Monitoring and protection method and equipment for mining transportation system and storage medium

Abstract

The invention discloses a monitoring and protection method and device for a mining transportation system and a storage medium, and relates to the field of device monitoring and protection, and the method comprises the steps: determining a target monitoring region and a warning region of the mining transportation system; obtaining a thermal imaging video of the target monitoring area; performing image recognition on the thermal imaging video to obtain an image recognition result; when the target object appears in the image recognition result, the camera device is moved based on the visual tracking technology, and the target object is tracked; transmitting a first frequency sound wave to the position of the target object; detecting a follow-up action track of the target object after receiving the sound wave stimulation; and when the follow-up action track is still in the warning area, sending prompt information to the user side. By implementing the method, all-around intelligent monitoring and protection of the mining transportation system are realized, the risk that animals damage a working line is reduced, and normal operation of facilities is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of equipment monitoring and protection, and in particular to a monitoring and protection method, equipment and storage medium for a mining transportation system. Background Art

[0002] With the improvement of the automation level of coal mines in my country, various logistics transportation systems are increasingly used in mining working faces and belt transportation. However, the underground environment is complex, and animals such as rats often gnaw on conveyor belts and other facilities, which not only causes belt damage and transportation system failures and shutdowns, but also poses a risk of electric shock and fire.

[0003] At present, the main way to deal with animal invasion and damage to facilities is to eliminate possible hidden dangers through regular manual inspections. At the same time, physical protection such as railings are set up around the facilities to limit animals from approaching, or video cameras are used for image monitoring to identify animals and protect key facilities.

[0004] These traditional inspection methods may have omissions, that is, they are limited in space; at the same time, since inspections are only carried out at fixed times in most cases, they are limited in time. Summary of the invention

[0005] This application provides a monitoring and protection method, equipment and storage medium for a mining transportation system. By using image recognition and thermal imaging technology to continuously monitor the surrounding environment of the mining transportation system, once an animal is detected approaching or climbing onto the facility, the system can quickly identify and send out sound waves to drive it away. It achieves all-round intelligent monitoring and protection, greatly reduces the risk of animals damaging the working line, ensures the normal operation of the facility, and solves the problem of incomplete time and space range and poor monitoring effect of traditional monitoring methods.

[0006] In the first aspect, the present application provides a monitoring and protection method for a mining transportation system, which is applied to monitoring equipment, and the method includes: determining a target monitoring area and a warning area of ​​the mining transportation system based on user settings; the target monitoring area includes a warning area; when the mining transportation system enters a maintenance state, obtaining a thermal imaging video of the target monitoring area; performing image recognition on the thermal imaging video to obtain an image recognition result; when a target object appears in the image recognition result, moving a camera device based on visual tracking technology to track the target object; when the target object moves to the warning area, emitting a first frequency sound wave to the location of the target object; detecting the subsequent action trajectory of the target object after receiving the sound wave stimulation; and sending a prompt message to the user end when the subsequent action trajectory is still in the warning area.

[0007] In the above embodiment, the monitoring equipment realizes continuous and uninterrupted monitoring of the target area of ​​the mining transportation system. When an intrusion target is identified, expulsion measures can be taken immediately to quickly and effectively prevent damage to the facilities. Compared with the traditional timed or fixed-point manual inspection method, it has the advantages of a wide monitoring range and fast real-time response, greatly reducing the risk of facility damage, ensuring the normal operation of the system, and thus avoiding the consequences of production losses and safety accidents caused by facility damage.

[0008] In combination with some embodiments of the first aspect, in some embodiments, when the target object moves to the warning area, a first frequency sound wave is emitted to the position of the target object, specifically including: when the target object moves to the warning area, obtaining the contour position of the target object; when the contour position moves, calculating the predicted position when the first frequency sound wave arrives based on the moving direction and moving speed of the target object; and emitting the first frequency sound wave to the predicted position.

[0009] In the above embodiment, when the monitoring device emits sound waves to the location of the target object, a step is added to calculate the predicted position of the sound wave reaching the target and emit the sound wave to the predicted position. The accuracy of the sound wave interference is improved, so that the sound wave can accurately act on the target object, thereby enhancing the expulsion effect. The sound wave propagation loss is reduced, the sound wave utilization efficiency is improved, and the energy consumption of the equipment is reduced. The expulsion effect and efficiency are also improved, making the monitoring and protection system more accurate and powerful in affecting the target object.

[0010] In combination with some embodiments of the first aspect, in some embodiments, detecting the subsequent action trajectory of the target object after receiving the sound wave stimulation specifically includes: collecting the action response generated by the target object after the target object is stimulated by the sound wave; the action response includes direction change and speed change; determining the escape direction of the target object based on the direction change; and predicting the subsequent action trajectory of the target object based on the escape direction and speed change of the target object.

