Comprehensive monitoring method for coal mine

Abstract

The invention relates to the field of coal mine monitoring, in particular to a coal mine comprehensive monitoring method, which comprises the following steps of: determining an operation danger range of each monitoring area; acquiring image data of each monitoring area, extracting corresponding transaction characteristics, and determining transaction degree characterization parameters of the monitoring areas according to the transaction characteristics to generate security level labels of the monitoring areas; adaptively analyzing and detecting the monitoring area according to the security level label; whether an early warning signal is sent out or not is judged on the basis of the relative position relation between the monitoring target and the operation danger range in the image data of each monitoring area, the related equipment state and the operation working condition can be monitored and detected in real time in the coal mine working procedure proceeding process, the detection efficiency is improved, and construction safety is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of coal mine monitoring, and in particular to a coal mine comprehensive monitoring method. Background Art

[0002] Due to the complex operating environment of coal mines, the dispatching winch, as an important transportation equipment, is prone to serious safety accidents if abnormalities occur during the dispatching operation, such as rope breakage, uncontrolled operating speed, etc., causing casualties and property losses. Therefore, monitoring and analyzing the working conditions of the dispatching winch in the mine level tunnels in coal mines can timely discover and solve potential problems, reduce the downtime of related construction equipment, ensure the timeliness of dispatching, thereby optimizing operation dispatching and improving the overall operating efficiency of coal mines.

[0003] The rapid development of communication technology, especially the application of industrial Ethernet and wireless communication technology in coal mines, has enabled coal mine monitoring to achieve rapid data transmission and remote monitoring. Coal mine enterprises can understand the operating status of mine winches in real time at the ground dispatching center, detect abnormalities in time and deal with them to avoid further deterioration of the abnormalities. At the same time, through monitoring and analysis of the operating status, they can also reasonably arrange equipment maintenance plans, extend the service life of the equipment, and reduce the overall maintenance cost of the equipment.

[0004] Chinese patent application publication number: CN110862033A, discloses an intelligent early warning detection method for coal mine inclined shaft winches, which includes a three-dimensional point cloud data processing algorithm, a visible light image processing algorithm and an infrared image processing algorithm, and uses a multi-sensor data information fusion method to achieve the fusion of obstacle, personnel and other detection results. The three-dimensional point cloud data processing algorithm collects three-dimensional point cloud data of the scene in the inclined shaft tunnel through a multi-line laser sensor to detect obstacles in front of the winch. The visible light image processing algorithm uses the collected visible light images to detect personnel, winch running tracks and obstacles in the tunnel. The infrared image processing algorithm uses an infrared camera to collect infrared images in front of the winch to detect personnel in the tunnel. The multi-sensor data information fusion method realizes the fusion of the data collected by the three sensors and the detection results to achieve safety warnings.

[0005] However, there are still the following problems in the prior art: During the winch dispatching and operation process, the swing of the winch rope can reflect potential abnormal problems. However, during the dispatching and operation monitoring, it is easy to fail to provide timely monitoring feedback on the winch rope position, resulting in poor abnormal detection and analysis results. Summary of the invention

[0006] To this end, the present invention provides a comprehensive monitoring method for coal mines to overcome the problem in the prior art that, during the winch scheduling and operation process, the swing of the winch rope can reflect potential abnormal problems, but during the scheduling and operation monitoring, the monitoring feedback of the winch rope position is easy to be untimely, resulting in poor abnormal detection and analysis effect.

[0007] To achieve the above object, the present invention provides a coal mine comprehensive monitoring method, which comprises: Determining the operation danger range of each monitoring area, including fully loading the dispatching target dispatched by the winch, dispatching from the starting point to the target point, recording the moving trajectory of the dispatching target, and determining the operation danger range based on the moving trajectory; Acquire image data of each of the monitored areas, extract corresponding abnormality features, determine abnormality degree characterization parameters of the monitored areas according to the abnormality features, and generate security level labels for the monitored areas; According to the security level label, the monitoring area is analyzed and detected, including: Calling the image data of the corresponding track bend in the monitoring area, extracting the offset characteristics of the dispatching target and combining them with the curvature of the track bend, determining the dispatching operation abnormality characterization value of the monitoring area to determine whether the monitoring area meets the safety operation standard, determining the change of the connection gap characteristics between the dispatching target and the rope according to the image data, calculating the connection fitting value, determining whether there is an abnormality in the dispatching operation, braking the dispatching operation, and adjusting the operation danger range of the monitoring area; or, maintaining the operational danger range of said monitoring area; Determine whether to issue an early warning signal based on the relative position relationship between the monitoring target and the operating danger range in the image data of each monitoring area; Among them, the abnormal movement characteristics include the swing amplitude of the rope and the trajectory deviation amplitude of the scheduling target connected to the rope; the deviation characteristics include the roll angle and track jumping frequency of the scheduling target.

