Method for automatically screening and tracking coal machine roller by fully mechanized coal mining face camera

Abstract

The invention provides a method for automatically screening and tracking a coal machine roller by a fully mechanized coal mining face camera, and belongs to the technical field of fully mechanized coal mining face video monitoring. The problems of video angle errors, link of fault cameras, frequent switching of cameras, frequent reconnection and the like when the working face cameras automatically track the coal mining machine are solved; when the method is started, states of all cameras of a fully mechanized coal mining face are monitored, UWB positioning service is connected to acquire the position of a coal mining machine, the positions of left and right rollers of the coal mining machine are calculated, the cameras corresponding to the left and right rollers of the coal mining machine are screened, and the coal wall angle, distance and corresponding deviation angle sets of the cameras are configured to determine the position of the coal mining machine. The device adapts to various distances and heights between the camera and a coal wall, realizes automatic rotation of the camera and line switching to complete monitoring and tracking of left and right rollers of the coal mining machine, and ensures the effect of video picture observation and tracking. The method is applied to automatic camera tracking of the fully mechanized coal mining face.

Description

Technical Field

[0001] The invention provides a method for automatic screening and tracking of coal machine drums by a camera on a fully-mechanized mining face, belonging to the technical field of video monitoring of fully-mechanized mining faces in underground coal mines. Background Art

[0002] Video monitoring of fully-mechanized mining has become an important part of the intelligent comprehensive mining. The camera automatically tracks the coal mining machine, and the video displays the coal mining situation and the surrounding environment of the coal mining machine in real time, which plays a very important role in intelligent and safe production. It can also promptly detect various visible abnormalities in coal wall, coal quantity, coal machinery and support.

[0003] At present, most of the comprehensive mining positioning is unstable or has deviations. The reasons are changes in the length of the working face, changes in the increase and decrease of supports, encoder replacement, calibration, and failure to regularly train the video algorithm. The docking positioning service of the present invention uses UWB coal machine positioning to ensure a long-term reliable positioning data source to support the long-term operation of this method.

[0004] At present, when automatic machine tracking is realized, the real-time machine tracking image may be occasionally interrupted due to abnormalities of individual cameras on the working face. In addition, there are influences such as changes in the working face height and the distance of the camera from the coal wall. In addition, the angles of cameras from different manufacturers are not uniform. When the camera density is large and the coal cutting speed is high (above 6m / min), the machine tracking image switches too frequently (switching cameras in less than 6 seconds), making it impossible to carefully observe the environment and movements of the coal machine and the bracket, seriously affecting the machine tracking observation effect. Summary of the invention

[0005] In order to solve the problems of video angle error, faulty camera connection, frequent camera switching, frequent reconnection, etc. when the working face camera automatically tracks the coal mining machine, the present invention proposes a method for automatic screening and tracking of coal mining machine drums by a comprehensive mining working face camera.

[0006] The technical solution adopted by the present invention is: a method for automatically screening and tracking the drum of a coal machine by a camera on a fully mechanized mining face, comprising the following steps: S1: When the method is started, check whether the configuration information of all cameras, coal mining machines, UWB positioning services and angle algorithms on the fully mechanized mining face is complete or exists. If there is no configuration information, configure it first; S2: Connect to the UWB positioning service. After the connection is successful, go to step S4; S3: Read the camera data in the configuration information, monitor the status of all cameras in real time, store the camera status data in the memory, and update it in real time, and then execute step S4; S4: After the position of the coal mining machine is obtained, the positions of the left and right drums are calculated according to the coal mining machine configuration information, the information of all tracking cameras is obtained, and the tracking cameras of the left and right drums are selected according to the drum positions and the camera positions; S5: After obtaining the tracking cameras of the left and right rollers, bind the cameras to the corresponding tracking lines, and complete the angle algorithm by configuring parameters to obtain the left and right, up and down rotation angles of the cameras; S6: after obtaining the camera corresponding to the tracking route and its left and right rotation angle, determine whether the currently displayed tracking screen is the selected camera. If it is the selected camera, directly execute step S7. If it is not the selected camera, it is necessary to switch the connection of the camera. S7: Based on the angle obtained in step S5, the camera is controlled to rotate at an absolute angle, so that the camera automatically screens and tracks the drum of the coal mining machine.

