Generalized visual perception device for underground severe environment and data generation method thereof

Abstract

The invention discloses a generalized visual perception device for an underground severe environment and a data generation method thereof, and the device comprises a telescopic box body (1), a dust generating and conveying device (2), a fog generating and conveying device (3), a light source and camera moving device (4), and a generalized visual perception device (5). The dust generating and conveying device (2), the mist generating and conveying device (3) and the light source and camera moving device (4) are all mounted on the telescopic box body (1), and the generalized visual perception device (5) is mounted on the light source and camera moving device (4). According to the method, three severe factors of underground low illumination, high water vapor and high dust are comprehensively considered, and a generalized visual perception task of coupling action scenes of complex severe factors such as underground excavation, mining, transportation and lifting working conditions is qualitatively and quantitatively performed by changing illumination intensity, dust concentration and water pipe flow velocity; and data is generated for other various visual tasks, and qualitative and quantitative labels are provided.

Description

Technical Field

[0001] The invention relates to a generalized visual perception device for a harsh underground environment and a data generation method thereof, belonging to the technical field of visual perception and data generation in complex and harsh environments. Background Art

[0002] Tunneling, comprehensive mining, transportation and lifting are the main working scenes in coal mines. During the tunneling, mining and transportation of coal mines, the light intensity is low and a large amount of dust and fog is easily generated and suspended in the air, which causes the operator's vision to be limited and the visibility is less than 1m, causing safety hazards in production. At the same time, a large number of fans are used in coal mines to prevent gas accumulation during mining and to ensure the ventilation needs of the tunnels. However, this leads to the aggravation of dust in coal mines, so spraying is usually used to reduce dust, which further increases the environmental humidity and produces a large amount of water mist. This complex and harsh environment has become a stumbling block for intelligent mining in coal mines.

[0003] The data sets required for carrying out visual perception tasks in existing harsh underground environments or other types of visual tasks often need to be collected on-site underground. However, the underground environment is extremely time-varying and uncontrollable, and the three harsh factors of low illumination, high water vapor, and high dust cannot be quantitatively set at the same time. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a generalized visual perception device for harsh underground environments and a data generation method thereof. The present invention can perform visual perception tasks in underground multi-operation scenarios affected by complex and harsh environmental coupling, and generate data with qualitative and quantitative labels for other types of visual tasks. It has a wide range of applications and can be used for quantitative visual perception experiments to construct a large-scale data set with multiple samples, multiple features, high quality, qualitative and quantitative labels, and suitable for harsh underground environments.

[0005] Preferably, the present invention provides a generalized visual perception device for harsh underground environments, comprising a retractable box, a dust generating and conveying device, a steam mist generating and conveying device, a light source and camera moving device, and a generalized visual perception device, wherein the dust generating and conveying device, the steam mist generating and conveying device, and the light source and camera moving device are all installed on the retractable box, and the generalized visual perception device is installed on the light source and camera moving device.

[0006] Preferably, the retractable box includes a first-order box, a second-order box, a third-order box, a front observation panel, a rear observation panel, a left observation panel, a right observation panel, a base, a cover, a first-order box rail, a second-order box rail, a plurality of cover hinges, a second-order box caster, a third-order box caster and a shade cloth. The first-order box, the second-order box and the third-order box are retractably connected by sliding. The first-order box is connected to the second-order box by sliding through the first-order box guide rail, and the second-order box is connected to the third-order box by sliding through the second-order box guide rail. The first-order box, the second-order box and the third-order box are respectively provided with shading cloth. The first-order box is provided with a front observation panel, a rear observation panel, a left observation panel and a right observation panel in the front, back, left and right directions respectively. A base is provided at the bottom of the first-order box. The cover plate is provided on the top of the first-order box through a plurality of cover plate hinges. The second-order box casters are provided on the second-order box, and the third-order box casters are provided on the third-order box.

