Tippler intelligent environmental protection control system and method based on visual reconstruction

Abstract

The invention discloses a car dumper intelligent environmental protection control system and method based on visual reconstruction, and relates to the technical field of environmental protection control, the system comprises a data acquisition module, a data management module, an analysis module, an analysis module, an external management module and a dust suppression module, the data acquisition module comprises a high-definition camera and a laser scanning device, the camera and the laser scanning device respectively acquire data information and transmit the data information to the data management module; image data and laser scanning data are analyzed through the image data analysis unit and the laser scanning analysis unit, so that physical coordinates of flying dust are calculated, the distribution condition of the flying dust can be monitored in real time and transmitted to the external management module, and the flying dust can be effectively suppressed through a dust suppression mode that an atomization nozzle is matched with a sound wave oscillator. The system controls the nozzle to track a dust source in real time and suppress dust, so that pollution of coal dust to the environment is reduced, and the positioning accuracy and dust suppression efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of environmental protection control technology, and in particular to an intelligent environmental protection control system and method for a dumper based on visual reconstruction. Background Art

[0002] When the car tipper unloads the carriage, the scattering of materials will cause a lot of dust pollution. The dust not only threatens the health of the operators, but also damages the surrounding environment and equipment, and may even cause safety hazards such as fire. With the increasingly stringent environmental protection policies, it is necessary to effectively suppress the dust generated during the operation of the car tipper; The dry fog dust suppression equipment currently on the market has problems such as small capacity, inflexible adjustment of dry fog nozzles, and poor ability to resist external environmental interferons, resulting in poor dust suppression effects in workshops. In addition, some coal dust adheres to the car body and rotating equipment and is difficult to clean, making it impossible to guarantee the working environment of the tipping room. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides an intelligent environmental protection control system and method for a car tipper based on visual reconstruction.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent environmental protection control system and method for a dumper based on visual reconstruction, comprising: a data acquisition module, a data management module, a parsing module, an analysis module, an external management module and a dust suppression module; The data acquisition module includes a high-definition camera and a laser scanning device, which respectively acquire data information and transmit it to the data management module; The data management module is responsible for the centralized storage and data transmission of data; The parsing module removes noise from the image data, increases the contrast, converts the video format RGB to HSV color mode and increases the saturation before transmitting the image data to the analysis module; The image data analysis unit of the analysis module uses FasterR-CNN to identify the dust area, estimate the concentration intensity, and convert the dust image coordinates into physical coordinates. The laser scanning analysis unit analyzes and processes the laser data to obtain the dust coordinates. When the difference between the two coordinates is small, the physical coordinates of the dust are transmitted to the external management module. The external management module divides the received dust physical coordinates into position information, and transmits the position information and the physical coordinate information to the dust suppression module; The dust suppression module mobilizes the corresponding water mist nozzle to cover the dust according to the received physical coordinate information and orientation information, thereby causing the dust to settle.

[0005] The data acquisition module has a built-in high-definition camera and a high-precision laser scanning device. The camera is responsible for recording the dynamic scenes inside the car in real time, marking the time information and the specific car number, and then transmitting the video data and the marked information to the data management module. The laser scanning device uses laser technology to scan the inside of the car, obtain the physical structure data of the car and mark the timestamp and car number, and then transmits the laser data and the marked information to the data management module.

[0006] The data management module is responsible for centrally storing the data collected by the camera and the laser scanner, managing the data transmission between modules, and performing error handling when errors occur during data flow.

[0007] The analysis module obtains image data from the data management module, uses Gaussian blur and mean filtering techniques to remove the noise in the image, then adjusts the image brightness and contrast, uses the color mode conversion function to convert the image from RGB color mode to HSV color mode and increase the saturation to a certain extent, and transmits the image data to the model analysis module after processing.

[0008] The analysis module includes an image data analysis unit and a laser scanning analysis unit. The image data analysis model processes the image data from the camera and identifies the dust space coordinates in the image through computer vision technology. The laser scanning 3D modeling model processes the 3D data collected by the laser scanner to obtain the dust space coordinates, and finally compares the two sets of coordinates.

[0009] The image data analysis unit trains a CNN model to analyze the dust area features in the video image, uses the target detection algorithm FasterR-CNN to identify the dust in the image and locate the spatial position of the dust, and marks the dust area boundary box in red, and calculates the concentration and intensity of the dust according to the number of particles in the image and the color of the particles; Through the camera's viewing angle information, camera parameter focal length, and the conversion matrix between the camera coordinate system and the world coordinate system, the camera's viewing angle and the position of the dust in the video are input, so that the image coordinates of the identified dust are converted into physical coordinates in the car.