[0008] Further, determining the operation danger range based on the movement trajectory includes: Acquire image data corresponding to the movement trajectory; Extracting the maximum swing amplitude of the inner and outer swings of the twisted rope in the image data; Constructing a strip range covering the movement trajectory, and expanding the width of the strip range to obtain an operation danger range; The expansion amount of the width is positively correlated with the maximum swing amplitude.

[0009] Furthermore, the process of determining the characteristic parameter of the abnormality degree of the monitoring area according to the abnormality feature includes: The ratio of the swing amplitude of the rope to the swing amplitude threshold is used as the first abnormal motion feature; The ratio of the trajectory deviation amplitude of the dispatching target connected by the rope to the trajectory deviation amplitude threshold is used as the second abnormal movement feature; A weighted sum of the first abnormality feature and the second abnormality feature is taken as a parameter representing the degree of abnormality in the monitoring area.

[0010] Further, generating a security level label of the monitoring area includes: If the abnormality degree characterization parameter is greater than or equal to the abnormality degree characterization parameter threshold, a low security level label is generated for the monitoring area; If the parameter representing the degree of abnormality is less than the threshold value of the parameter representing the degree of abnormality, a high security level label is generated for the monitoring area accordingly.

[0011] Further, according to the security level label, the monitoring area is analyzed and detected, including If the label corresponding to the monitoring area is a low safety level label, the image data of the corresponding track bend in the monitoring area is called, the offset characteristics of the dispatching target are extracted and combined with the curvature of the track bend, and the dispatching operation abnormality characterization value of the monitoring area is determined to determine whether the monitoring area meets the safety operation standard, and the change of the connection gap characteristics between the dispatching target and the rope is determined based on the image data to calculate the connection fitting value, determine whether there is an abnormality in the dispatching operation, brake the dispatching operation, and adjust the operation danger range of the monitoring area; If the tag corresponding to the monitoring area is a high safety level tag, the operation danger range of the monitoring area is maintained.

[0012] Furthermore, the process of determining the abnormality characterization value of the dispatching operation of the monitoring area includes: The ratio of the roll angle of the scheduling target to the roll angle threshold and the ratio of the track jumping frequency to the track jumping frequency threshold are summed as the first scheduling operation abnormality feature; The ratio of the curvature at the track curve to the curvature threshold is used as the second scheduling operation abnormality feature; The sum of the first scheduling operation abnormality feature and the second scheduling operation abnormality feature is determined as the scheduling operation abnormality representation value.

[0013] Further, determining whether the monitoring area meets the safety operation standard includes, If the scheduling operation abnormality characterization value is greater than or equal to the scheduling operation abnormality characterization threshold, it is determined that the monitoring area does not meet the safety operation standard.

[0014] Further, the process of calculating the connection fitting value includes, Use the twisted rope connection ring and the dispatch target connection ring as connection reference points; Determine a closed space formed by the connection between the connection ring and the scheduling target connection ring; The maximum value of the virtual line formed by any two points in the closed space is taken as the length of the connection gap; Obtain the connection gap length between the dispatch target and the rope at each moment in a predetermined time period; The variance of the length of the joining gap is solved.

[0015] Further, determining whether the dispatching operation is abnormal to brake the dispatching operation, and adjusting the operation danger range of the monitoring area, including: If the connection fitting value is greater than or equal to the preset connection fitting threshold, it is determined that the scheduling operation is abnormal; If there is an abnormality in the dispatching operation, the dispatching operation is braked, and the operation danger range of the monitoring area is adjusted.

[0016] Further, determining whether to issue a warning signal based on the relative position relationship between the monitoring target and the operation danger range in the image data of each monitoring area includes: If the position point of the monitoring target coincides with any position point on the edge of the operating danger range, it is determined that an early warning signal is issued; The monitoring targets include construction personnel and construction equipment.