[0007] Preferably, the dust generating and conveying device includes a blower, a dust storage box, a front dust device valve, an upper dust device valve, a side dust device valve, a front dust device pipe, an upper dust device pipe and a side dust device pipe, The blower is connected to the dust storage box, the dust storage box is connected to the front dust device pipe, the upper dust device pipe, and the side dust device pipe. The front dust device valve, the upper dust device valve, and the side dust device valve are respectively installed on the front dust device pipe, the upper dust device pipe, and the side dust device pipe; the front dust device valve passes through the front dust device pipe through the rear side of the telescopic box and extends into the telescopic box, the upper dust device valve passes through the upper surface of the telescopic box through the upper dust device pipe and extends into the telescopic box, and the side dust device valve passes through the left side of the telescopic box through the side dust device pipe and extends into the telescopic box.

[0008] Preferably, the steam mist generating and conveying device includes a water pump, a water pool, a water mist water pipe, an atomizer nozzle, a water vapor water pipe and a high-speed nozzle. The input end of the water pump is connected to the water pool, the output end of the water pump is connected to the atomizer nozzle through the water mist water pipe, the output end of the water pump is connected to the high-speed nozzle through the water vapor water pipe, and the atomizer nozzle and the high-speed nozzle are installed in a retractable box.

[0009] Preferably, the light source and camera moving device includes a transverse guide rail, a transverse guide rail stage, a longitudinal guide rail, a longitudinal guide rail stage, and an LED lamp. The transverse guide rail and the longitudinal guide rail are fixedly arranged in a retractable box, the transverse guide rail stage is fixedly arranged on the transverse guide rail, the longitudinal guide rail stage is arranged on the longitudinal guide rail, and LED lamps of different powers are installed on the transverse guide rail or the longitudinal guide rail.

[0010] Preferably, the generalized visual perception device includes a visible light camera, a multi-band infrared camera and a laser / microwave radar, and the visible light camera, the multi-band infrared camera and the laser / microwave radar are arranged on a transverse guide rail stage or a longitudinal guide rail stage to achieve movement on the transverse guide rail and the longitudinal guide rail.

[0011] Preferably, a method for generating data of a generalized visual perception device for a harsh underground environment comprises using any one of the generalized visual perception devices for a harsh underground environment to perform the following steps: S1. When performing the visual perception task of underground lifting conditions, the visible light camera, multi-band infrared camera and laser / microwave radar installed on the transverse guide platform are moved to the front of the first-order box, multiple LED lights are lit, the blower is running, the valve of the upper dust device is opened, and the dust in the dust storage box is vertically scattered inside the retractable box through the upper dust device pipeline. At least one of the visible light camera, multi-band infrared camera and laser / microwave radar in the generalized visual perception device is turned on; S2. When performing the visual perception task of underground excavation conditions, the visible light camera, multi-band infrared camera and laser / microwave radar installed on the transverse guide platform are moved to the right side of the first-order box, the blower is running, the valve of the front dust device is opened, and the dust in the dust storage box is thrown into the interior of the retractable box through the front dust device pipeline. The water pump transports the water in the water pool to the high-speed nozzle through the water vapor water pipe, and at least one of the visible light camera, multi-band infrared camera and laser / microwave radar in the generalized visual perception device is turned on; S3. When performing the visual perception task of underground comprehensive mining conditions, the visible light camera, multi-band infrared camera and laser / microwave radar installed on the transverse guide platform are moved to the top of the first-order box, multiple LED lights are turned on, the blower starts working, the valve of the side dust device is opened, and the dust in the dust storage box is thrown into the inside of the retractable box through the side dust device pipe, and at least one of the visible light camera, multi-band infrared camera and laser / microwave radar in the generalized visual perception device is turned on; S4. When performing the visual perception task of underground transportation conditions, the second-order box is pulled out from the first-order box, and the third-order box is pulled out from the second-order box. The visible light camera, multi-band infrared camera and laser / microwave radar installed on the transverse guide platform are moved to the right side of the third-order box. The water pump transports the water in the pool to the atomizer through the water mist pipe and turns it into water mist. Multiple LED lights are deployed inside the first-order box, the second-order box and the third-order box according to actual needs, and at least one of the visible light camera, multi-band infrared camera and laser / microwave radar in the generalized visual perception device is turned on.

