A comprehensive monitoring method for coal mines

Abstract

The present invention relates to the field of coal mine monitoring, and particularly to a comprehensive coal mine monitoring method. The present invention determines the operating danger range of each monitoring area; acquires the image data of each monitoring area, extracts the corresponding abnormal features, determines the abnormal degree characterization parameter of the monitoring area based on the abnormal features to generate a safety level label for the monitoring area; adaptively analyzes and detects the monitoring area according to the safety level label; determines whether to issue a warning signal based on the relative position relationship between the monitored target and the operating danger range in the image data of each monitoring area. 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 construction safety.

Description

Technical Field

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

[0002] Due to the complex environment in which coal mine operations run, as an important transportation device, the dispatching winch is prone to abnormal conditions during the dispatching operation, which can easily lead to serious safety accidents. For example, the winch rope breaks, the running speed gets out of control, etc., causing casualties and property losses. Therefore, monitoring and analyzing the working conditions of the dispatching winch in the horizontal roadway of the coal mine can timely detect and solve potential problems, reduce the downtime of relevant construction equipment, ensure the timeliness of dispatching, thereby optimizing the operation dispatching and improving the overall operation efficiency of the coal mine.

[0003] With the rapid development of communication technologies, especially the application of industrial Ethernet, wireless communication technologies, etc. in coal mines, coal mine monitoring can achieve rapid data transmission and remote monitoring. Coal mine enterprises can understand and master the running state of the mine winch in real time at the ground dispatching center, timely detect and handle abnormalities, and prevent the abnormalities from deteriorating further. At the same time, through the monitoring and analysis of the running state, it is also possible to reasonably arrange the equipment maintenance plan, extend the service life of the equipment, and reduce the overall maintenance cost of the equipment.

[0004] Chinese Patent Application Publication No.: CN110862033A discloses an intelligent early warning detection method applied to a coal mine inclined shaft winch. The detection method 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 detection results such as obstacles and personnel. The three-dimensional point cloud data processing algorithm collects the three-dimensional point cloud data of the scene in the inclined shaft roadway through a multi-line laser sensor to detect obstacles in front of the winch operation. The visible light image processing algorithm uses the collected visible light images to detect personnel, the winch running track, and obstacles in the roadway. The infrared image processing algorithm uses an infrared camera to collect the infrared image in front of the winch operation to detect personnel in the roadway. 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 early warning.

[0005] However, the following problems still exist in the prior art.

[0006] During the dispatching operation of the winch, the swing of the winch rope can reflect potential abnormal problems. However, during the dispatching operation monitoring, it is easy to have untimely monitoring feedback on the winch rope part, resulting in poor abnormal detection and analysis effects. Summary of the Invention

[0007] To this end, the present invention provides a comprehensive coal mine monitoring method to overcome the problem in the prior art that during the dispatching operation of a winch, the swing of the winch rope can reflect potential abnormal problems, but during the monitoring of the dispatching operation, it is easy to have untimely monitoring feedback on the winch rope part, resulting in poor abnormal detection and analysis effects.

[0008] To achieve the above object, the present invention provides a comprehensive coal mine monitoring method, which includes:

[0009] Determine the operation danger range of each monitoring area, including fully loading the dispatching target dispatched by the winch and dispatching it 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;

[0010] Obtain the image data of each monitoring area, extract the corresponding abnormal movement features, determine the abnormal movement degree characterization parameter of the monitoring area according to the abnormal movement features, so as to generate the safety level label of the monitoring area;

[0011] According to the safety level label, analyze and detect the monitoring area, including,

[0012] Call the image data at the corresponding track bend in the monitoring area, extract the offset features of the dispatching target and combine the curvature of the track bend at the track bend to determine the abnormal dispatching operation characterization value of the monitoring area, so as to determine whether the monitoring area meets the safe operation standard, determine the change situation of the connection gap feature between the dispatching target and the winch rope according to the image data, so as to calculate the connection fitting value, determine whether there is an abnormality in the dispatching operation, so as to brake the dispatching operation, and adjust the operation danger range of the monitoring area;

[0013] Or, maintain the operation danger range of the monitoring area;

[0014] Based on the relative position relationship between the monitoring target and the operation danger range in the image data of each monitoring area, determine whether to issue a warning signal;

[0015] Wherein, the abnormal movement features include the swing amplitude of the winch rope and the trajectory offset amplitude of the dispatching target connected by the winch rope; the offset features include the roll angle of the dispatching target and the derailment frequency.