[0011] In the above embodiment, the monitoring device determines the escape direction of the target object by analyzing its action response, and predicts the subsequent action trajectory accordingly. This analysis and judgment of the target object's behavior can, on the one hand, make subsequent monitoring and tracking more accurate and efficient. On the other hand, target objects of different types or sizes have different reaction patterns to interference, which provides a basis for further determining the type of target object. The behavior pattern data of the target object can also be accumulated to build a database, which is convenient for the subsequent establishment of a more complete target recognition system.

[0012] In combination with some embodiments of the first aspect, in some embodiments, based on the escape direction and speed changes of the target object, its subsequent action trajectory is predicted, specifically including: identifying the target object, searching the behavior habit model of the target object in the model database; inputting the escape direction and speed changes into the behavior habit model to obtain the subsequent action trajectory.

[0013] In the above embodiment, the monitoring device introduces the behavioral habit model of the target object and obtains the subsequent action trajectory of the target by means of model prediction. This model prediction can not only improve the accuracy of trajectory judgment, but also serve as a more intelligent judgment method, reducing the dependence on simple rules. In addition, the behavioral habit models of different types of target objects can be continuously optimized and enriched to form a model database, providing data support for subsequent monitoring, realizing the intelligent judgment of target behavior, and improving the target recognition system.

[0014] In combination with some embodiments of the first aspect, in some embodiments, after the step of collecting the action response generated by the target object, the method also includes: analyzing the target object's movement agility based on the target object's direction changes and speed changes; determining the target object's first sensitivity to sound wave interference based on the movement agility; and recording the target object's identity image and the first sensitivity into the object database.

[0015] In the above embodiment, after identifying the target object, the monitoring device further analyzes its sensitivity to sound wave interference. The anti-interference ability of different targets is determined more deeply, making the subsequent selection of interference means more accurate and effective. Compared with the fixed frequency determined based on experience, this method of adjusting the frequency for a specific target can ensure that the sound waves always suppress the target object at the optimal frequency. At the same time, the recognition image of the target object and the parameters of the sensitive frequency can also be collected and library-built to realize the accumulation of behavioral data of different targets, which is convenient for the subsequent establishment of an automatic recognition and interference system.

[0016] In combination with some embodiments of the first aspect, in some embodiments, after the step of determining a first sensitivity of the target object to sound wave interference based on action agility, the method also includes: when the first sensitivity is lower than a preset target threshold, switching the sound wave frequency to a second frequency; emitting second frequency sound waves to the location of the target object; determining a second sensitivity of the target object to the second frequency sound waves; if the second sensitivity is higher than the first sensitivity, determining the second frequency as the preferred interference frequency.

[0017] In the above embodiment, the monitoring device realizes the automatic switching adjustment of the sound wave frequency. When the first frequency interference effect on the target object is not good, the effect of the second frequency can be tested. Compared with a fixed single frequency, this frequency adjustment method can prevent the target object from gradually developing resistance, so that the sound wave interference continues to be effective. At the same time, the second frequency is also confirmed and measured to avoid suboptimal selection, and the intelligent optimization adjustment of the sound wave interference frequency is realized as a whole.

[0018] In combination with some embodiments of the first aspect, in some embodiments, after the step of sending a prompt message to the user end, the method also includes: continuing to monitor the behavior of the target object in the warning area; and determining the estimated risk level of device damage based on the behavior of the target object.

[0019] In the above embodiment, the monitoring device continues to monitor the behavior of the target object in the warning area, and can predict the risk level of equipment damage. By allowing users to clearly recognize the impact that the target object may have on the transmission system, it is convenient to protect related devices one step in advance, or to perform subsequent maintenance accordingly, making system protection more comprehensive and intelligent.

[0020] In the second aspect, an embodiment of the present application provides a monitoring device, which includes: an area setting module, which is used to determine the target monitoring area and warning area of ​​the mining transportation system based on user settings; the target monitoring area includes the warning area; a status monitoring module, which is used to obtain thermal imaging video of the target monitoring area when the mining transportation system enters a maintenance state; an image recognition module, which is used to perform image recognition on the thermal imaging video to obtain an image recognition result; a video tracking module, which is used to move the camera device based on visual tracking technology to track the target object when the target object appears in the image recognition result; a sound wave interference module, which is used to emit a first frequency sound wave to the position of the target object when the target object moves to the warning area; a trajectory confirmation module, which is used to detect the subsequent action trajectory of the target object after receiving the sound wave stimulation; an information sending module, which is used to send a prompt message to the user end when the subsequent action trajectory is still in the warning area.

[0021] In a third aspect, an embodiment of the present application provides a monitoring device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the monitoring device to execute the method described in the first aspect and any possible implementation method of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a monitoring device, enables the monitoring device to execute the method described in the first aspect and any possible implementation of the first aspect.

[0023] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a monitoring device, enable the monitoring device to execute the method described in the first aspect and any possible implementation of the first aspect.