[0012] The beneficial effects achieved by the present invention are: 1. The present invention can quantitatively control light intensity, dust concentration, and water pipe flow rate, so as to perform visual perception tasks in underground multi-condition operation scenes affected by complex and harsh environmental coupling. The present invention can perform visual perception tasks in underground multi-condition operation scenes affected by complex and harsh environmental coupling, and generate data with qualitative and quantitative labels for other types of visual tasks. It has a wide range of applications and can perform visual perception quantitative experiments to construct a large-scale data set with multiple samples, multiple features, high quality, and containing qualitative and quantitative labels and suitable for underground harsh environments.

[0013] 2. The present invention can selectively disassemble and assemble visual sensors to meet visual perception tasks with different requirements, and generate data with qualitative and quantitative labels for various visual tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 It is a structural schematic diagram of an embodiment of the present invention; Figure 2 It is a front view of an embodiment of the present invention; Figure 3 A rear view of an embodiment of the present invention; Figure 4 A structural diagram of a generalized visual perception device according to an embodiment of the present invention; Figure 5 It is a fully enclosed isometric view of the system of an embodiment of the present invention; Figure 6 Schematic diagram of the perception process of an embodiment of the present invention; Figure 7 This is a flow chart of the perception / data production method according to an embodiment of the present invention.

[0016] Among them, the figure markings are: 1, retractable box; 1-1, first-order box; 1-2, second-order box; 1-3, third-order box; 1-4, front observation panel; 1-5, rear observation panel; 1-6, left observation panel; 1-7, right observation panel, 1-8, base; 1-9, cover; 1-10, first-order box guide rail; 1-11, second-order box guide rail; 1-12, cover hinge; 1-13, second-order box caster; 1-14, third-order box caster; 2, dust generating and conveying device; 2-1, blower; 2-2, dust storage box; 2-3, front dust device valve; 2-4, upper dust device valve, 2-5, side dust Dust device valve; 2-6, front dust device pipeline; 2-7, upper dust device pipeline; 2-8, side dust device pipeline; 3, steam mist generating and conveying device; 3-1, water pump; 3-2, water tank; 3-3, water mist water pipe; 3-4, atomizer nozzle; 3-5, water vapor water pipe; 3-6, high-speed nozzle; 4, light source and camera moving device; 4-1, horizontal guide rail; 4-2, horizontal guide rail stage; 4-3, longitudinal guide rail; 4-4, longitudinal guide rail stage; 4-5, LED light; 5, generalized visual perception device; 5-1, visible light camera; 5-2, multi-band infrared camera; 5-3, laser / microwave radar. DETAILED DESCRIPTION