[0010] The process of obtaining the physical coordinates of dust by the image analysis unit is as follows: assuming the pixel coordinates of a point in the image as (x, y), the focal length of the camera as f, and the physical coordinates (X, Y, Z) are calculated by the perspective transformation formula: , Among them: K is the camera's internal parameter matrix, which is obtained by converting the camera's focal length f; Z is the depth of the target point, which can be obtained based on other sensor information; (X, Y, Z) is the physical coordinate of the dust.

[0011] The laser scanning analysis unit performs a filtering algorithm on the laser data to count outliers and remove inaccurate data points, then uses a downsampling method to select representative points for analysis, and uses the data from the laser scanner to perform three-dimensional modeling through the RANSAC algorithm to identify the walls, ground, and cargo structure in the carriage, establish a three-dimensional model of the interior of the carriage, and obtain dust coordinates; The analysis module compares the coordinate position obtained by the laser algorithm with the position information obtained by the video algorithm. When the difference is small, the physical coordinates of the dust are transmitted to the external management module. When the difference is large, an error signal is fed back to the analysis module and the calculation is performed again.

[0012] The external management module receives the dust physical coordinate information transmitted by the analysis module. The external management module further divides the dust area into four directions, and transmits the divided direction information and data physical coordinate information to the dust suppression module. The external management module updates the dust data physical coordinate information in real time.

[0013] The dust suppression module is responsible for receiving the dust area coordinate data transmitted by the external management module, converting water into fine mist through the built-in acoustic oscillator, and adjusting the position of the atomizing nozzle in a certain partition according to the received coordinate information, so that the water mist covers the dust area to promote the sedimentation of coal dust particles, and stops the nozzle from spraying water mist when the dust disappearance signal is received.

[0014] The specific method of intelligent environmental protection control of the dumper based on visual reconstruction is as follows: S1, the data acquisition module collects image data and laser scanning data in the car through the camera and laser scanner and transmits them to the data management module; S2, the data management module transmits the image data to the analysis module for preprocessing, denoises the image information and converts the image format and transmits the processed data to the analysis module; S3, the analysis module analyzes the image data and laser data through the image data analysis unit and the laser scanning analysis unit to obtain the physical coordinates of the dust and transmits them to the external module; S4, the external module defines the position information according to the physical coordinates of the dust and transmits it to the dust suppression module; S5. The dust suppression module starts the atomizing nozzle to spray water mist according to the dust position information and physical coordinate information to suppress the spread of coal dust.

[0015] The present invention provides an intelligent environmental protection control system and method for a car dumper based on visual reconstruction, which has the following beneficial effects compared with the prior art: The present invention calculates the physical coordinates of dust by analyzing the image data and laser scanning data through the image data analysis unit and the laser scanning analysis unit, can monitor the distribution of dust in real time, and transmit it to the external management module. Through the dust suppression mode of the atomizing nozzle and the sonic oscillator, the system controls the nozzle to track the dust source in real time and suppress the dust, thereby reducing the pollution of coal dust to the environment and improving the positioning accuracy and dust suppression efficiency. The present invention compares two sets of physical coordinates by using the physical coordinates obtained respectively by the image data analysis unit and the laser scanning analysis unit. The dual data analysis mechanism improves the adaptability and recognition ability of the system in complex environments. It is suitable for real-time monitoring and dynamic evaluation of the position changes of dust sources, ensuring the accuracy and timeliness of monitoring work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the principle framework of the present invention. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all 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. Embodiment 1: See also Figure 1 , the present application provides an intelligent environmental protection control system and method for a dumper based on visual reconstruction, including: a data acquisition module, a data management module, a parsing module, an analysis module, an external management module and a dust suppression module; The data acquisition module includes a high-definition camera and a laser scanning device, which respectively acquire data information and transmit it to the data management module; The data management module is responsible for the centralized storage and data transmission of data; The parsing module removes noise from the image data, increases the contrast, converts the video format RGB to the HSV color mode and increases the saturation before transmitting the image data to the analysis module; The image data analysis unit of the analysis module uses FasterR-CNN to identify the dust area, estimate the concentration intensity, and convert the dust image coordinates into physical coordinates. The laser scanning analysis unit analyzes and processes the laser data to obtain the dust coordinates. When the difference between the two coordinates is small, the physical coordinates of the dust are transmitted to the external management module. The external management module divides the received dust physical coordinates into position information, and transmits the position information and the physical coordinate information to the dust suppression module; The dust suppression module mobilizes the corresponding water mist nozzle to cover the dust according to the received physical coordinate information and orientation information, thereby causing the dust to settle.