[0024] It is understandable that the monitoring devices provided in the second and third aspects, the computer program product provided in the fourth aspect, and the computer storage medium provided in the fifth aspect are all used to execute the method provided in the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here.

[0025] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. Due to the use of continuous monitoring based on thermal imaging and active acoustic expulsion technology, monitoring and protection of the target area is achieved. When an abnormality is found, active intervention is immediately carried out, which effectively solves the time and space limitations of traditional manual fixed-point inspections and the problem of being unable to respond quickly to sudden abnormal situations. It then realizes intelligent and comprehensive monitoring and protection of the mining transportation system, greatly reduces the risk of facility damage, ensures the normal and reliable operation of the system, and avoids production losses and safety accidents caused by facility damage.

[0026] 2. Due to the use of target object behavior model prediction and frequency adaptive adjustment technology, the sound wave interference frequency can be continuously optimized to achieve effective expulsion of different types of targets, effectively solving the problem of poor expulsion effect of traditional single fixed frequency and possible resistance of targets, thereby realizing the intelligent, continuous and effective sound wave interference, enhancing the expulsion effect of the monitoring and protection system, and enabling the system to maintain sensitivity and expulsion effect to the target over time.

[0027] 3. Due to the use of risk level assessment technology, the transition from passive response to active prediction can be achieved, which effectively solves the problem that most monitoring systems can only passively respond to abnormal situations that have occurred, and then realizes the prediction and early warning of system security risks, so that the monitoring and protection system can strengthen protection in advance and prevent possible abnormal situations, further improving the monitoring and protection effect and the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a flow chart of a monitoring and protection method for a mining transportation system in an embodiment of the present application; Figure 2 This is another flow chart of the monitoring and protection method for a mining transportation system in an embodiment of the present application; Figure 3 This is a schematic diagram of a functional module structure of a monitoring device in an embodiment of the present application; Figure 4 It is a schematic diagram of a physical device structure of the monitoring device in the embodiment of the present application. DETAILED DESCRIPTION

[0029] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more listed items.

[0030] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0031] For ease of understanding, the application scenarios of the embodiments of the present application are introduced below.

[0032] The main transport belt of a coal mining company is about 10 kilometers long and is used to connect the main work areas of the mine to transport the excavated raw coal. However, most of the belt wiring is located underground, and the surrounding environment is humid and hot, and there are often a large number of gnawing animals such as rats. Especially in the hot and humid season from May to October each year, the situation of rats gnawing on the belt is more serious, often causing the belt to break, resulting in the transportation system not being able to operate normally, seriously affecting the coal mine output. However, the belt line distribution range is complex, and it is impossible to conduct comprehensive and effective manual inspections and monitoring except during operation time.

[0033] In the related art, the monitoring and protection of facilities can be achieved by adopting a regular manual inspection method. The following introduces a scenario of using the monitoring and protection method of the mining transportation system in the related art.

[0034] The protective measures taken by the coal mine in the past were regular monthly manual inspections of the belts and the installation of physical isolation nets around the facilities. However, regular manual inspections are limited in time and space, and the isolation nets cannot completely prevent rats from invading. Last month, only one-third of the belt area was inspected, and there were still many accidents where rats gnawed the belts, causing belt damage and long-term shutdowns, resulting in a 3,000-ton reduction in production that month. The existing protective measures are obviously limited in effect and cannot prevent serious damage and accidents caused by rats gnawing.

[0035] By using the thermal imaging-based continuous monitoring and sound wave active expulsion technology in the embodiments of this application, the intrusion target is identified through thermal imaging and sound waves are emitted to expel it, achieving all-weather monitoring and protection of the target area, and active intervention is immediately carried out when an abnormality is found, which not only realizes intelligent and comprehensive monitoring and protection of the mining transportation system. The following introduces the scenario of using the monitoring and protection method of the mining transportation system in this application.

[0036] After adopting the intelligent monitoring and protection system of this application, the coal mine set up two main belt conveyor lines for monitoring and protection. The first line is equipped with 20 thermal imaging cameras for continuous monitoring, and a sound and light combination repelling device is set up at the key intersection. The system uses the thermal imaging video of the camera to perform image recognition on the entire belt line. Once a creature such as a rat is found approaching, the repelling device is immediately controlled to emit high-frequency sound waves to the target, and at the same time, a flashing strong light is turned on.

[0037] The test results show that most mice will have obvious retreat behavior after receiving sound and light stimulation and quickly escape from the belt area. At the same time, the system will also analyze the movement direction and speed changes of the mice to predict the subsequent movement trajectory. If the mouse's retreat is not large, the system will immediately increase the sound wave frequency or increase the volume to ensure effective expulsion. After using the system for 3 months, the belt damage accidents of the first line have been reduced by 80%, and the system is running stably and reliably.

[0038] For ease of understanding, the following describes the process of the method provided by this implementation in combination with the above scenario. Figure 1 , which is a flow chart of a monitoring and protection method for a mining transportation system in an embodiment of the present application.