[0017] If the descriptions of "first" and "second" etc. are involved in the present invention, they are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0018] See also Figure 1 The present application provides a generalized visual perception device for a harsh underground environment, comprising a retractable box 1, a dust generating and conveying device 2, a vapor generating and conveying device 3, a light source and camera moving device 4 and a generalized visual perception device 5, wherein: See also Figure 1 and Figure 2The retractable box 1 includes a first-order box 1-1, a second-order box 1-2, a third-order box 1-3, a front observation panel 1-4, a rear observation panel 1-5, a left observation panel 1-6, a right observation panel 1-7, a base 1-8, a cover panel 1-9, a first-order box guide rail 1-10, a second-order box guide rail 1-11, a cover panel hinge 1-12, a second-order box caster 1-13, a third-order box caster 1-14 and a blackout cloth. The base 1-8 is placed horizontally on the ground, the first-order box 1-1 is fixed on the base 1-8, the cover 1-9 is installed on the top of the first-order box 1-1, and the front observation panel 1-4, the rear observation panel 1-5, the left observation panel 1-6 and the right observation panel 1-7 are installed around the first-order box 1-1. The observation panels are all made of transparent plastic. The cover hinge 1-12 is installed at the intersection of the cover 1-9 and the right observation panel 1-7. The hinge head of the cover hinge 1-12 is connected to the right observation panel 1-7, and the base of the cover hinge 1-12 is connected to the cover 1-9. The two first-stage box guide rails 1-10 are both three-section slide rails, one side of which is installed inside the first-stage box 1-1 by bolts, and the other side is installed on the outside of the second-stage box 1-2 by bolts. The two second-stage box guide rails 1-11 are also three-section slide rails, one side of which is installed inside the second-stage box 1-2 by bolts, and the other side is installed on the outside of the third-stage box 1-3 by bolts. A pair of second-stage box casters 1-13 are installed on the right side of the bottom of the second-stage box 1-2, and a pair of third-stage box casters 1-14 are installed on the right side of the bottom of the third-stage box 1-3. Blackout cloth is deployed on the cover plate 1-9 to simulate the dark environment underground. The length and width of the three boxes are of equal proportion. The third-order box 1-3 is located inside the second-order box 1-2, and the second-order box 1-2 is located inside the first-order box 1-1. The second-order box 1-2 uses two first-order box guide rails 1-10 and a pair of second-order box casters 1-13 to complete the first-level telescopic movement, and the third-order box 1-3 uses two second-order box guide rails 1-11 and a pair of third-order box casters 1-14 to complete the second-level telescopic movement. The first-order box 1-1, the second-order box 1-2, and the third-order box 1-3 are all fixed to each other by a plurality of horizontal and vertical rods to form a box structure. The length, width, and height of the first-order box 1-1 are respectively greater than those of the second-order box 1-2, and the length, width, and height of the second-order box 1-2 are greater than those of the third-order box 1-3. The front side, right side and rear of the first-order box 1-1, the second-order box 1-2 and the third-order box 1-3 are a field-shaped frame structure, the left side, upper side and bottom of the first-order box 1-1, the second-order box 1-2 and the third-order box 1-3 are a mouth-shaped frame structure, and the front observation panel 1-4, the rear observation panel 1-5, the left observation panel 1-6, the right observation panel 1-7, the base 1-8 and the cover panel 1-9 are flat panels.

[0019] See also Figure 2The dust generating and conveying device 2 comprises a blower 2-1, a dust storage box 2-2, a front dust device valve 2-3, an upper dust device valve 2-4, a side dust device valve 2-5, a front dust device pipe 2-6, an upper dust device pipe 2-7 and a side dust device pipe 2-8. The dust storage box 2-2 is horizontally placed on the ground and is located on the left side of the retractable box body 1. The blower 2-1 is connected to the dust storage box 2-2. The longitudinal section of the front dust device pipe 2-6 is vertically installed on the dust storage box 2-2, and the transverse section is vertically installed and passes through the left observation plate 1-6. The longitudinal section of the upper dust device pipe 2-7 is vertically installed on the dust storage box 2-2, and the transverse section is installed in the arched groove below the cover plate 1-9. The lower half of the transverse section of the upper dust device pipe 2-7 is provided with a powder dropping hole. The longitudinal section of the side dust device pipe 2-8 is vertically installed on the dust storage box 2-2, and the transverse section is installed and passes through the rear observation plate 1-5. The rear ends of the second-stage box 1-2 and the third-stage box 1-3 are both provided with a circular hole of the same size as the transverse section of the side dust device pipe 2-8. After the powder outlet end of the transverse section passes through the second-stage box, it is connected to the inside of the third-stage box. The front dust device valve 2-3, the upper dust device valve 2-4, and the side dust device valve 2-5 are respectively installed on the longitudinal section of the front dust device pipe 2-6, the longitudinal section of the upper dust device pipe 2-7, and the longitudinal section of the side dust device pipe 2-8. The dust storage box 2-2 is a box structure.