[0017] Compared with the prior art, the present invention determines the operation danger range of each monitoring area; obtains image data of each monitoring area, extracts corresponding abnormal movement features, and determines the abnormal movement degree characterization parameters of the monitoring area based on the abnormal movement features to generate a safety level label for the monitoring area; according to the safety level label, the monitoring area is adaptively analyzed and detected; based on the relative position relationship between the monitoring target and the operation danger range in the image data of each monitoring area, it is determined whether to issue an early warning signal. The present invention can monitor and detect the equipment status and operating conditions involved in real time during the coal mine process, improve the detection efficiency, and ensure the safety of construction.

[0018] In particular, the present invention determines the characterization parameters of the degree of abnormal movement in the monitoring area, and generates a safety level label for the monitoring area. During the actual operation of the coal mine, the required load is dispatched in the mine tunnel by using a dispatching winch. At the same time, the dispatching operation is carried out on the laid track. The winch is equipped with a winch that is orderly retracted and released under normal circumstances, with a moderate swing amplitude. Abnormal rope swing will have a certain impact on the connected dispatching target and the corresponding collaborative equipment. At the same time, if the dispatching object connected to the rope deviates in trajectory, the continued deviation will cause the deviation of the established moving trajectory, thereby increasing the risk of the dispatching target tilting. Therefore, the present invention uses the characterization parameters of the degree of abnormal movement to characterize the degree of abnormal fluctuation reflected by the rope and the dispatching target during the dispatching operation process, so as to provide data support for the subsequent generation of safety level labels for each monitoring area, and then adaptively analyze and detect the monitoring area, monitor and detect the equipment status and operating conditions involved in real time, improve the efficiency of detection, and ensure the safety of construction.

[0019] In particular, the present application divides the safety level of each monitoring area. For the monitoring area with a low safety level label, the present invention focuses on the offset characteristics of the track curve during the dispatching operation, and at the same time comprehensively analyzes the state and working conditions of the dispatching operation in combination with the curvature of the track curve. In the actual dispatching operation of the coal mine, the curvature of the track will change when passing through the track curve, and the difficulty of fitting the dispatching target with the track will increase, which may easily cause track jumping, reducing the stability of the dispatching operation. In addition, due to the curved structure of the curve itself, the dispatching target may tilt, shift sideways, etc., resulting in the displacement of the center of gravity of the dispatching target, resulting in uneven force on the dispatching target at the curve, and the connection stability between the twisted rope and the dispatching target will be reduced, which may easily cause the track to fall off at the curve. At the same time, when moving at a curve, the running resistance of the dispatching target increases, and the tension on the rope also increases accordingly, thereby increasing the risk of excessive wear and breakage of the rope. Therefore, the present invention determines the dispatching operation abnormality characterization value of the monitoring area based on the offset characteristics of the dispatching target and the curvature of the track curve to characterize the abnormal fluctuation degree of the rope and the dispatching target during the dispatching operation process. When the abnormal fluctuation degree is high, the abnormal degree of the dispatching operation passing through the track curve provides data support for the subsequent determination of whether the monitored area meets the safety operation standards, further accurately analyzes whether there is an abnormality in the dispatching operation, monitors and detects the equipment status and operating conditions involved in real time, improves the detection efficiency, and ensures the safety of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the steps of a comprehensive coal mine monitoring method according to an embodiment of the invention; Figure 2 A logic decision diagram for generating a security level label of a monitoring area for an embodiment of the invention; Figure 3 A logic decision diagram for determining whether a monitoring area meets safe operation standards for an embodiment of the invention; Figure 4 This is a logical decision diagram for determining whether an abnormality occurs in a scheduling operation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0023] It should be noted that, in the description of the present invention, the terms such as "on" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0024] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the term "installation" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] See also Figure 1 As shown, it is a schematic diagram of the steps of the comprehensive monitoring method of a coal mine according to an embodiment of the present invention. The comprehensive monitoring method of a coal mine according to an embodiment of the present invention includes: Step S1, determining the operation danger range of each monitoring area, including fully loading the dispatching target dispatched by the winch, dispatching from the starting point to the target point, recording the moving trajectory of the dispatching target, and determining the operation danger range based on the moving trajectory; Step S2, acquiring image data of each of the monitored areas, extracting corresponding abnormality features, and determining abnormality degree characterization parameters of the monitored areas according to the abnormality features to generate a security level label of the monitored areas; Step S3, analyzing and detecting the monitoring area according to the security level label, including: Calling the image data of the corresponding track bend in the monitoring area, extracting the offset characteristics of the dispatching target and combining them with the curvature of the track bend, determining the dispatching operation abnormality characterization value of the monitoring area to determine whether the monitoring area meets the safety operation standard, determining the change of the connection gap characteristics between the dispatching target and the rope according to the image data, calculating the connection fitting value, determining whether there is an abnormality in the dispatching operation, braking the dispatching operation, and adjusting the operation danger range of the monitoring area; or, maintaining the operational danger range of said monitoring area; Step S4, determining whether to issue a warning signal based on the relative position relationship between the monitoring target and the operation danger range in the image data of each monitoring area; Among them, the abnormal movement characteristics include the swing amplitude of the rope and the trajectory deviation amplitude of the scheduling target connected to the rope; the deviation characteristics include the roll angle and track jumping frequency of the scheduling target.