[0007] The camera configuration information in step S1 includes: Connection information, installation height A, distance from the coal wall B, left and right angle of the positive coal wall C, up and down angle of the positive coal wall D, angle rotation direction E, installation position F, whether to participate in following the machine, and working face number.

[0008] Furthermore, the configuration information of the coal mining machine in step S1 includes: the positioning distance between the left drum and the coal mining machine, and the positioning distance between the right drum and the coal mining machine.

[0009] Furthermore, the configuration information of the UWB positioning service in step S1 includes the address of the UWB positioning module.

[0010] Furthermore, the configuration information of the angle algorithm in step S1 includes a basic deflection angle set and a dynamic coal wall distance calibration value Z.

[0011] Furthermore, the implementation method of obtaining the information of all tracking cameras in step S4 is as follows: Furthermore, the latest camera status data is combined with the working surface information of the camera configuration to filter out the cameras that are operating normally in the current working surface, and then screened again to retain the cameras at the head and tail of the hydraulic support, and remove the cameras that are too densely arranged in the middle, and finally generate a set of tracking cameras.

[0012] Furthermore, the actual left and right rotation angle of the camera calculated by the angle algorithm is C+Nn*Z*E, where Nn is the left and right deflection angle when there are n hydraulic supports and the position difference between the drum and the camera in the basic deflection angle set, n=1,2,…,10, and Z is the dynamic coal wall distance calibration value.

[0013] Further, the dynamic coal wall distance calibration value Z=(15+position difference-B) / (15+position difference), wherein the position difference is the distance between the camera and the drum.

[0014] Furthermore, the up and down angles of the camera in step S5 are the configuration parameter D.

[0015] Furthermore, in step S2, the UWB positioning service is connected, the stability of the communication is verified through heartbeat, and the reconnection is completed after disconnection. After obtaining the information sent by the UWB positioning service, the information sent by the analysis is verified, and the analyzed coal machine position is analyzed to see whether it is within the normal support range. The position data that is not within the support range is discarded, and the data within the normal range is retained.

[0016] The beneficial effects of the present invention compared to the prior art are as follows: the method of the present invention effectively filters out cameras damaged on the working surface, takes effect in real time, and the damage of the camera during production does not substantially affect the automatic video tracking function.

[0017] The present invention adaptively optimizes the camera following of the working surface at any mining height and distance through parameter configuration, and the following angle change is more perfect. Even if the installation positions of individual cameras at the head, tail and middle frame are different, the camera following angle can be calculated in real time through the camera parameters, thereby achieving a better following effect.

[0018] The present invention can screen the movement of the video tracking camera on the working face with a relatively large camera density, so that the video tracking machine will not frequently switch the camera when the coal sweeping speed of the coal mining machine is 15m / min (in the existing case where the tracking machine density is large, the camera is switched once every 2 seconds).

[0019] The interface provided by the present invention can directly obtain the corresponding camera information, and anyone else who needs it can directly view the tracking effect without participating in the control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings: Figure 1 Flowchart for realizing camera screening and machine processing. DETAILED DESCRIPTION

[0021] like Figure 1 As shown, the present invention provides a method for automatically screening and tracking coal mining machine drums by cameras on a fully mechanized mining face. When started, the method connects to monitor the status of all cameras on the fully mechanized mining face, and at the same time connects to the UWB positioning service to obtain the position of the coal mining machine, calculates the positions of the left and right drums of the coal mining machine, and screens the cameras corresponding to the left and right drums of the coal mining machine. At the same time, by configuring the angle, distance, and basic deflection angle set of the camera to the coal wall, it adapts to various distances (2m-6m) and heights (0.5m-10m) between the camera and the coal wall, realizes automatic rotation of the camera, and line switching to complete monitoring and tracking of the left and right drums of the coal mining machine, and ensures the effect of video image observation and tracking.

[0022] Specifically, the implementation steps of the present invention are as follows: At startup, check the configuration information. If it is missing, create and configure new configuration information (camera, coal machine, positioning service, deviation angle), link and configure the camera, monitor the status of the camera, filter out the camera set involved in tracking according to the conditions, and connect to the UWB positioning service to obtain the coal machine position information, perform effective position processing, filter the cameras of the left and right drums, calculate the cameras and angles corresponding to the tracking line, and complete the camera connection, refresh, and angle control.

[0023] The UWB positioning service refers to the service that obtains the UWB positioning module data on the coal mining machine on the main control computer of the chute and calculates the position of the coal mining machine.