[0020] See also Figure 2 and Figure 3 The steam mist generating and conveying device 3 comprises a water pump 3-1, a water pool 3-2, two water mist pipes 3-3, two atomizer nozzles 3-4, two water vapor pipes 3-5 and two high-speed nozzles 3-6. The water pool 3-2 is horizontally placed on the ground, located on the left side of the retractable box 1 and behind the dust storage box 2-2. The water pump 3-1 is connected to the water pool 3-2, one end of the two water mist pipes 3-3 and the two water vapor pipes 3-5 are vertically installed on the water pool 3-2, and the other ends of the two water mist pipes 3-3 and the two water vapor pipes 3-5 are vertically installed on the cover plate 1-9, the two atomizer nozzles 3-4 are respectively installed at the outlet ends of the two water mist pipes 3-3, and the two high-speed nozzles 3-6 are respectively installed at the outlet ends of the two water vapor pipes 3-5.

[0021] See also Figure 3The light source and camera moving device 4 includes a transverse guide rail 4-1, a transverse guide rail stage 4-2, a longitudinal guide rail 4-3, a longitudinal guide rail stage 4-4 and an LED lamp 4-5. The transverse guide rail 4-1 is larger than the longitudinal guide rail 4-3, the transverse guide rail stage 4-2 is installed on the transverse guide rail 4-1, and the longitudinal guide rail stage 4-4 is installed on the longitudinal guide rail 4-3. The transverse guide rail 4-1 and the longitudinal guide rail 4-3 are installed inside the first-stage box 1-1 and the third-stage box 1-3, and the LED lamp 4-5 is installed on the transverse guide rail 4-1 and the longitudinal guide rail 4-3 as required and moved to the specified position.

[0022] See also Figure 1 , Figure 3 and Figure 4 The generalized visual perception device 5 includes a visible light camera 5-1, a multi-band infrared camera 5-2, and a laser / microwave radar 5-3. The three can be deployed on the transverse guide platform 4-2 or the longitudinal guide platform 4-4 according to needs, and moved to the specified visual perception position as needed.

[0023] See also Figure 6 and Figure 7 In order to better achieve the above-mentioned invention object, the present invention also provides a generalized visual perception device for a harsh underground environment and a workflow of a data generation method thereof, comprising the following steps: S1. When performing visual perception tasks / data production requirements for underground lifting conditions, the visible light camera 5-1, the multi-band infrared camera 5-2 and the laser / microwave radar 5-3 are installed on the transverse guide rail stage 4-2 and moved to the front of the first-order box 1-1. Multiple LED lights 4-5 are deployed on the transverse guide rail 4-1 and the longitudinal guide rail 4-3 above the first-order box 1-1 according to actual needs. The blower 2-1 works, the valve 2-4 of the upper dust device is opened, and the dust in the dust storage box 2-2 is vertically scattered into the interior of the retractable box 1 through the upper dust device pipe 2-7. The generalized visual perception device 5 turns on different visual sensors for perception according to specific needs, and moves the generalized visual perception device 5 to the correct perception position with the help of the light source and the camera as needed; the perception target is placed in the correct position as needed; the brightness and position of the LED light in the light source and camera moving device 4 are adjusted as needed, and the illumination value is recorded; the dust particle size, powder outlet and flow rate of the dust generation and transportation device are adjusted as needed, and the dust flow rate is recorded; the water outlet and flow rate of the steam mist generation and transportation device are adjusted as needed, and the steam mist type and water flow rate are recorded; the generalized visual perception device performs visual imaging of the perception target, and outputs and names the perception image in chronological order; the illumination value, dust flow rate, water vapor mist type and flow rate are recorded according to the perception image name to form qualitative and quantitative labels; labels are set for the perception image according to the image name to form a data set, and the visual perception / data production task is completed.