[0026] Specifically, there is no specific limitation on the method of acquiring the image data of each monitoring area. It only needs to be able to collect the image data of the scheduling operation process of each monitoring area. In some possible implementations, under the premise of ensuring that the complete monitoring area can be captured, a swingable industrial camera is installed on the top or side wall of the tunnel at a key position of the tunnel; In some possible implementations, a small explosion-proof and dust-proof camera is installed at the front end of the dispatching target. During the dispatching operation, the camera moves through the alley as the dispatching target is towed and moved, capturing dynamic images in real time. It can also reduce the impact of blind spots on analysis and detection. This is not elaborated here.

[0027] Specifically, there is no limitation on the division method of the monitoring area, and it can be divided according to the construction tasks of the coal mine. It can be understood that the monitoring area needs to cover the winch placement location and several locations that the dispatching target can pass through, which will not be elaborated here.

[0028] It can be understood that the dispatching target refers to the object that needs to be towed by the winch to the target point. Usually, the dispatching operations in the mine tunnels are carried out on the laid tracks. Based on this, in actual situations, the object towed by the winch is generally a mine car, which is convenient for mobile transportation on the track, wherein the required load is placed in the mine car, and the mine car and the load in the mine car are taken as the dispatching target as a whole, which will not be elaborated here.

[0029] It is understandable that during the dispatching operation, the winch is in a fast-running state. If construction workers get close to it, they are likely to be caught in it. At the same time, construction equipment needed in the coal mine may be left around the track route. The existence of these construction equipment may cause the winch to get stuck and the dispatching target to derail, affecting the normal traction of the winch. Long-term accumulation may also damage the equipment. Therefore, demarcating the operating danger range can ensure that construction workers maintain a safe distance from fast-running and dangerous components such as the winch rope and winch drum, ensure the normal operation of the dispatching operation and the personal safety of the construction workers, and the demarcation of the operating danger range can ensure that the area affected by the dispatching operation is clean and tidy, and ensure the stable operation of related equipment. This will not be elaborated.

[0030] Specifically, determining the operation danger range based on the movement trajectory includes: Acquire image data corresponding to the movement trajectory; Extracting the maximum swing amplitude of the inner and outer swings of the twisted rope in the image data; Constructing a strip range covering the movement trajectory, and expanding the width of the strip range to obtain an operation danger range; The expansion amount of the width is positively correlated with the maximum swing amplitude.

[0031] It can be understood that the initial width of the formed strip range can be determined according to the track width. The width of the strip range is fixed, and the center of the width is always the center line of the track, which will not be elaborated here.

[0032] In implementation, optionally, Match the maximum swing amplitude with the swing amplitude comparison threshold interval, When the maximum swing amplitude is at (0,1.3F0], the width expansion is determined to be 1.6K0; When the maximum swing amplitude is at (1.3F0, 1.5F0], the width expansion is determined to be 1.4K0; When the maximum swing amplitude is at (1.5F0, +∞], the width expansion is determined to be 1.2K0.

[0033] Among them, in this embodiment, the purpose of setting the width expansion amount reference value K0 is to expand a certain distance based on the track width to ensure the safety of construction workers. Therefore, the width expansion amount reference value K0 is determined according to the track width, and the width expansion amount reference value K0 is 0.6 times the track width.

[0034] Specifically, the process of determining the characteristic parameter of the abnormality degree of the monitoring area according to the abnormality feature includes: The ratio of the swing amplitude of the rope to the swing amplitude threshold is used as the first abnormal motion feature; The ratio of the trajectory deviation amplitude of the dispatching target connected by the rope to the trajectory deviation amplitude threshold is used as the second abnormal movement feature; A weighted sum of the first abnormality feature and the second abnormality feature is taken as a parameter representing the degree of abnormality in the monitoring area.

