Visual follow-up exploration evaluation method and system for coal mine underground heading machine

Abstract

The invention discloses a visual follow-up exploration evaluation method and system for an underground coal mine heading machine, and the method comprises the following steps: S1, carrying out the positioning exploration through an input exploration horizontal coordinate and an input exploration vertical coordinate by using an exploration drilling machine while the heading machine carries out the heading; the surveying drilling machine information collector records surveying information including the surveying coal seam depth, surveying coordinates and the surveying advancing speed; recording the surveyed coal gangue image by using an image capturing camera to obtain a coal gangue image; and S3, evaluating the proportion of the coal gangue in the coal gangue image by using a coal gangue evaluation model, and classifying the coal gangue range according to the proportion of the coal gangue. According to the invention, the tunneling efficiency of the underground coal mine tunneling machine can be greatly improved, the gangue classification efficiency is improved, the intelligent level of underground operation is improved, and the safety degree of tunneling operation is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of exploration and gangue assessment for underground coal mine tunneling machines, and more specifically to a visual on-the-fly exploration and assessment method and system for underground coal mine tunneling machines. Background Art

[0002] As the front-end equipment of coal production, the roadheader is an indispensable equipment in coal mines. The distribution of gangue in the coal seam seriously affects the actual production efficiency. In order to improve the information acquisition level of underground tunnel excavation in coal mines and improve the production efficiency of coal mines, it is necessary to explore the underground geological conditions while excavating, and ensure that the distribution and content of gangue are mastered in advance during the excavation process to lay the foundation for the reasonable design of the excavation plan.

[0003] In view of this, it is necessary to improve the exploration and gangue evaluation methods for underground coal mine tunneling machines in the prior art to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to propose a visual on-site exploration and evaluation method and system for underground coal mine tunneling machines. This method and system can improve the grasp and prediction of the distribution and content of gangue and the safety of tunneling during the operation of the tunneling machine, greatly improve the safety of underground operations, increase the speed of obtaining tunneling information, strengthen the real-time control of tunneling conditions, and improve the economic benefits of mines.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A visual on-the-spot assessment method for a coal mine tunneling machine comprises the following steps:

[0007] S1: While the roadheader is excavating, the survey drill is used to perform positioning survey through the input survey horizontal coordinates and vertical coordinates; the survey drill information collector records the survey information, including: survey coal seam depth, survey coordinates and survey advancement speed;

[0008] S2: using an image capture camera to record the surveyed coal gangue image to obtain a coal gangue image;

[0009] S3: using the gangue assessment model to assess the proportion of gangue in the gangue image, and according to Table 1, the gangue range is divided into complete, relatively complete, moderate, less and completely absent according to the proportion of gangue:

[0010] Coal gangue range Proportion of coal gangue in the image (%) completely 100 More complete 65～100 Moderate 35～65 less 0～35 Absolutely non-existent 0

[0011] Table 1

[0012] S4: Continue to survey the survey coordinates of the collected gangue images with complete, relatively complete and moderate gangue ranges. Continue to survey as the tunneling action progresses, continuously obtain the collected gangue images, survey coordinates and survey depth data, and continue to evaluate the proportion of large gangue. The specific expression is as follows: G = d1m1 + d2m2 + ··· + d n m n (3)

[0014] In the formula, d represents the depth of the surveyed coal seam, which is divided into multiple extremely small units, and the unit is mm; m is the area of ​​coal gangue in the acquired image; n is the number of extremely small units. The expression can express the survey volume of coal gangue, which is divided into level I, level II, level III and level IV. The volume range is as follows:

[0015]

[0016] Furthermore, in step S3, the specific steps of evaluating the content range of the gangue in the gangue image are:

[0017] S31. Perform edge monitoring on the gangue image to obtain the energy value R. The function expression is:

[0018]

[0019] Where b(s) = [x(s), y(s)], s∈[0,1] represents the boundary variable, x(s) and y(s) describe the coordinates of the control points in the gangue image; the energy term R con Produced by external constraints;

[0020] R int , R image They represent the internal energy term of the gangue image and the energy term of the force, respectively. The calculation formula is as follows:

[0021]

[0022] In the formula, β and χ represent weight functions, which control the elastic deformation of the contour line of the gangue image during edge detection; η represents the weight system of the gray value; ▽ describes the gradient operator; O(x, y) represents the gray matrix corresponding to the gangue image;

[0023] S32. When the energy value R changes drastically, that is, R, R int , R image When there are wave fluctuations in the three energy values, it is determined to be the edge of coal gangue;

[0024] S33: Calculate the ratio of the edge of the gangue in the gangue image to the total size of the gangue image, and evaluate the ratio of the gangue in the gangue image.