[0039] S101. Determine a target monitoring area and a warning area of ​​a mining transportation system based on user settings.

[0040] The monitoring equipment can accept the user to set the target monitoring area and warning area on the equipment software interface according to the actual transportation system layout and requirements. For example, the user can select the most critical intersections and turns in the main transportation belt as key warning areas, and define the areas around these warning areas as target monitoring areas.

[0041] The monitoring device will collect and record the area demarcation and settings made by the user on the interface as the spatial scope basis for subsequent image recognition, target tracking, expulsion operations, etc. Through this step, the monitoring device can flexibly determine the scope of monitoring and protection according to actual conditions and needs, making the system application more accurate and effective.

[0042] S102. When the mining transportation system enters a maintenance state, a thermal imaging video of the target monitoring area is obtained.

[0043] During normal operation, there are a large number of normal staff and equipment in the target monitoring area, so it is not suitable to monitor. At this time, there are few staff and animals such as mice, so there is no need to monitor. The monitoring equipment will identify the working status of the system. After receiving user instructions or automatically identifying that the system has entered the maintenance state, it will start the thermal imaging camera equipment to continuously and uninterruptedly collect thermal imaging videos of the target monitoring area. Thermal imaging can effectively identify heat source targets in the target area. By monitoring during the system maintenance state, interference caused by normal work can be eliminated, making monitoring more accurate.

[0044] S103: Perform image recognition on the thermal imaging video to obtain an image recognition result.

[0045] The monitoring equipment will process the thermal imaging video content, that is, use the image recognition algorithm to scan and analyze the image content in the thermal imaging video frame to identify whether there is a target with abnormal body temperature. The image area with the characteristics of the target object will be framed and output to generate the image recognition result.

[0046] Continuous video recognition can realize full-time monitoring of various heat source targets in the target area. Using algorithm recognition instead of manual judgment can avoid missed recognition caused by eye fatigue and improve recognition efficiency and accuracy.

[0047] S104: When the target object appears in the image recognition result, the camera device is moved based on the visual tracking technology to track the target object.

[0048] The monitoring device will extract the recognition results of the existence of the target, start the visual tracking algorithm, lock the target object in the image result, and control the movable camera device to track it.

[0049] That is, when the target object moves in the monitoring area, the camera can be driven by the motor to move accordingly to keep the target object within the camera range. For example, when the target object moves to the left, the camera also turns to the left by a corresponding angle to track it. Visual tracking avoids the situation where the target object is lost when it approaches or enters the warning area, ensuring continuous and uninterrupted monitoring.

[0050] S105: When the target object moves to the warning area, emit a first frequency sound wave to the location of the target object.

[0051] The monitoring device receives the target object's motion trajectory information output by the video tracking module and calculates whether the target's position is within the warning area. Once the target enters the warning area, the monitoring device will immediately control the sound wave transmitter to send a sound wave signal with a frequency of f1 to the target object's location to interfere with and drive away the target. By driving away the target in time, effective intervention can be carried out before the target causes damage to the facility.

[0052] S106: Detect the subsequent movement trajectory of the target object after receiving the sound wave stimulation.

[0053] After the sound wave interference is emitted, the monitoring device will continue to track the movement of the target object and generate its subsequent action trajectory information. The monitoring device will analyze the target object's action response such as direction change and speed change after the sound wave interference to determine whether the target has escaped. If the target's trajectory shows obvious signs of escape such as deviation or acceleration, it can be preliminarily judged that the sound wave interference has achieved the expected effect.

[0054] S107: When the subsequent action trajectory is still in the warning area, a prompt message is sent to the user terminal.

[0055] If, after analysis, the target object's subsequent movement trajectory is still within the warning area, it means that the sound wave interference effect is not good and the target may gradually develop resistance to sound waves of this frequency.

[0056] At this time, the monitoring device will send a prompt message to the user terminal to inform the user that the sound wave interference has not worked and the target object has not left the warning area. After receiving the prompt, the user can promptly decide whether to manually drive the target object away, or adjust the sound wave frequency parameters and other subsequent disposal measures to prevent the target from damaging the equipment and facilities.

[0057] It can be seen that the monitoring and protection method of the mining transportation system in the embodiment of the present application can not only realize all-weather monitoring and protection of the target area, but also effectively solve the problem that the traditional manual fixed-point inspection is poor and cannot respond quickly to sudden abnormal situations, thereby realizing intelligent and comprehensive monitoring and protection of the mining transportation system, greatly reducing the risk of facility damage and ensuring the normal and reliable operation of the system.

[0058] In the above embodiment, the technical means adopted by the present application are introduced. In practical applications, the effect of the equipment implementing the expulsion and the corresponding optimization need to be considered, and the consequences of improper expulsion need to be considered to achieve the best monitoring and protection effect. The following is a supplement to the scenario of this embodiment.