[0035] Specifically, the trajectory deviation amplitude refers to the distance perpendicular to the ideal track direction, which characterizes the degree to which the running trajectory of the scheduling target deviates from its established running trajectory during the traction operation process.

[0036] In this embodiment, when performing weighted summation, the weight of the first abnormal feature is set to 0.55, and the weight of the second abnormal feature is set to 0.45; Specifically, the swing amplitude of the winch rope is usually related to the winch and its equipment, load, roadway and track; When installing the winch, if the base is not level, the axis of the drum is not parallel to the track, etc., the winch rope will be subjected to additional torsion and tension during operation, resulting in an increase in the swing amplitude. For example, for a winch with high installation accuracy, the swing amplitude of the wire rope can generally be controlled within a small range, normally within ±0.3 meters; while for a winch with poor installation accuracy, the swing amplitude may exceed ±0.5 meters, or even larger; The closer the weight of the dispatch target is to the rated lifting capacity of the winch, the greater the tension on the wire rope, and the more likely it is to swing. Generally speaking, when the weight of the dispatch target is less than 50% of the rated lifting capacity of the winch, the swing amplitude of the winch rope is relatively small and can be controlled within ±0.3 meters; when the weight of the dispatch target reaches about 80% of the rated lifting capacity, the swing amplitude may increase to about ±0.5 meters; if overloaded, the swing amplitude will increase sharply and may even cause safety accidents; In mine tunnels with different slopes, the component force of the gravity of the dispatching target along the tunnel direction is different, which makes the tendency of the rope to slide down or rush up during the traction and transportation of the dispatching target different, and the resulting swing amplitude will also be different. For example, in tunnels with a slope of less than 15°, the swing amplitude of the wire rope is relatively small and can be controlled within ±0.3 meters; in tunnels with a slope greater than 15°, the swing amplitude may increase to about ±0.5 meters; when the slope is particularly large, the swing amplitude will be even greater.

[0037] Based on this, in this embodiment, the swing amplitude threshold F0 of the rope is determined to be ±0.5m.

[0038] Similarly, the trajectory deviation amplitude of the dispatching target connected by the winch is also related to the winch and its equipment, load, lane and track; Based on the different installation levels of the winches, the trajectory deviation amplitude of the dispatching target during the dispatching operation is different. For example, for a winch with good installation level, the deviation angle is very small, and the trajectory deviation amplitude of the dispatching target can be controlled within 50 mm; while for a winch with poor installation level, the deviation amplitude will increase to 100 mm; When the rope is pulling the dispatching target normally, the trajectory deviation angle of the dispatching target is about 50 mm. When the dispatching target is affected by uneven gravity and shifts sideways, the trajectory deviation angle will gradually increase to about 100 mm during the process of shifting sideways. Therefore, in this embodiment, the trajectory deviation amplitude threshold of the scheduling target connected by the rope is selected within the interval [50mm, 70mm].

[0039] Specifically, the present invention determines the characterization parameters of the degree of abnormal movement in the monitoring area, and generates a safety level label for the monitoring area. In the actual operation of the coal mine, the dispatching of the required load is achieved by using a dispatching winch in the mine tunnel, and the dispatching operation is carried out on the laid track. The winch is equipped with a winch that is normally retracted and released in an orderly manner with a moderate swing amplitude. Abnormal rope swing will have a certain impact on the connected dispatching target and the corresponding collaborative equipment. For example, when the dispatching target connected by the rope is unbalanced, such as the offset accumulation of materials in the mine car, the center of gravity of the dispatching target is changed, thereby causing the rope to swing irregularly and significantly, causing the rope to continuously bear additional bending and twisting. The uneven stress on the internal structure will accelerate fatigue accumulation, causing the scheduling operation to deviate from the safe state, and even reduce the toughness of the rope and increase the risk of fracture. At the same time, if the scheduling object connected to the rope deviates in trajectory, the continued deviation will cause the deviation of the established moving trajectory, increasing the risk of the scheduling target tilting. Therefore, the present invention uses the abnormal movement degree characterization parameter to characterize the degree of abnormal fluctuation reflected by the rope and the scheduling target in the scheduling operation process, so as to provide data support for the subsequent generation of safety level labels for each monitoring area, and then adaptively analyze and detect the monitoring area, monitor and detect the equipment status and operating conditions involved in real time, improve the efficiency of detection, and ensure the safety of construction.