[0025] Furthermore, an image enhancement processing step is included between step S2 and step S3 to obtain an enhanced gangue image.

[0026] The present invention further discloses a visual on-site monitoring system for a coal mine tunneling machine, comprising:

[0027] A survey drill, which is set up on the side of the tunnel boring machine;

[0028] An image capture camera is disposed at the upper end of the survey drill rig and arranged in parallel with the survey drill rig;

[0029] A data monitoring unit, disposed inside the tunnel boring machine and wirelessly connected to the image capturing camera;

[0030] The remote management system is arranged at the side end of the tunnel boring machine and is fixedly connected to the tunnel boring machine. The remote management system is wirelessly connected to the data monitoring unit.

[0031] It also includes a protective cover, which is arranged on the outside of the image capture camera and is used to protect the image capture camera from being disturbed by the falling coal seam.

[0032] It also includes a locator for referencing the survey position, wherein the locator is fixed to the survey front end to provide a relative position reference for the survey drilling rig.

[0033] The data monitoring unit includes a data acquisition terminal, a data processing component, a wireless network and a signal transmitter, wherein the data acquisition terminal and the data processing component are connected via the wireless network for data transmission;

[0034] The data acquisition terminal is internally provided with an image enhancer, which processes the acquired image by applying the Retinex enhancement algorithm, and transmits the processed image to the data processing component via the wireless network;

[0035] The data processing component has a built-in gangue assessment model, which is used to identify the gangue contour and assess the gangue content and distribution of the image;

[0036] The signal transmitter receives the displacement signal released by the data processing component, conducts in-depth survey and adjustment of the survey drill and image capture camera in the survey and monitoring system, conducts further survey on coal seams with higher gangue content, and provides data support for subsequent gangue classification.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The visualized on-the-spot evaluation method for underground coal mine tunneling machines of the present invention can realize the visualized on-the-spot evaluation and coal gangue evaluation at any time during the tunneling process:

[0039] First, the survey drill can be used to conduct simultaneous survey during the excavation process. The survey information includes the depth of the coal seam, the coordinates and the advancement speed of the survey. The image capture camera can be used to capture and record the survey effect images of the simultaneous survey and monitoring system. The protective cover can be used to protect the image capture camera from interference from the falling coal seam. The locator can be used to ensure a better survey level of the survey drill.

[0040] Second, in the data monitoring system, the collected image enhancement processing is realized by applying the Retinex enhancement algorithm in the image intensifier of the data acquisition terminal; the gangue assessment model in the data processing component is used to identify the gangue contour and evaluate the gangue content, and further release the displacement signal to the survey and monitoring system.

[0041] Third, the simultaneous survey and monitoring system receives displacement signals, makes displacement adjustments to the survey drill and image capture camera, and conducts simultaneous survey and monitoring at deeper coal seams in order to further understand the distribution of gangue and facilitate subsequent gangue classification during excavation.

[0042] Fourth, the remote management system can provide on-site workers with reminders of excavation progress and real-time information on waste rock. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is an implementation flow chart of the visual exploration and evaluation method for underground coal mine tunneling machine of the present invention;

[0044] Figure 2 This is a general diagram of the visualization exploration system for underground coal mine tunneling machines of the present invention;

[0045] Figure 3 This is a layout diagram of the visual exploration system on the underground coal mine tunneling machine of the present invention;

[0046] Figure 4 It is a schematic diagram of the structure of installing an image capture camera on a survey drilling rig of the present invention;

[0047] Figure 5 It is a technical roadmap of a data monitoring system for a visualization exploration and evaluation method for an underground coal mine roadheader of the present invention;

[0048] In the figure: 1. Survey and monitoring system, 101. Positioner, 102. Base, 103. Survey drill, 104. Protective cover, 105. Image capture camera, 2. Roadheader, 3. Data monitoring system, 301. Data acquisition terminal, 302. Data processing component, 303. Wireless network, 304. Signal transmitter, 4. Remote management system. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0050] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0051] Example 1

[0052] Please refer to Figures 1 to 4 A specific implementation of a visualization on-the-spot evaluation method for an underground coal mine tunneling machine of the present invention is shown.

