information includes the location of the blasting source and the engineering information of the measuring point arrangement for each blasting. The measuring point detection data is the blasting vibration monitoring data collected by the monitoring equipment arranged at the fixed measuring points during the blasting. The spatiotemporal attributes of the data include the blasting time and the spatial location of the blasting source and the measuring point. The information is managed through a data table structure.

4. The mine crushing intelligent safety management and control system based on digital twin technology according to claim 1 is characterized by: The safety warning unit (5) comprises a classification module (501), a transportation warning module (502) and an equipment warning module (503). The classification module (501) divides the ore particles on the conveyor belt into three areas according to the two side edges and the middle part, and divides the particle size into primary particle size, secondary particle size and tertiary particle size in order from small to large particle size, and calculates the distribution probability of ore particles of different particle sizes in each area respectively. The transportation warning module (502) is responsible for issuing a warning for the ore transportation process. If the probability distribution of ore particles in an area on one side of the conveyor belt exceeds that in the middle part and the exceeding part is less than or equal to 20% of the middle part, a slight warning is issued. If the probability distribution of ore particles in an area on one side of the conveyor belt exceeds that in the middle part and the exceeding part is less than or equal to 20% of the middle part, a slight warning is issued. If the probability distribution of the side area exceeds 20% of the middle part and is less than or equal to 50% of the middle part, a moderate warning is issued; if the probability distribution of the side area exceeds 50% of the middle part, a severe warning is issued. The equipment warning module (503) is responsible for issuing a warning on the degree of ore crushing. If the probability of the third-level particle size is greater than 0 and less than or equal to 5% or the probability of the second-level particle size is greater than 10% and less than or equal to 15%, a mild warning is issued; if the probability of the third-level particle size is greater than 5% and less than or equal to 10% or the probability of the second-level particle size is greater than 15% and less than or equal to 20%, a moderate warning is issued; if the probability of the third-level particle size is greater than 10% or the probability of the second-level particle size is greater than 20%, a severe warning is issued.

5. The intelligent safety management and control system for mine crushing based on digital twin technology according to claim 4 is characterized in that: The safety warning unit (5) further comprises a vibration warning module (504) and a notification adjustment module (505). The vibration warning module (504) checks the vibration state of the measuring point area during the blasting construction according to the curve display module (402). If the peak value of the curve is greater than half of the preset value and less than 75% of the preset value, a mild warning is issued. If the peak value of the curve is greater than or equal to 75% of the preset value and less than the preset value, a moderate warning is issued. If the peak value of the curve is greater than or equal to the preset value, a severe warning is issued. When the mechanism of the transport warning module (502), the equipment warning module (503) and the vibration warning module (504) is triggered, the notification adjustment module (505) will quickly notify the staff by means of sound and light alarm and information push. Different degrees of warning generate light alarm signals of different colors and sound alarm signals of different sound levels. The sound of the sound alarm signal of the severe warning is louder than that of the moderate warning, and the sound of the sound alarm signal of the moderate warning is louder than that of the mild warning, so as to ensure that the staff can make adjustments.

Images