[0040] Specifically, see Figure 2 As shown, it is a logical decision diagram for generating a security level label of a monitoring area according to an embodiment of the present invention, and generating the security level label of the monitoring area includes: If the abnormality degree characterization parameter is greater than or equal to the abnormality degree characterization parameter threshold, a low security level label is generated for the monitoring area; If the parameter representing the degree of abnormality is less than the threshold value of the parameter representing the degree of abnormality, a high security level label is generated for the monitoring area accordingly.

[0041] The threshold of the parameter characterizing the degree of abnormality is selected within the interval [1.18, 1.22].

[0042] Specifically, according to the security level label, the monitoring area is analyzed and detected, including: If the label corresponding to the monitoring area is a low safety level label, the image data of the corresponding track bend in the monitoring area is called, the offset characteristics of the dispatching target are extracted and combined with the curvature of the track bend, and the dispatching operation abnormality characterization value of the monitoring area is determined to determine whether the monitoring area meets the safety operation standard, and the change of the connection gap characteristics between the dispatching target and the rope is determined based on the image data to calculate the connection fitting value, determine whether there is an abnormality in the dispatching operation, brake the dispatching operation, and adjust the operation danger range of the monitoring area; If the tag corresponding to the monitoring area is a high safety level tag, the operation danger range of the monitoring area is maintained.

[0043] Specifically, the process of determining the abnormality characterization value of the dispatching operation of the monitoring area includes: The ratio of the roll angle of the scheduling target to the roll angle threshold and the ratio of the track jumping frequency to the track jumping frequency threshold are summed as the first scheduling operation abnormality feature; The ratio of the curvature at the track curve to the curvature threshold is used as the second scheduling operation abnormality feature; The sum of the first scheduling operation abnormality feature and the second scheduling operation abnormality feature is determined as the scheduling operation abnormality representation value.

[0044] Specifically, the roll angle of the scheduling target refers to the angle at which the scheduling target as a whole tilts sideways in the left and right directions of the scheduling target during the moving operation.

[0045] In this embodiment, the purpose of setting the roll angle threshold of the scheduling target and the curvature threshold at the track curve is to characterize the situation where the scheduling operation at the track curve has a high degree of abnormality, wherein the above two threshold analyses are determined based on the corresponding roll angle mean of the scheduling target and the curvature mean at the track curve; Obtain historical data of several dispatching operations for the same monitoring area and the same dispatching target weight, extract the historical data of the roll angle of the dispatching target and the historical data of the curvature at the track curve, solve the average roll angle of the dispatching target and the average curvature at the track curve, and for the purpose of setting the roll angle threshold of the dispatching target and the curvature threshold at the track curve, determine the roll angle threshold of the dispatching target between 1.15 times and 1.2 times the average roll angle of the dispatching target, and determine the curvature threshold at the track curve between 1.35 times and 1.55 times the average curvature at the track curve.

[0046] Specifically, see Figure 3 As shown, it is a logical decision diagram for determining whether a monitoring area meets the safety operation standard according to an embodiment of the present invention. Determining whether the monitoring area meets the safety operation standard includes: If the dispatching operation abnormality characterization value is greater than or equal to the dispatching operation abnormality characterization threshold, it is determined that the monitoring area does not meet the safety operation standard; If the scheduling operation abnormality characterization value is less than the scheduling operation abnormality characterization threshold, it is determined that the monitoring area meets the safety operation standard.

[0047] The threshold for abnormal scheduling operation is selected in the range of [2.54,2.8].

[0048] Specifically, the process of calculating the convergence fit value includes, Use the twisted rope connection ring and the dispatch target connection ring as connection reference points; Determine a closed space formed by the connection between the connection ring and the scheduling target connection ring; The maximum value of the virtual line formed by any two points in the closed space is taken as the length of the connection gap; Obtain the connection gap length between the dispatch target and the rope at each moment in a predetermined time period; Solving for the variance of the length of the joint gap; Therein, the variance is determined as a connection fitting value.

[0049] Specifically, see Figure 4 As shown, it is a logic determination diagram for determining whether the dispatching operation is abnormal in an embodiment of the present invention, determining whether the dispatching operation is abnormal to brake the dispatching operation, and adjusting the operation danger range of the monitoring area, including: If the connection fitting value is greater than or equal to the preset connection fitting threshold, it is determined that the scheduling operation is abnormal; If the connection fitting value is less than the preset connection fitting threshold, it is determined that there is no abnormality in the scheduling operation.