[0024] S2. When performing the visual perception task of underground excavation conditions, the visible light camera 5-1, the multi-band infrared camera 5-2 and the laser / microwave radar 5-3 are installed on the transverse rail stage 4-2 and moved to the right side of the first-order box 1-1. Multiple LED lights 4-5 are deployed on the transverse rail 4-1 and the longitudinal rail 4-3 above the first-order box 1-1 according to actual needs. The blower 2-1 starts working, the front dust device valve 2-3 is opened, and the dust in the dust storage box 2-2 passes through the front dust device pipe 2-6 and falls into the inside of the telescopic box 1. The water pump 3-1 works to transport the water in the pool 3-2 to the outlet through two water vapor pipes 3-5, and the water is converted into water droplets with a diameter of less than 1 mm through the two high-speed nozzles 3-6 at the outlet and sprayed in the telescopic box 1. The generalized visual perception device 5 turns on different visual sensors for perception according to specific needs.

[0025] S3. When performing the visual perception task of underground comprehensive mining conditions, the visible light camera 5-1, the multi-band infrared camera 5-2 and the laser / microwave radar 5-3 are installed on the longitudinal guide platform 4-4 and moved above the first-order box 1-1. Multiple LED lights 4-5 are deployed on the left and right sides of the transverse guide platform 4-2 according to actual needs. The blower 2-1 starts working, the side dust device valve 2-5 is opened, and the dust in the dust storage box 2-2 passes through the side dust device pipe 2-8 and is thrown into the interior of the retractable box 1. The generalized visual perception device 5 turns on different visual sensors for perception according to specific needs.

[0026] S4. When performing the visual perception task of underground transportation conditions, the second-order box 1-2 is pulled out from the first-order box 1-1, and the third-order box 1-3 is pulled out from the second-order box 1-2. The visible light camera 5-1, the multi-band infrared camera 5-2 and the laser / microwave radar 5-3 are installed on the transverse guide platform 4-2. The visible light camera 5-1, the multi-band infrared camera 5-2 and the laser / microwave radar 5-3 are moved to the right side of the third-order box 1-3. The water pump 3-1 works to transport the water in the water pool 3-2 to the outlet end through two water mist pipes 3-3, and turns it into water mist through two atomizer nozzles 3-4. Multiple LED lights 4-5 are deployed inside the first-order box 1-1, the second-order box 1-2 and the third-order box 1-3 according to actual needs. The generalized visual perception device 5 turns on different visual sensors for perception according to specific needs.

[0027] The front dust device includes a front dust device valve 2-3 and a front dust device pipe 2-6, and the front dust device valve 2-3 is connected to the dust storage box 2-2 and the telescopic box 1 through the front dust device pipe 2-6. The upper dust device includes an upper dust device valve 2-4 and an upper dust device pipe 2-7, and the upper dust device valve 2-4 is connected to the dust storage box 2-2 and the telescopic box 1 through the upper dust device pipe 2-7. The side dust device includes a side dust device valve 2-5 and a side dust device pipe 2-8, and the side dust device valve 2-5 is connected to the dust storage box 2-2 and the telescopic box 1 through the side dust device pipe 2-8.

[0028] There are many models of first-order box guide rails 1-10, second-order box guide rails 1-11, cover hinges 1-12, second-order box casters 1-13, third-order box casters 1-14, blackout cloth, blower 2-1, dust storage box 2-2, front dust device valve 2-3, upper dust device valve 2-4, side dust device valve 2-5, water pump 3-1, two water mist pipes 3-3, two atomizer nozzles 3-4, water vapor pipe 3-5, high-speed nozzle 3-6, transverse guide rail 4-1, transverse guide rail loading platform 4-2, longitudinal guide rail 4-3, longitudinal guide rail loading platform 4-4, LED lamp 4-5 that can be used in the prior art. Technical personnel in this field can choose according to actual needs, and no examples are given in this embodiment.

[0029] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0030] Those skilled in the art will readily appreciate other embodiments of the invention after considering the specification and practicing the invention invented herein. This application is intended to cover any variations, uses or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art that are not invented by the present invention. The specification and examples are intended to be exemplary only.