[0024] The configuration parameters and method programs involved in the method of the present invention are deployed on the main control computer of the chute, which completes the activation and stopping of the method. Other computers can obtain interface data and call the camera display (without participating in the control) to realize the automatic tracking function of the comprehensive mining video.

[0025] The specific steps are as follows: S1, when the method starts, check the configuration information. If the configuration information exists, execute S2 and S3, otherwise execute S1.1.

[0026] S1.1, the parameters required for running this method are as follows: ① Camera information: including connection information (IP, port, user name, password, manufacturer), installation height A, distance from the coal wall B, left and right angle of the positive coal wall C, up and down angle of the positive coal wall D, angle rotation direction E (left to right is positive 1 / right to left is reverse -1), installation position F, whether to participate in the machine, and working face number; ② Coal mining machine information: the distance between the left roller and the coal mining machine, the distance between the right roller and the coal mining machine (i.e. the distance between the left and right rollers on the coal mining machine and the UWB positioning module on the coal mining machine); ③Location service address; ④Algorithm parameters: basic deflection angle set between the drum and the camera (N1, N2...N9, N10), dynamic coal wall distance calibration value Z (i.e. calibration of the distance between the coal wall and the camera).

[0027] S2, connect to the UWB positioning service, verify the stability of communication through heartbeat, complete the reconnection after disconnection, obtain the information sent by the UWB positioning service, and execute S2.1.

[0028] S2.1, verify and parse the information sent by the UWB positioning service, analyze the parsed coal machine position, whether it is within the normal support range, discard the position data that is not within the support range, and retain the normal range data. The next step is to execute S4.

[0029] S3, read the camera data in the configuration information, monitor the status of all cameras in real time, store the camera status data in the memory, and update it in real time, and then execute S3.1.

[0030] S3.1. In this step, the screening of tracking cameras is implemented: the latest camera status data is combined with the working surface information of the camera configuration to screen out the cameras that are operating normally in the current working surface, and then screen again to eliminate the cameras that are too dense (one for every 1, one for every 2, or one for every 3). Starting from the nose of the aircraft, if there are no other cameras in front of or behind 5 hydraulic supports, the camera will be retained, and the tail of the aircraft will also be retained, and finally a set of tracking cameras will be generated.

[0031] S4, after obtaining the position of the coal mining machine, calculate the position of the left and right rollers according to the coal mining machine configuration information, call the S3.1 method to obtain the information of all tracking cameras, and filter out the tracking cameras of the left and right rollers according to the roller position and camera position. After completion, execute S5.

[0032] S5, after obtaining the tracking camera, bind the camera to the corresponding tracking line (such as left roller tracking line 0, left roller tracking line 1), and complete the angle algorithm by configuring parameters to obtain the left and right, up and down rotation angles of the camera. After completion, execute S6.

[0033] The principle of the angle algorithm is as follows: The wide-angle camera can see the entire coal wall height when the angle is correct, so the height of the drum is not considered, and the focus is on tracking the left and right deflection. Let N1, N2...N9 represent the left and right deflection angles when the position difference between the drum and the camera is 1, 2, 3, 4, 5, 6, 7, 8, and 9 hydraulic supports respectively, and N10 represents the rotation angle when the position difference is greater than or equal to 10.

[0034] Dynamic coal wall distance calibration value Z: Using mathematical triangle angle algorithm, when the side length (coal wall and camera installation distance) B changes and the diagonal side (position difference: the distance between the camera and the drum) remains unchanged, the corresponding change range of the angle can be calculated, and the best angle can be obtained in combination with the camera wide-angle display application; The dynamic coal wall distance calibration value Z calculated in this embodiment is: Z=(15+position difference-B) / (15+position difference), and the final deflection angle is Nn*Z, and the actual left and right rotation angle is C+Nn*Z*E; where Nn=the distance from the drum to the camera, and the up and down angles are the configuration parameters D.

[0035] S6, after obtaining the camera corresponding to the tracking route and its left and right rotation angle, determine whether the currently displayed tracking screen is the selected camera. If it is the selected camera, there is no need to execute S7 to switch the camera. If it is not the selected camera, it is necessary to execute S6.1 to switch the connection of the camera.

[0036] S6.1, according to the configuration connection information of the camera, execute the connection to the camera and display the picture, and then execute S7.