[0050] If there is an abnormality in the dispatching operation, the dispatching operation is braked, and the operation danger range of the monitoring area is adjusted.

[0051] Specifically, the purpose of setting the connection fitting threshold is to characterize the situation where the connection formed between the rope and the scheduling target is unstable and the abnormality is high. In this embodiment, the connection fitting threshold is determined according to the connection fitting mean value; The historical data of several times of scheduling operation for the same monitoring area and the same scheduling target weight are obtained, the historical data of the connection fitting value is called, the connection fitting mean is solved, and the connection fitting mean is determined as the connection fitting threshold.

[0052] Specifically, the present application divides the safety level of each monitoring area. For the monitoring area with a low safety level label, the present invention focuses on the offset characteristics of the track curve during the dispatching operation, that is, the roll angle and track jumping frequency of the dispatching target, and at the same time comprehensively analyzes the state and working conditions of the dispatching operation in combination with the curvature of the track curve. During the actual dispatching operation of the coal mine, the curvature of the track will change when passing through the track curve, and the difficulty of fitting the dispatching target with the track will increase, and track jumping will easily occur, reducing the stability of the dispatching operation. In addition, due to the curved structure of the curve itself, the dispatching target may tilt, shift sideways, etc., resulting in the shift of the center of gravity of the dispatching target, resulting in uneven force on the dispatching target at the curve, and the connection stability between the twisted rope and the dispatching target will be reduced accordingly, which is easy to cause the dispatching target to bend. The situation of derailment occurs at the bend. At the same time, when moving at the bend, the running resistance of the dispatching target increases, and the tension on the rope also increases accordingly, thereby increasing the risk of excessive wear and breakage of the rope. Therefore, the present invention determines the dispatching operation abnormality characterization value of the monitoring area based on the offset characteristics of the dispatching target and the curvature of the track bend to characterize the abnormal fluctuation degree of the rope and the dispatching target during the dispatching operation process. When the abnormal fluctuation degree is high, the degree of abnormal operation of the dispatching operation passing through the track bend is determined, which provides data support for the subsequent determination of whether the monitored area meets the safety operation standards, further accurately analyzes whether there is an abnormality in the dispatching operation, and monitors and detects the equipment status and operating conditions involved in real time, improves the efficiency of detection, and ensures the safety of construction.

[0053] Specifically, based on the relative position relationship between the monitoring target and the operation danger range in the image data of each monitoring area, it is determined whether to issue an early warning signal, including: If the position point of the monitoring target coincides with any position point on the edge of the operating danger range, it is determined that an early warning signal is issued; The monitoring targets include construction personnel and construction equipment.

[0054] According to the determined operational hazard range, the range edge curve formed by it is marked in the image. If the monitored target is identified to coincide with the edge curve, it means that the monitored target is about to enter the operational hazard range, and then a warning signal is issued. The warning signal can be a loud alarm sound, etc., which will not be repeated here.

[0055] If the comprehensive coal mine monitoring method of the present invention is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention, and the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0056] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A comprehensive monitoring method for coal mines, characterized in that: include: Determining the operation danger range of each monitoring area, including fully loading the dispatching target dispatched by the winch, dispatching from the starting point to the target point, recording the moving trajectory of the dispatching target, and determining the operation danger range based on the moving trajectory; Acquire image data of each of the monitored areas, extract corresponding abnormality features, determine abnormality degree characterization parameters of the monitored areas according to the abnormality features, and generate security level labels for the monitored areas; According to the security level label, the monitoring area is analyzed and detected, including: Calling the image data of the corresponding track bend in the monitoring area, extracting the offset characteristics of the dispatching target and combining them with the curvature of the track bend, determining the dispatching operation abnormality characterization value of the monitoring area to determine whether the monitoring area meets the safety operation standard, determining the change of the connection gap characteristics between the dispatching target and the rope according to the image data, calculating the connection fitting value, determining whether there is an abnormality in the dispatching operation, braking the dispatching operation, and adjusting the operation danger range of the monitoring area; or, maintaining the operational danger range of said monitoring area; Determine whether to issue an early warning signal based on the relative position relationship between the monitoring target and the operating danger range in the image data of each monitoring area; The abnormal movement characteristics include the swing amplitude of the rope and the trajectory deviation amplitude of the scheduling target connected to the rope, and the deviation characteristics include the roll angle and track jumping frequency of the scheduling target.