[0059] In actual scenarios, the monitoring system only uses single-frequency sound waves to drive away invading rats. As rats gradually develop resistance, the effect of sound wave repelling is weakened by 50% within a month. To solve this problem, the system collects data on rats' responses to sound waves of different frequencies, establishes a model corresponding to sound wave frequency and effect, and realizes intelligent switching of sound wave frequency. That is, when it is recognized that the repelling effect has decreased, the system automatically adjusts the sound wave frequency and uses a new frequency that rats are more sensitive to for repelling. As a result, the sound wave repelling effect has recovered to more than 90%. At the same time, the system also uses closed-loop control to limit the sound wave volume below the safety threshold to avoid animal injury incidents. Based on the continuous evaluation and adjustment of the sound wave repelling strategy, the system has achieved a monitoring and protection effect that can both efficiently repel and ensure animal safety, which not only saves the workload of manual inspection, but also does not have a negative impact.

[0060] After combining the above scenarios, the following is a more detailed description of the process of the method provided by this implementation. Figure 2 , is another flow chart of the monitoring and protection method for a mining transportation system in an embodiment of the present application.

[0061] S201. Determine the target monitoring area and warning area of ​​the mining transportation system based on user settings.

[0062] Referring to step S101, the monitoring device can accept the user's setting operation of the target monitoring area and the warning area on the device software interface according to the actual transportation system layout and requirements.

[0063] S202. When the mining transportation system enters a maintenance state, a thermal imaging video of the target monitoring area is obtained.

[0064] Referring to step S102, after receiving a user instruction or automatically recognizing that the system has entered a maintenance state, the thermal imaging camera device is started to continuously and uninterruptedly capture thermal imaging videos of the target monitoring area.

[0065] S203: Perform image recognition on the thermal imaging video to obtain an image recognition result.

[0066] Referring to step S103, the monitoring device processes the thermal imaging video content, identifies whether there is a target with abnormal body temperature, and generates an image recognition result.

[0067] S204: When the target object appears in the image recognition result, the camera device is moved based on the visual tracking technology to track the target object.

[0068] Referring to step S104, the monitoring device extracts the recognition result of the existence of the target, starts the visual tracking algorithm, locks the target object in the image result, and controls the movable camera device to track it.

[0069] S205: When the target object moves to the warning area, emit a first frequency sound wave to the location of the target object.

[0070] Referring to step S105, the monitoring device receives the target object motion trajectory information output by the video tracking module and calculates whether the target position is within the warning area. Once the target enters the warning area, the target is disturbed and driven away.

[0071] In some embodiments, this step specifically includes: when the target object moves to the warning area, the monitoring device obtains the contour position of the target object; when the contour position moves, the monitoring device calculates the predicted position when the first frequency sound wave arrives based on the moving direction and speed of the target object; the monitoring device emits the first frequency sound wave to the predicted position.

[0072] Specifically, when the monitoring device detects that the target object is about to move into the warning area, it will activate the image recognition algorithm to obtain the contour range of the target object, and at the same time extract the characteristic parameters of the target movement, including movement direction, movement speed and other information.

[0073] When the target's outline moves, the device will calculate the target's expected movement time and location based on the target's real-time direction and speed, if a sonic signal is sent directly to the current location, taking into account the time it takes for sonic waves to propagate. The monitoring device will then send a sonic signal directly to the calculated predicted location, so that when the sonic signal propagates to the location, it will act exactly at the target's location, achieving precise sonic interference and improving the repelling effect.

[0074] S206: After the target object is stimulated by the sound wave, collect the action response generated by the target object.

[0075] After the monitoring device emits the sound wave interference, it will continue to lock the target object and collect various changes in its movements when stimulated by the sound wave, such as the changes in movement direction, movement speed, degree of escape, etc. These action reactions will serve as the basis for judging whether the sound wave interference effect is good.

[0076] For example, if the target object immediately takes obvious retreat and escape behaviors after being stimulated by the sound wave, it can be preliminarily judged that the sound wave has an effective repelling effect. If the target object's movement direction and speed do not change significantly, it means that the target object is not sensitive to the sound wave of this frequency, and further measures need to be taken.

[0077] By analyzing the action response parameters of the target object, the effect of sound wave repelling can be judged, providing a basis for subsequent protection strategies.

[0078] In some embodiments, after the monitoring device collects the action response, it also includes: the monitoring device analyzes the movement agility of the target object based on the direction change and speed change of the target object; based on the movement agility, the monitoring device determines the first sensitivity level of the target object to sound wave interference; the monitoring device records the identity image and the first sensitivity level of the target object into the object database.

[0079] Specifically, after interfering with the target object with sound waves, the monitoring device will analyze the angle of change in its direction and the percentage of change in speed to determine the agility of the target object.