[0018] The data acquisition module has a built-in high-definition camera and a high-precision laser scanning device. The camera is responsible for recording the dynamic scenes inside the car in real time, marking the time information and the specific car number, and then transmitting the video data and the marked information to the data management module. The laser scanning device uses laser technology to scan the inside of the car, obtain the physical structure data of the car and mark the timestamp and car number, and then transmits the laser data and the marked information to the data management module.

[0019] The data management module is responsible for centrally storing the data collected by the camera and the laser scanner, managing the data transmission between modules, and performing error handling when errors occur during data flow.

[0020] The analysis module obtains image data from the data management module, uses Gaussian blur and mean filtering techniques to remove the noise in the image, then adjusts the image brightness and contrast, uses the color mode conversion function to convert the image from RGB color mode to HSV color mode and increase the saturation to a certain extent, and transmits the image data to the model analysis module after processing.

[0021] The analysis module includes an image data analysis unit and a laser scanning analysis unit. The image data analysis model processes the image data from the camera and identifies the dust space coordinates in the image through computer vision technology. The laser scanning 3D modeling model processes the 3D data collected by the laser scanner to obtain the dust space coordinates, and finally compares the two sets of coordinates.

[0022] The image data analysis unit trains a CNN model to analyze the dust area features in the video image, uses the target detection algorithm FasterR-CNN to identify the dust in the image and locate the spatial position of the dust, and marks the dust area boundary box in red, and calculates the concentration and intensity of the dust according to the number of particles in the image and the color of the particles; Through the camera's viewing angle information, camera parameter focal length, and the conversion matrix between the camera coordinate system and the world coordinate system, the camera's viewing angle and the position of the dust in the video are input, so that the image coordinates of the identified dust are converted into physical coordinates in the car.

[0023] The process of obtaining the physical coordinates of dust by the image analysis unit is as follows: assuming the pixel coordinates of a point in the image as (x, y), the focal length of the camera as f, and the physical coordinates (X, Y, Z) are calculated by the perspective transformation formula: , Among them: K is the camera's internal parameter matrix, which is obtained by converting the camera's focal length f; Z is the depth of the target point, which can be obtained based on other sensor information; (X, Y, Z) is the physical coordinate of the dust.

[0024] The laser scanning analysis unit performs a filtering algorithm on the laser data to count outliers and remove inaccurate data points, then uses a downsampling method to select representative points for analysis, and uses the data from the laser scanner to perform three-dimensional modeling through the RANSAC algorithm to identify the walls, ground, and cargo structure in the carriage, establish a three-dimensional model of the interior of the carriage, and obtain dust coordinates; Specific workflow: The data acquisition module obtains the image data and physical structure data in the car in real time through the camera and laser scanning device, and transmits it to the data management module for storage and management. The parsing module improves the image quality and then transmits it to the analysis module. The image data analysis unit in the analysis module uses the FasterR-CNN algorithm to identify the dust area, estimate the concentration and calculate the physical coordinates; the laser scanning analysis unit accurately locates the dust through three-dimensional modeling and coordinate comparison. When the coordinates of the two are close, the physical coordinates are transmitted to the external management module to divide the dust area and pass it to the dust suppression module. The dust suppression module mobilizes the water mist nozzle to cover the dust according to the direction and coordinate information to promote particle sedimentation, and stops spraying water mist after detecting that the dust disappears.

[0025] Furthermore, the present invention calculates the physical coordinates of dust by analyzing image data and laser scanning data through an image data analysis unit and a laser scanning analysis unit, can monitor the distribution of dust in real time, and transmit the information to an external management module. Through the dust suppression method of atomizing nozzles and acoustic oscillators, the system controls the nozzles to track the source of dust in real time and suppress dust, thereby reducing the pollution of coal dust to the environment and improving positioning accuracy and dust suppression efficiency.

[0026] Embodiment 2: The analysis module compares the coordinate position obtained by the laser algorithm with the position information obtained by the video algorithm. When the difference is small, the physical coordinates of the dust are transmitted to the external management module. When the difference is large, an error signal is fed back to the analysis module and the calculation is performed again.