[0053] A visual on-the-spot assessment method for a coal mine tunneling machine comprises the following steps:

[0054] S1: While the roadheader is excavating, the survey drill is used to perform positioning survey through the input survey horizontal coordinates and vertical coordinates; the survey drill information collector records the survey information, including: survey coal seam depth, survey coordinates and survey advancement speed;

[0055] S2: Record the surveyed gangue images using an image capture camera, and store the collected gangue images into a collection terminal, which transmits them to a data monitoring unit via a wireless network;

[0056] S3: The data monitoring unit is integrated with a gangue assessment model, which is used to assess the proportion of gangue in the gangue image. According to Table 1, the gangue range is divided into complete, relatively complete, moderate, less and completely absent according to the proportion of gangue:

[0057] Coal gangue range Proportion of coal gangue in the image (%) completely 100 More complete 65～100 Moderate 35～65 less 0～35 Absolutely non-existent 0

[0058] Table 1

[0059] S4: Continue to survey the survey coordinates for the collected gangue ranges that are complete, relatively complete, and moderate. Continue to survey as the tunneling action progresses, continuously obtain the collected gangue images, survey coordinates, and survey depth data, and continue to evaluate the proportion of large gangue. The specific expression is as follows:

[0060] G=d1m1+d2m2+···+d n m n (3)

[0061] In the formula, d represents the depth of the surveyed coal seam, which is divided into multiple extremely small units, and the unit is mm; m is the area of ​​coal gangue in the acquired image; n is the number of extremely small units. The expression can express the survey volume of coal gangue, which is divided into level I, level II, level III and level IV. The volume range is as follows:

[0062]

[0063] In step S3, the specific steps of evaluating the content range of the gangue in the gangue image are:

[0064] S31. Perform edge monitoring on the gangue image to obtain the energy value R. The function expression is:

[0065]

[0066] Where b(s) = [x(s), y(s)], s∈[0,1] represents the boundary variable, x(s) and y(s) describe the coordinates of the control points in the gangue image; the energy term R con Produced by external constraints;

[0067] R int , R image They represent the internal energy term of the gangue image and the energy term of the force, respectively. The calculation formula is as follows:

[0068]

[0069] In the formula, β and χ represent weight functions, which control the elastic deformation of the contour line of the gangue image during edge detection; η represents the weight system of the gray value; ▽ describes the gradient operator; O(x, y) represents the gray matrix corresponding to the gangue image;

[0070] S32. When the energy value R changes drastically, that is, R, R int , R image If there are wave fluctuations in the three energy values, it can be determined as the edge of coal gangue;

[0071] S33: Calculate the ratio of the edge of the gangue in the image to the total size of the gangue image, and evaluate the ratio of the gangue in the gangue image.

[0072] An image enhancement processing step is also included between step S2 and step S3 to obtain an enhanced gangue image with better color and brightness.

[0073] Example 2

[0074] This embodiment discloses a visual on-the-spot monitoring system for a coal mine underground tunneling machine, which is arranged inside and on the side of the tunneling machine 2, including: an on-the-spot monitoring and monitoring system 1, a remote management system 4 and a data monitoring system 3;

[0075] The following survey and monitoring system 1 is arranged on the side of the tunnel boring machine 2 and is used for visual survey following the tunnel boring machine 2 in the coal mine;

[0076] The survey drill 103 is arranged on the side of the tunnel boring machine 2;

[0077] The image capture camera 105 is disposed at the upper end of the surveying drill 103 and arranged in parallel with the surveying drill 103;

[0078] The remote management system 4 is arranged at the side end of the tunnel boring machine 2 and is fixedly connected to the tunnel boring machine 2. The remote management system 4 is wirelessly connected to the survey and monitoring system 1.

[0079] The data monitoring system 3 is arranged inside the tunnel boring machine 2 and is wirelessly connected to the on-site survey and monitoring system 1 and the remote management system 4 .

[0080] The survey and monitoring system 1 includes a locator 101, a base 102, a survey drill 103 and an image capture camera 105; wherein the survey drill 103 is used to perform coal seam survey simultaneously with the tunneling machine 2; the image capture camera 105 is used to capture and record the survey image of the survey drill 103; the locator 101 is used to ensure a better survey level of the survey drill 103.

[0081] In the embodiment of the present invention, the data monitoring system 3 further includes a data acquisition terminal 301, a data processing component 302, a wireless network 303 and a signal transmitter 304, wherein the data acquisition terminal 301 and the data processing component 302 are connected through the wireless network 303 for data transmission; an image enhancer is provided inside the data acquisition terminal 301, and the collected image is processed by applying the Retinex enhancement algorithm, and the processed image is transmitted to the data processing component 302 through the wireless network 303; the data processing component 302 has a built-in gangue evaluation model, and the gangue evaluation model can respectively perform gangue contour recognition and gangue content and distribution evaluation on the image;

[0082] The signal transmitter 304 adjusts the exploration and monitoring system 1 by analyzing the displacement signal released by the data processing component 302, further explores the coal seam with higher gangue content, and provides data support for subsequent gangue classification;

[0083] The remote management system 4 is fixed on the side end of the tunnel boring machine. The arrangement of the remote management system 4 is used for on-site workers to further grasp the tunneling situation, and to have a detailed grasp of the coal seam structure, coal seam tunneling situation, coal gangue content and distribution, which helps to improve the safety of underground tunneling, increase the intelligence level of underground coal mines, and improve tunneling efficiency.