[0080] Generally speaking, targets with high agility will have greater escape angles and accelerations after being disturbed. Based on the analysis of action agility, the sensitivity of the target object to sound wave interference can be indirectly determined. The higher the agility, the more sensitive it is to interference. After obtaining the first sensitivity, the monitoring device will extract the image of the target object and record the corresponding parameters in the object database. When encountering similar targets in the future, you can directly look up their corresponding parameters and take targeted interference.

[0081] In addition, after the detection device determines the first sensitivity of the target object to the sound wave interference based on the action agility, it also includes: when the first sensitivity is lower than the preset target threshold, the monitoring device switches the sound wave frequency to a second frequency; the monitoring device transmits the second frequency sound wave to the location of the target object; the monitoring device determines the second sensitivity of the target object to the second frequency sound wave; if the second sensitivity is higher than the first sensitivity, the monitoring device determines the second frequency as the preferred interference frequency.

[0082] Specifically, after the monitoring device determines the target object's sensitivity to the first frequency sound wave interference based on its agility, if the sensitivity parameter is lower than a preset threshold, it means that the target is not sensitive enough to the current frequency and the expulsion effect is poor.

[0083] At this time, the monitoring device will automatically switch the frequency parameter of the sound wave transmitter to the second frequency, for example, from 30kHz to 40kHz, and send a sound wave signal of a different frequency to the location of the target object again for a second round of interference.

[0084] Then, the monitoring device will continue to analyze the action response parameters of the target object when stimulated by the second frequency sound waves, and calculate its sensitivity to the second frequency sound waves.

[0085] If the sensitivity corresponding to the second frequency is higher than that of the first frequency, it can be judged that the target object is more sensitive to the second frequency and the repelling effect is better. At this time, the monitoring device will automatically set the second frequency as the preferred interference frequency for the target object. Through automatic frequency testing and switching, the monitoring device can lock the optimal interference frequency of the target at any time, solve the problem of the target gradually developing resistance, and maintain the effectiveness of sound wave interference.

[0086] S207: Determine the escape direction of the target object based on the direction change.

[0087] The monitoring device will analyze the target object's direction change, i.e. the escape direction, based on its movement trajectory after being stimulated by the sound waves. For example, if the target object was originally moving towards the inside of the warning area, but after receiving the sound wave stimulation, its movement direction changed 180 degrees, it can be determined that the target object chose to escape in the opposite direction of the sound wave stimulation.

[0088] By determining the escape direction of the target, we can judge the effect of the sound waves on its behavior and provide a basis for accurately controlling the displacement of the target.

[0089] S208: Predict the subsequent action trajectory of the target object based on its escape direction and speed change.

[0090] The monitoring device will input the target object's escape direction and speed change parameters into the target behavior model, and run the model to predict the subsequent movement trajectory. For example, if the target object escapes in the direction of a left turn and the speed increases by 50%, the model can predict that the target is likely to move quickly to the left for a long distance in the next 5-10 seconds.

[0091] Predicting subsequent trajectories allows the system to prepare for responses in advance, conduct targeted continuous monitoring or strengthen expulsion, and actively control target behaviors.

[0092] In some embodiments, this step specifically includes: the monitoring device identifies the target object and searches for the behavior habit model of the target object in the model database; the monitoring device inputs the escape direction and speed changes into the behavior habit model to obtain the subsequent action trajectory.

[0093] Specifically, after obtaining the target object's escape direction and speed change information, the monitoring device will first use the image recognition algorithm to classify and identify the target to determine what kind of animal it belongs to. Then it will search for the behavior pattern model of the animal species in the preset model database. These models are trained by collecting the movement data of the animal, and can output different behavior patterns based on the input of different animal species, including the wall crawling, jumping, etc. that the animal may perform.

[0094] Finally, the monitoring device inputs the actual measured evasion parameters into the model to run the simulation, and the model will output the possible subsequent action trajectory of the target object. Compared with simple rules, this model prediction can improve the accuracy of trajectory determination and make better evaluation and prediction of target behavior.

[0095] S209: When the subsequent action trajectory is still in the warning area, a prompt message is sent to the user terminal.

[0096] Referring to step S107 , the monitoring device will send a prompt message to the user terminal to inform the user that the sound wave interference is ineffective and the target object has not left the warning area.

[0097] S210: Continue to monitor the target object's behavior in the warning area.

[0098] After the monitoring device sends a prompt message to inform the user that the initial sonic expulsion is ineffective, in order to prevent the target object from causing damage to the facility, the device cannot simply stop working. Instead, its behavior monitoring module will continue to track the behavior of the target object.

[0099] For example, if the target object only slightly avoids the sound wave after receiving it, and then quickly reapproaches the warning area, it means that the target does not react significantly to the sound wave stimulation, and it is necessary to continue to track and monitor its subsequent behavior so that further measures can be taken. By continuing to monitor the target's behavior, we can obtain information such as whether it is still trying to approach the facility or initiate damage to the facility, ensuring the continuity of monitoring and providing a basis for subsequent protective measures.