[0027] When processing the coordinate position obtained by the laser algorithm and the position information obtained by the video algorithm, the analysis module will first make an accurate difference comparison between the two. When the difference between the coordinates of the two is small, it means that the image data and the laser data are highly consistent. The system will transmit the dust physical coordinates that have been confirmed to be correct after comparison to the external management module for further processing and dust suppression operations. When the difference is large, it indicates that there is a large deviation between the image data and the laser data, which may be caused by sensor errors, environmental interference or errors in the calculation model. The analysis module will automatically feedback an error signal to the system, indicating the existence of potential analysis errors. The system triggers the reset mechanism to reprocess and optimize the image and laser data until the difference is within an acceptable range.

[0028] The external management module receives the dust physical coordinate information transmitted by the analysis module. The external management module further divides the dust area into four directions, and transmits the divided direction information and data physical coordinate information to the dust suppression module. The external management module updates the dust data physical coordinate information in real time.

[0029] The dust suppression module is responsible for receiving the dust area coordinate data transmitted by the external management module, converting water into fine mist through the built-in acoustic oscillator, and adjusting the position of the atomizing nozzle in a certain partition according to the received coordinate information, so that the water mist covers the dust area to promote the sedimentation of coal dust particles, and stops the nozzle from spraying water mist when the dust disappearance signal is received.

[0030] The specific method of intelligent environmental protection control of the dumper based on visual reconstruction is as follows: S1, the data acquisition module collects image data and laser scanning data in the car through the camera and laser scanner and transmits them to the data management module; S2, the data management module transmits the image data to the analysis module for preprocessing, denoises the image information and converts the image format and transmits the processed data to the analysis module; S3, the analysis module analyzes the image data and laser data through the image data analysis unit and the laser scanning analysis unit to obtain the physical coordinates of the dust and transmits them to the external module; S4, the external module defines the position information according to the physical coordinates of the dust and transmits it to the dust suppression module; S5. The dust suppression module starts the atomizing nozzle to spray water mist according to the dust position information and physical coordinate information to suppress the spread of coal dust.

[0031] Specific workflow: The data acquisition module obtains the image data and physical structure data in the car in real time through the camera and laser scanning device, and transmits it to the data management module for storage and management. The parsing module improves the image quality and then transmits it to the analysis module. The image data analysis unit in the analysis module uses the FasterR-CNN algorithm to identify the dust area, estimate the concentration and calculate the physical coordinates; the laser scanning analysis unit accurately locates the dust coordinates through three-dimensional modeling and coordinate comparison. When the difference between the two coordinates is small, the physical coordinates of the dust are transmitted to the external management module. When the difference is large, the error signal is fed back to the analysis module and the calculation is performed again.

[0032] Furthermore, the present invention compares two sets of physical coordinates by using the physical coordinates obtained respectively by the image data analysis unit and the laser scanning analysis unit. The dual data analysis mechanism improves the adaptability and recognition ability of the system in complex environments, and is suitable for real-time monitoring and dynamic evaluation of the position changes of dust sources, ensuring the accuracy and timeliness of monitoring work.

[0033] Some of the data in the above formulas are numerically calculated by taking their dimensions. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art. The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. Intelligent environmental protection control system of dumper based on visual reconstruction, characterized in that: include: Data acquisition module, data management module, parsing module, analysis module, external management module and dust suppression module; The data acquisition module includes a high-definition camera and a laser scanning device, which respectively acquire data information and transmit it to the data management module; The data management module is responsible for the centralized storage and data transmission of data; The parsing module removes noise from the image data, increases the contrast, converts the video format RGB to the HSV color mode and increases the saturation before transmitting the image data to the analysis module; The image data analysis unit of the analysis module uses FasterR-CNN to identify the dust area, estimate the concentration intensity, and convert the dust image coordinates into physical coordinates. The laser scanning analysis unit analyzes and processes the laser data to obtain the dust coordinates. When the difference between the two coordinates is small, the physical coordinates of the dust are transmitted to the external management module. The external management module divides the received dust physical coordinates into position information, and transmits the position information and the physical coordinate information to the dust suppression module; The dust suppression module mobilizes the corresponding water mist nozzle to cover the dust according to the received physical coordinate information and orientation information, thereby causing the dust to settle.

2. The intelligent environmental protection control system of a dumper based on visual reconstruction according to claim 1 is characterized in that: The data acquisition module has a built-in high-definition camera and a high-precision laser scanning device. The camera is responsible for recording the dynamic scenes inside the car in real time, marking the time information and the specific car number, and then transmitting the video data and the marked information to the data management module. The laser scanning device uses laser technology to scan the inside of the car, obtain the physical structure data of the car and mark the timestamp and car number, and then transmits the laser data and the marked information to the data management module.