2. The comprehensive monitoring method for coal mines according to claim 1, characterized in that: Determining the operation danger range based on the movement trajectory includes: Acquire image data corresponding to the movement trajectory; Extracting the maximum swing amplitude of the inner and outer swings of the twisted rope in the image data; Constructing a strip range covering the movement trajectory, and expanding the width of the strip range to obtain an operation danger range; The expansion amount of the width is positively correlated with the maximum swing amplitude.

3. The comprehensive monitoring method for coal mines according to claim 1, characterized in that: The process of determining the characteristic parameter of the abnormality degree of the monitoring area according to the abnormality feature includes: The ratio of the swing amplitude of the rope to the swing amplitude threshold is used as the first abnormal motion feature; The ratio of the trajectory deviation amplitude of the dispatching target connected by the rope to the trajectory deviation amplitude threshold is used as the second abnormal movement feature; A weighted sum of the first abnormality feature and the second abnormality feature is taken as a parameter representing the degree of abnormality in the monitoring area.

4. The comprehensive coal mine monitoring method according to claim 1, characterized in that: generating a security level label for the monitored area, include, If the abnormality degree characterization parameter is greater than or equal to the abnormality degree characterization parameter threshold, a low security level label is generated for the monitoring area; If the parameter representing the degree of abnormality is less than the threshold value of the parameter representing the degree of abnormality, a high security level label is generated for the monitoring area accordingly.

5. The comprehensive monitoring method for coal mines according to claim 1, characterized in that: According to the security level label, the monitoring area is analyzed and detected, including: If the label corresponding to the monitoring area is a low safety level label, the image data of the corresponding track bend in the monitoring area is called, the offset characteristics of the dispatching target are extracted and combined with the curvature of the track bend, and the dispatching operation abnormality characterization value of the monitoring area is determined to determine whether the monitoring area meets the safety operation standard, and the change of the connection gap characteristics between the dispatching target and the rope is determined based on the image data to calculate the connection fitting value, determine whether there is an abnormality in the dispatching operation, brake the dispatching operation, and adjust the operation danger range of the monitoring area; If the tag corresponding to the monitoring area is a high safety level tag, the operation danger range of the monitoring area is maintained.

6. The comprehensive monitoring method for coal mines according to claim 1, characterized in that: The process of determining the abnormality characterization value of the dispatching operation in the monitoring area includes: The ratio of the roll angle of the scheduling target to the roll angle threshold and the ratio of the track jumping frequency to the track jumping frequency threshold are summed as the first scheduling operation abnormality feature; The ratio of the curvature at the track curve to the curvature threshold is used as the second scheduling operation abnormality feature; The sum of the first scheduling operation abnormality feature and the second scheduling operation abnormality feature is determined as the scheduling operation abnormality representation value.

7. The comprehensive coal mine monitoring method according to claim 1, characterized in that: Determine whether the monitored area meets safe operating standards, including, If the scheduling operation abnormality characterization value is greater than or equal to the scheduling operation abnormality characterization threshold, it is determined that the monitoring area does not meet the safety operation standard.

8. The comprehensive monitoring method for coal mines according to claim 1, characterized in that: The process of calculating the convergence fit value includes, Use the twisted rope connection ring and the dispatch target connection ring as connection reference points; Determine a closed space formed by the connection between the connection ring and the scheduling target connection ring; The maximum value of the virtual line formed by any two points in the closed space is taken as the length of the connection gap; Obtain the connection gap length between the dispatch target and the rope at each moment in a predetermined time period; The variance of the length of the joining gap is solved.

9. The comprehensive coal mine monitoring method according to claim 8, characterized in that: Determine whether the dispatching operation is abnormal, brake the dispatching operation, and adjust the operation danger range of the monitoring area, including: If the connection fitting value is greater than or equal to the preset connection fitting threshold, it is determined that the scheduling operation is abnormal; If there is an abnormality in the dispatching operation, the dispatching operation is braked, and the operation danger range of the monitoring area is adjusted.

10. The comprehensive monitoring method for coal mines according to claim 1, characterized in that: Based on the relative position relationship between the monitoring target and the operating danger range in the image data of each monitoring area, it is determined whether to issue an early warning signal. include, If the position point of the monitoring target coincides with any position point on the edge of the operating danger range, it is determined that an early warning signal is issued; The monitoring targets include construction personnel and construction equipment.

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