[0100] S211. Determine the estimated risk level of device damage based on the behavior of the target object.

[0101] When continuously monitoring the target's behavior, the risk estimation module in the monitoring device will analyze the risk of damage to the device based on the target's specific actions. For example, if the target continues to approach the warning area persistently, the estimated risk level is high; if the target is just wandering around the area, the risk level is moderate; and if the target leaves quickly and does not return, the risk level is low. Different risk levels will trigger the system to take different levels of response measures.

[0102] Risk assessment allows the system to make preventive deployments in advance, rather than passively waiting for the target to be destroyed before responding, which improves the initiative and effectiveness of monitoring and protection.

[0103] In the embodiments of the present application, due to the use of continuous monitoring based on thermal imaging and active acoustic expulsion technology, all-weather monitoring, protection and active intervention of the target area are achieved, effectively solving the time and space limitations of traditional manual fixed-point inspections and the problem of being unable to respond quickly to sudden abnormal situations, thereby realizing intelligent and comprehensive monitoring and protection of the mining transportation system, greatly reducing the risk of facility damage and ensuring the normal and reliable operation of the system.

[0104] The following describes the monitoring device in the embodiment of the present application from the perspective of modules. Figure 3 , which is a schematic diagram of a functional module structure of a monitoring device in an embodiment of the present application.

[0105] The monitoring equipment includes: The area setting module 301 is used to determine the target monitoring area and the warning area of ​​the mining transportation system based on the user setting; the target monitoring area includes the warning area; The state monitoring module 302 is used to obtain thermal imaging video of the target monitoring area when the mining transportation system enters the maintenance state; The image recognition module 303 is used to perform image recognition on the thermal imaging video to obtain an image recognition result; The video tracking module 304 is used to move the camera device based on the visual tracking technology to track the target object when the target object appears in the image recognition result; The sound wave interference module 305 is used to emit a first frequency sound wave to the location of the target object when the target object moves to the warning area; The trajectory confirmation module 306 is used to detect the subsequent movement trajectory of the target object after receiving the sound wave stimulation; The information sending module 307 is used to send a prompt message to the user terminal when the subsequent action trajectory is still in the warning area.

[0106] In some embodiments, the sound wave interference module 305 specifically includes: The contour acquisition unit 3051 is used to acquire the contour position of the target object when the target object moves to the warning area; The position prediction unit 3052 is used to calculate the predicted position of the first frequency sound wave when it arrives based on the moving direction and moving speed of the target object when the contour position moves; The sound wave sending unit 3053 is used to send a first frequency sound wave to the predicted position.

[0107] In some embodiments, the trajectory confirmation module 306 specifically includes: The reaction confirmation unit 3061 is used to collect the action reaction generated by the target object after the target object is stimulated by the sound wave; the action reaction includes direction change and speed change; A direction confirmation unit 3062, used to determine the escape direction of the target object based on the direction change; The trajectory prediction unit 3063 is used to predict the subsequent action trajectory of the target object based on its escape direction and speed change.

[0108] In some embodiments, the trajectory prediction unit 3063 specifically includes: Model confirmation subunit 30631, used to identify the target object and search the behavior habit model of the target object in the model database; The model prediction subunit 30632 is used to input the escape direction and speed changes into the behavior habit model to obtain the subsequent action trajectory.

[0109] In some embodiments, the trajectory confirmation module 306 further includes: A change analysis unit 3064 is used to analyze the agility of the target object based on its direction change and speed change; A sensitivity confirmation unit 3065, for determining a first sensitivity of the target object to the sound wave interference based on the action agility; The data recording unit 3066 is used to record the identity image and the first sensitivity level of the target object into the object database.

[0110] In some embodiments, the trajectory confirmation module 306 further includes: A frequency switching unit 3067, configured to switch the sound wave frequency to a second frequency when the first sensitivity is lower than a preset target threshold; The sound wave optimization unit 3068 is used to transmit the second frequency sound wave to the location of the target object and determine the second sensitivity of the target object to the second frequency sound wave; The preferred determination unit 3069 is configured to determine the second frequency as a preferred interference frequency if the second sensitivity level is higher than the first sensitivity level.

[0111] In some embodiments, the monitoring device further comprises: The behavior monitoring module 308 is used to continue monitoring the behavior of the target object in the warning area; The risk estimation module 309 is used to determine the estimated risk level of device damage based on the behavior of the target object.

[0112] The monitoring device in the embodiment of the present application is described above from the perspective of modular functional entities. The monitoring device in the embodiment of the present application is described below from the perspective of hardware processing. Figure 4 , which is a schematic diagram of a physical device structure of a monitoring device in an embodiment of the present application.