3. The intelligent environmental protection control system of a dumper based on visual reconstruction according to claim 1 is characterized in that: The data management module is responsible for centrally storing the data collected by the camera and the laser scanner, managing the data transmission between modules, and performing error handling when errors occur during data flow.

4. The intelligent environmental protection control system for a car dumper based on visual reconstruction according to claim 1 is characterized in that: The analysis module obtains image data from the data management module, uses Gaussian blur and mean filtering techniques to remove the noise in the image, then adjusts the image brightness and contrast, uses the color mode conversion function to convert the image from RGB color mode to HSV color mode and increase the saturation to a certain extent, and transmits the image data to the model analysis module after processing.

5. The intelligent environmental protection control system for a car dumper based on visual reconstruction according to claim 1 is characterized in that: The analysis module includes an image data analysis unit and a laser scanning analysis unit. The image data analysis model processes the image data from the camera and identifies the dust space coordinates in the image through computer vision technology. The laser scanning 3D modeling model processes the 3D data collected by the laser scanner to obtain the dust space coordinates, and finally compares the two sets of coordinates.

6. The intelligent environmental protection control system for a car dumper based on visual reconstruction according to claim 1 is characterized in that: The image data analysis unit trains a CNN model to analyze the dust area features in the video image, uses the target detection algorithm FasterR-CNN to identify the dust in the image and locate the spatial position of the dust, and marks the dust area boundary box in red, and calculates the concentration and intensity of the dust according to the number of particles in the image and the color of the particles; Through the camera's viewing angle information, camera parameter focal length, and the conversion matrix between the camera coordinate system and the world coordinate system, the camera's viewing angle and the position of the dust in the video are input, so that the image coordinates of the identified dust are converted into physical coordinates in the car.

7. The intelligent environmental protection control system for a car dumper based on visual reconstruction according to claim 1 is characterized in that: The process of obtaining the physical coordinates of dust by the image analysis unit is as follows: assuming the pixel coordinates of a point in the image as (x, y), the focal length of the camera as f, and the physical coordinates (X, Y, Z) are calculated by the perspective transformation formula: , Among them: K is the camera's internal parameter matrix, which is obtained by converting the camera's focal length f; Z is the depth of the target point, which can be obtained based on other sensor information; (X, Y, Z) is the physical coordinate of the dust.

8. The intelligent environmental protection control system for a car dumper based on visual reconstruction according to claim 1 is characterized in that: The laser scanning analysis unit performs a filtering algorithm on the laser data to count outliers and remove inaccurate data points, then uses a downsampling method to select representative points for analysis, and uses the data from the laser scanner to perform three-dimensional modeling through the RANSAC algorithm to identify the walls, ground, and cargo structure in the carriage, establish a three-dimensional model of the interior of the carriage, and obtain dust coordinates; The analysis module compares the difference between the coordinate position obtained by the laser algorithm and the position information obtained by the video algorithm. When the difference is small, the physical coordinates of the dust are transmitted to the external management module. When the difference is large, an error signal is fed back to the analysis module and the calculation is performed again.

9. The intelligent environmental protection control system for a car dumper based on visual reconstruction according to claim 1 is characterized in that: The external management module receives the physical coordinate information of dust transmitted by the analysis module. The external management module will further divide the dust area into four directions, and transmit the divided direction information and data physical coordinate information to the dust suppression module. The external management module updates the physical coordinate information of the dust data in real time. The dust suppression module is responsible for receiving the dust area coordinate data transmitted by the external management module, converting water into fine mist through the built-in acoustic oscillator, and adjusting the position of the atomizing nozzle in a certain partition according to the received coordinate information, so that the water mist covers the dust area to promote the sedimentation of coal dust particles, and stops the nozzle from spraying water mist when the dust disappearance signal is received.

10. An intelligent and environmentally friendly control method for a dumper based on visual reconstruction, characterized in that: The specific method of intelligent environmental protection control of the dumper based on visual reconstruction is as follows: S1, the data acquisition module collects image data and laser scanning data in the car through the camera and laser scanner and transmits them to the data management module; S2, the data management module transmits the image data to the analysis module for preprocessing, denoises the image information and converts the image format and transmits the processed data to the analysis module; S3, the analysis module analyzes the image data and laser data through the image data analysis unit and the laser scanning analysis unit to obtain the physical coordinates of the dust and transmits them to the external module; S4, the external module defines the position information according to the physical coordinates of the dust and transmits it to the dust suppression module; S5. The dust suppression module starts the atomizing nozzle to spray water mist according to the dust position information and physical coordinate information to suppress the spread of coal dust.

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