[0037] S7, based on the angle obtained in S5, the camera is controlled to rotate at an absolute angle, so as to complete the automatic screening and tracking of the coal mining machine drum by the camera.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically screening and tracking coal machine drums by a camera on a fully mechanized mining face, characterized in that: The following steps are involved: S1: When the method is started, check whether the configuration information of all cameras, coal mining machines, UWB positioning services and angle algorithms on the fully mechanized mining face is complete or exists. If there is no configuration information, configure it first; S2: Connect to the UWB positioning service. After the connection is successful, go to step S4; S3: Read the camera data in the configuration information, monitor the status of all cameras in real time, store the camera status data in the memory, and update it in real time, and then execute step S4; S4: After the position of the coal mining machine is obtained, the positions of the left and right drums are calculated according to the coal mining machine configuration information, the information of all tracking cameras is obtained, and the tracking cameras of the left and right drums are selected according to the drum positions and the camera positions; S5: After obtaining the tracking cameras of the left and right rollers, bind the cameras to the corresponding tracking lines, and complete the angle algorithm by configuring parameters to obtain the left and right, up and down rotation angles of the cameras; S6: after obtaining the camera corresponding to the tracking route and its left and right rotation angle, determine whether the currently displayed tracking screen is the selected camera. If it is the selected camera, directly execute step S7. If it is not the selected camera, it is necessary to switch the connection of the camera. S7: Based on the angle obtained in step S5, the camera is controlled to rotate at an absolute angle, so that the camera automatically screens and tracks the drum of the coal mining machine.

2. The method for automatically screening and tracking the drum of a coal machine by a camera on a fully mechanized mining face according to claim 1 is characterized in that: The camera configuration information in step S1 includes: Connection information, installation height A, distance from the coal wall B, left and right angle of the positive coal wall C, up and down angle of the positive coal wall D, angle rotation direction E, installation position F, whether to participate in following the machine, and working face number.

3. The method for automatic screening and tracking of coal machine drums by a camera on a fully mechanized mining face according to claim 1 is characterized in that: The configuration information of the coal mining machine in step S1 includes: the positioning distance between the left drum and the coal mining machine, and the positioning distance between the right drum and the coal mining machine.

4. The method for automatic screening and tracking of coal machine drums by a camera on a fully mechanized mining face according to claim 1 is characterized in that: The configuration information of the UWB positioning service in step S1 includes the address of the UWB positioning module.

5. The method for automatic screening and tracking of coal machine drums by a camera on a fully mechanized mining face according to claim 2 is characterized in that: The configuration information of the angle algorithm in step S1 includes a basic deflection angle set and a dynamic coal wall distance calibration value Z.

6. The method for automatic screening and tracking of coal machine drums by cameras at fully mechanized mining working faces according to claim 1 is characterized in that: The implementation method of obtaining the information of all tracking cameras in step S4 is as follows: The latest camera status data is combined with the working surface information of the camera configuration to filter out the cameras that are operating normally in the current working surface. Then, the cameras at the head and tail of the hydraulic support are filtered again, and the cameras that are too densely arranged in the middle are removed, and finally a set of tracking cameras is generated.

7. The method for automatic screening and tracking of coal machine drums by cameras at fully mechanized mining working faces according to claim 5 is characterized in that: The actual left and right rotation angle of the camera calculated by the angle algorithm is C+Nn*Z*E, where Nn is the left and right deflection angle when there are n hydraulic supports between the drum and the camera in the basic deflection angle set, n=1,2,…,10, and Z is the dynamic coal wall distance calibration value.

8. The method for automatic screening and tracking of coal machine drums by cameras at fully mechanized mining working faces according to claim 7 is characterized in that: Dynamic coal wall distance calibration value Z = (15 + position difference - B) / (15 + position difference), where the position difference is the distance between the camera and the drum.

9. The method for automatic screening and tracking of coal machine drums by cameras at fully mechanized mining working faces according to claim 5 is characterized in that: In step S5, the up and down angles of the camera are the configuration parameter D.

10. The method for automatic screening and tracking of coal machine drums by a camera on a fully mechanized mining face according to claim 1 is characterized in that: In step S2, the UWB positioning service is connected, the stability of the communication is verified through heartbeat, and the reconnection is completed after disconnection. After obtaining the information sent by the UWB positioning service, the information sent by the analysis is verified, and the parsed coal machine position is analyzed to determine whether it is within the normal support range. The position data that is not within the support range is discarded, and the data within the normal range is retained.

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