[0084] Embodiment 3 is a further preferred embodiment of the present invention as described above. The protective cover 104 is arranged outside the image capture camera 105 to protect the image capture camera 105 from interference from the falling coal seam.

[0085] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A visual on-site survey and evaluation method for a coal mine tunneling machine, characterized in that: The following steps are involved: S1: While the roadheader is excavating, the survey drill is used to perform positioning survey through the input survey horizontal coordinates and vertical coordinates; the survey drill information collector records the survey information, including: survey coal seam depth, survey coordinates and survey advancement speed; S2: using an image capture camera to record the surveyed coal gangue image to obtain a coal gangue image; S3: using the gangue assessment model to assess the proportion of gangue in the gangue image, and according to Table 1, the gangue range is divided into complete, relatively complete, moderate, less and completely absent according to the proportion of gangue: Table 1 S4: Continue to survey the survey coordinates of the collected gangue images with complete, relatively complete and moderate gangue ranges. Continue to survey as the tunneling action progresses, continuously obtain the collected gangue images, survey coordinates and survey depth data, and continue to evaluate the proportion of large gangue. The specific expression is as follows: G=d1m1+d2m2+···+d n m n (3) In the formula, d represents the depth of the surveyed coal seam, which is divided into multiple extremely small units, and the unit is mm; m is the area of ​​coal gangue in the acquired image; n is the number of extremely small units. The expression can express the survey volume of coal gangue, which is divided into level I, level II, level III and level IV. The volume range is as follows:

2. The visual survey and evaluation method for underground coal mine boring machine according to claim 1 is characterized in that: In step S3, the specific steps of evaluating the content range of the gangue in the gangue image are: S31. Perform edge monitoring on the gangue image to obtain the energy value R. The function expression is: Where b(s) = [x(s), y(s)], s∈[0,1] represents the boundary variable, x(s) and y(s) describe the coordinates of the control points in the gangue image; the energy term R con Produced by external constraints; R int , R image They represent the internal energy term of the gangue image and the energy term of the force, respectively. The calculation formula is as follows: In the formula, β and χ represent weight functions, which control the elastic deformation of the contour line of the gangue image during edge detection; η represents the weight system of the gray value; ▽ describes the gradient operator; O(x, y) represents the gray matrix corresponding to the gangue image; S32. When the energy value R changes drastically, that is, R, R int , R image When there are wave fluctuations in the three energy values, it is determined to be the edge of coal gangue; S33: Calculate the ratio of the edge of the gangue in the gangue image to the total size of the gangue image, and evaluate the ratio of the gangue in the gangue image.

3. The visual survey and evaluation method for underground coal mine boring machine according to claim 1 is characterized in that: An image enhancement processing step is also included between step S2 and step S3 to obtain an enhanced gangue image.

4. A visual exploration and monitoring system for underground coal mine tunneling machines, characterized in that: include: A survey drill, which is set up on the side of the tunnel boring machine; An image capture camera is disposed at the upper end of the survey drill rig and arranged in parallel with the survey drill rig; A data monitoring unit, disposed inside the tunnel boring machine and wirelessly connected to the image capturing camera; The remote management system is arranged at the side end of the tunnel boring machine and is fixedly connected to the tunnel boring machine. The remote management system is wirelessly connected to the data monitoring unit.

5. The visualization exploration system for underground coal mine boring machine according to claim 4 is characterized in that: It also includes a protective cover, which is arranged on the outside of the image capture camera and is used to protect the image capture camera from being disturbed by the falling coal seam.

6. The visualization exploration system for underground coal mine boring machine according to claim 4 is characterized in that: It also includes a locator for referencing the survey position, wherein the locator is fixed to the survey front end to provide a relative position reference for the survey drilling rig.

7. The visualization exploration system for underground coal mine boring machine according to claim 4 is characterized in that: The data monitoring unit includes a data acquisition terminal, a data processing component, a wireless network and a signal transmitter, wherein the data acquisition terminal and the data processing component are connected via the wireless network for data transmission; The data acquisition terminal is internally provided with an image enhancer, which processes the acquired image by applying the Retinex enhancement algorithm, and transmits the processed image to the data processing component via the wireless network; The data processing component has a built-in gangue assessment model, which is used to identify the gangue contour and assess the gangue content and distribution of the image; The signal transmitter receives the displacement signal released by the data processing component, conducts in-depth survey and adjustment of the survey drill and image capture camera in the survey and monitoring system, conducts further survey on coal seams with higher gangue content, and provides data support for subsequent gangue classification.

Images