[0031] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", "connected", and "matched" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two elements, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change; Secondly: In the drawings of the embodiments of the present invention, only the structures involved in the embodiments of the present invention are involved, and other structures can refer to the general design; the above specific implementation methods further explain the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above are only specific implementation methods of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application should be included in the protection scope of the present application.

Claims

1. A generalized visual perception device for a harsh underground environment, characterized in that: The invention comprises a telescopic box (1), a dust generating and conveying device (2), a vapor generating and conveying device (3), a light source and camera moving device (4) and a generalized visual perception device (5); the dust generating and conveying device (2), the vapor generating and conveying device (3) and the light source and camera moving device (4) are all mounted on the telescopic box (1), and the generalized visual perception device (5) is mounted on the light source and camera moving device (4).

2. A generalized visual perception device for a harsh underground environment according to claim 1, characterized in that: The telescopic box (1) comprises a first-order box (1-1), a second-order box (1-2), a third-order box (1-3), a first-order box guide rail (1-10) and a second-order box guide rail (1-11). The first-order box (1-1), the second-order box (1-2), and the third-order box (1-3) are telescopically slidably connected; the first-order box (1-1) is slidably connected to the second-order box (1-2) via a first-order box guide rail (1-10), and the second-order box (1-2) is slidably connected to the third-order box (1-3) via a second-order box guide rail (1-11).

3. A generalized visual perception device for a harsh underground environment according to claim 2, characterized in that: The retractable box (1) comprises a front observation panel (1-4), a rear observation panel (1-5), a left observation panel (1-6), a right observation panel (1-7), a base (1-8), a cover panel (1-9), a plurality of cover panel hinges (1-12), a second-stage box caster (1-13), a third-stage box caster (1-14) and a blackout cloth. A first-order box (1-1), a second-order box (1-2) and a third-order box (1-3) are each provided with a shading cloth; a front observation panel (1-4), a rear observation panel (1-5), a left observation panel (1-6) and a right observation panel (1-7) are respectively provided on the first-order box (1-1) in the front, rear, left and right directions; a base (1-8) is provided at the bottom of the first-order box (1-1); the cover panel (1-9) is provided on the top of the first-order box (1-1) via a plurality of cover panel hinges (1-12); second-order box casters (1-13) are provided on the second-order box (1-2); and third-order box casters (1-14) are provided on the third-order box (1-3).

4. A generalized visual perception device for a harsh underground environment according to claim 1, characterized in that: The dust generating and conveying device (2) comprises a blower (2-1), a dust storage box (2-2), a front dust device valve (2-3), an upper dust device valve (2-4), a side dust device valve (2-5), a front dust device pipe (2-6), an upper dust device pipe (2-7) and a side dust device pipe (2-8). The blower (2-1) is connected to the dust storage box (2-2), the dust storage box (2-2) is connected to the front dust device pipeline (2-6), the upper dust device pipeline (2-7), and the side dust device pipeline (2-8), and the front dust device valve (2-3), the upper dust device valve (2-4), and the side dust device valve (2-5) are respectively installed on the front dust device pipeline (2-6), the upper dust device pipeline (2-7), and the side dust device pipeline (2-8). The front dust device valve (2-3) passes through the front dust device pipe (2-6) through the rear side of the telescopic box (1) and extends into the telescopic box (1); the upper dust device valve (2-4) passes through the upper surface of the telescopic box (1) through the upper dust device pipe (2-7) and extends into the telescopic box (1); the side dust device valve (2-5) passes through the left side of the telescopic box (1) through the side dust device pipe (2-8) and extends into the telescopic box (1).