[0113] It should be noted that Figure 4 The structure of the monitoring device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0114] like Figure 4 As shown, the monitoring device includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method described in the above embodiment. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, the ROM 402 and the RAM 403 are connected to each other through the bus 404. The input / output (I / O) interface 405 is also connected to the bus 404.

[0115] The following components are connected to the I / O interface 405: an input section 406 including a camera, a thermal imaging camera, a sound wave receiver, etc.; an output section 407 including a liquid crystal display (LCD) and an indicator light, a sound wave transmitter, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0116] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, various functions defined in the present invention are performed.

[0117] It should be noted that the computer-readable medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.

[0118] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0119] Specifically, the monitoring device of this embodiment includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the monitoring and protection method for the mining transportation system provided in the above embodiment is implemented.

[0120] As another aspect, the present invention further provides a computer-readable storage medium, which may be included in the monitoring device described in the above embodiment; or may exist independently without being assembled into the monitoring device. The above storage medium carries one or more computer programs, and when the above one or more computer programs are executed by a processor of the monitoring device, the monitoring device implements the monitoring and protection method for the mining transportation system provided in the above embodiment.

[0121] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 make equivalent replacements for some of the technical features therein. 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 application.

[0122] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0123] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk), etc.

[0124] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. A monitoring and protection method for a mining transportation system, applied to monitoring equipment, characterized in that: The method comprises: Based on user settings, determine the target monitoring area and the warning area of ​​the mining transportation system; the warning area is included in the target monitoring area; When the mining transportation system enters a maintenance state, obtaining a thermal imaging video of the target monitoring area; Performing image recognition on the thermal imaging video to obtain an image recognition result; When a target object appears in the image recognition result, moving the camera device based on the visual tracking technology to track the target object; When the target object moves to the warning area, emitting a first frequency sound wave to the location of the target object; Detecting the subsequent movement trajectory of the target object after receiving the sound wave stimulation; When the subsequent action track is still in the warning area, a prompt message is sent to the user terminal.

2. The method according to claim 1, characterized in that When the target object moves to the warning area, emitting a first frequency sound wave to the location of the target object specifically includes: When the target object moves to the warning area, obtaining a contour position of the target object; When the contour position moves, the predicted position when the first frequency sound wave arrives is calculated based on the moving direction and moving speed of the target object; A first frequency sound wave is emitted to the predicted position.

3. The method according to claim 1, characterized in that The detecting of the subsequent movement trajectory of the target object after receiving the sound wave stimulation specifically includes: After the target object is stimulated by the sound wave, collecting the action response generated by the target object; the action response includes direction change and speed change; determining an escape direction of the target object based on the change in direction; Based on the escape direction and the speed change of the target object, a subsequent action trajectory of the target object is predicted.

4. The method according to claim 3, characterized in that The predicting of the subsequent action trajectory of the target object based on the escape direction and the speed change specifically includes: Identify the target object, and search the model database for the behavior habit model of the target object; The escape direction and the speed change are input into the behavior habit model to obtain a subsequent action trajectory.

5. The method according to claim 3, characterized in that: After the step of collecting the action response generated by the target object, the method further includes: Analyzing the agility of the target object based on the change in direction and the change in speed; Based on the action agility, determining a first sensitivity of the target object to sound wave interference; The identity image of the target object and the first sensitivity level are recorded in an object database.

6. The method according to claim 5, characterized in that After the step of determining a first sensitivity of the target object to sound wave interference based on the action agility, the method further includes: When the first sensitivity is lower than a preset target threshold, switching the sound wave frequency to a second frequency; emitting a second frequency sound wave toward the location of the target object; Determining a second sensitivity of the target object to a second frequency sound wave; If the second sensitivity is higher than the first sensitivity, the second frequency is determined to be a preferred interference frequency.

7. The method according to claim 1, characterized in that After the step of sending the prompt information to the user terminal, the method further includes: Continue to monitor the behavior of the target object in the warning area; Based on the behavior of the target object, an estimated risk level of device damage is determined.

8. A monitoring device, characterized in that: include: An area setting module is used to determine the target monitoring area and the warning area of ​​the mining transportation system based on user settings; the warning area is included in the target monitoring area; A state monitoring module, used to obtain thermal imaging video of the target monitoring area when the mining transportation system enters a maintenance state; An image recognition module is used to perform image recognition on the thermal imaging video to obtain an image recognition result; A video tracking module, configured to move a camera device based on a visual tracking technology to track a target object when the target object appears in the image recognition result; A sound wave interference module, used for emitting a first frequency sound wave to the location of the target object when the target object moves to the warning area; A trajectory confirmation module, used to detect the subsequent movement trajectory of the target object after receiving the sound wave stimulation; The information sending module is used to send prompt information to the user terminal when the subsequent action trajectory is still in the warning area.

9. A monitoring device, characterized in that: include: one or more processors and memory; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the monitoring device to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on the monitoring device, the monitoring device is caused to execute the method according to any one of claims 1 to 7.

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