5. The generalized visual perception device for a harsh underground environment according to claim 1, characterized in that: The steam mist generating and conveying device (3) comprises a water pump (3-1), a water pool (3-2), a water mist water pipe (3-3), an atomizer nozzle (3-4), a water vapor water pipe (3-5) and a high-speed nozzle (3-6); the input end of the water pump (3-1) is connected to the water pool (3-2); the output end of the water pump (3-1) is connected to the atomizer nozzle (3-4) through the water mist water pipe (3-3); the output end of the water pump (3-1) is connected to the high-speed nozzle (3-6) through the water vapor water pipe (3-5); and the atomizer nozzle (3-4) and the high-speed nozzle (3-6) are installed in a telescopic box (1).

6. The generalized visual perception device for a harsh underground environment according to claim 1, characterized in that: The light source and camera moving device (4) comprises a transverse guide rail (4-1), a transverse guide rail stage (4-2), a longitudinal guide rail (4-3), a longitudinal guide rail stage (4-4), and an LED lamp (4-5); the transverse guide rail (4-1) and the longitudinal guide rail (4-3) are fixedly arranged in a telescopic box (1); the transverse guide rail stage (4-2) is fixedly arranged on the transverse guide rail (4-1); the longitudinal guide rail stage (4-4) is arranged on the longitudinal guide rail (4-3); and LED lamps (4-5) of different powers are installed on the transverse guide rail (4-1) or the longitudinal guide rail (4-3).

7. The generalized visual perception device for a harsh underground environment according to claim 1, characterized in that: The generalized visual perception device (5) comprises a visible light camera (5-1), a multi-band infrared camera (5-2) and a laser / microwave radar (5-3), wherein the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) are arranged on a transverse guide rail stage (4-2) or a longitudinal guide rail stage (4-4) to achieve movement on the transverse guide rail (4-1) and the longitudinal guide rail (4-3).

8. A data generation method for a generalized visual perception device in a harsh underground environment, characterized in that: Using the generalized visual perception device for a harsh underground environment as described in any one of claims 1 to 7, the following steps are performed: S1. When performing a visual perception task of underground lifting conditions, the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) installed on the transverse guide platform (4-2) are moved to the front of the first-order box (1-1), the multiple LED lights (4-5) are lit, the blower (2-1) is running, the upper dust device valve (2-4) is opened, and the dust in the dust storage box (2-2) is vertically scattered inside the retractable box (1) through the upper dust device pipe (2-7), and at least one of the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) in the generalized visual perception device (5) is turned on; S2. When performing the visual perception task of underground excavation conditions, the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) installed on the transverse guide platform (4-2) are moved to the right side of the first-order box (1-1), the blower (2-1) is operated, the valve (2-3) of the front dust device is opened, and the dust in the dust storage box (2-2) is thrown into the interior of the telescopic box (1) through the front dust device pipe (2-6). The water pump (3-1) transports the water in the water pool (3-2) to the high-speed nozzle (3-6) through the water vapor water pipe (3-5), and at least one of the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) in the generalized visual perception device (5) is turned on; S3, when performing the visual perception task of underground comprehensive mining working conditions, the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) installed on the transverse guide platform (4-2) are moved to the top of the first-order box (1-1), the multiple LED lights (4-5) are turned on, the blower (2-1) starts to work, the side dust device valve (2-5) is opened, the dust in the dust storage box (2-2) is thrown into the inside of the telescopic box (1) through the side dust device pipe (2-8), and at least one of the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) in the generalized visual perception device (5) is turned on; S4. When performing the visual perception task of underground transportation conditions, the second-order box (1-2) is pulled out from the first-order box (1-1), and the third-order box (1-3) is pulled out from the second-order box (1-2). The visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) installed on the transverse guide platform (4-2) are moved to the right side of the third-order box (1-3). The water pump (3-1) transports the water in the water pool (3-2) to the atomizer nozzle (3-4) through the water mist pipe (3-3) and turns it into water mist. A plurality of LED lights (4-5) are deployed inside the first-order box (1-1), the second-order box (1-2) and the third-order box (1-3) according to actual needs, and at least one of the visible light camera (5-1), the multi-band infrared camera (5-2) and the laser / microwave radar (5-3) in the generalized visual perception device (5) is turned on.

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