[0016] Further, determining the operation danger range based on the moving trajectory includes,

[0017] Obtain the image data corresponding to the moving trajectory;

[0018] Extract the maximum swing amplitude of the inner and outer swings of the winch rope in the image data;

[0019] Construct a bar-shaped range covering the moving trajectory, and expand the width of the bar-shaped range to obtain the operation danger range;

[0020] Among them, the enlarged amount of the width is positively correlated with the maximum swing amplitude.

[0021] Further, the process of determining the abnormal degree characterization parameter of the monitoring area according to the abnormal characteristics includes

[0022] Taking the ratio of the swing amplitude of the winch rope to the swing amplitude threshold as the first abnormal characteristic;

[0023] Taking the ratio of the trajectory offset amplitude of the scheduling target connected by the winch rope to the trajectory offset amplitude threshold as the second abnormal characteristic;

[0024] Performing weighted summation of the first abnormal characteristic and the second abnormal characteristic as the abnormal degree characterization parameter of the monitoring area.

[0025] Further, generating the safety level label of the monitoring area includes

[0026] If the abnormal degree characterization parameter is greater than or equal to the abnormal degree characterization parameter threshold, then generating a low safety level label corresponding to the monitoring area;

[0027] If the abnormal degree characterization parameter is less than the abnormal degree characterization parameter threshold, then generating a high safety level label corresponding to the monitoring area.

[0028] Further, analyzing and detecting the monitoring area according to the safety level label includes

[0029] If the label corresponding to the monitoring area is a low safety level label, then calling the image data at the corresponding track bend in the monitoring area, extracting the offset characteristics of the scheduling target and combining with the curvature at the track bend to determine the abnormal operation characterization value of the scheduling in the monitoring area, so as to determine whether the monitoring area meets the safety operation standard, determining the change situation of the connection gap characteristics between the scheduling target and the winch rope according to the image data to calculate the connection fitting value, determining whether there is an abnormality in the scheduling operation to brake the scheduling operation, and adjusting the operation danger range of the monitoring area;

[0030] If the label corresponding to the monitoring area is a high safety level label, then maintaining the operation danger range of the monitoring area.

[0031] Further, the process of determining the abnormal operation characterization value of the monitoring area includes

[0032] Summing the ratio of the roll angle of the scheduling target to the roll angle threshold and the ratio of the derailment frequency to the derailment frequency threshold as the first abnormal operation characteristic of the scheduling;

[0033] Use the ratio of the curvature at the track bend to the curvature threshold as the second abnormal feature of dispatching operation;

[0034] Determine the sum of the first abnormal feature of dispatching operation and the second abnormal feature of dispatching operation as the abnormal characterization value of dispatching operation.

[0035] Further, determining whether the monitored area meets the safe operation standard includes,

[0036] If the abnormal characterization value of dispatching operation is greater than or equal to the abnormal characterization threshold of dispatching operation, it is determined that the monitored area does not meet the safe operation standard.

[0037] Further, the process of calculating the connection fitting value includes,

[0038] Use the winch rope connection ring and the dispatching target connection ring as the connection reference points;

[0039] Determine the closed space formed after the connection ring and the dispatching target connection ring are connected to each other;

[0040] Use the maximum value of the virtual connection line formed by any two points in the closed space as the connection gap length;

[0041] Obtain the connection gap lengths between the dispatching target and the winch rope at each moment within a predetermined time period;

[0042] Solve the variance of the connection gap lengths.

[0043] Further, determining whether an abnormality occurs in dispatching operation to brake the dispatching operation, and adjusting the operation danger range of the monitored area, includes,

[0044] If the connection fitting value is greater than or equal to the preset connection fitting threshold, it is determined that an abnormality exists in dispatching operation;

[0045] If an abnormality exists in dispatching operation, brake the dispatching operation and adjust the operation danger range of the monitored area.

[0046] 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 monitored area includes,

[0047] If the position point of the monitoring target coincides with any position point on the edge of the operation danger range, it is determined to issue a warning signal;

[0048] Wherein, the monitoring target includes construction personnel and construction equipment.

[0049] Compared with the prior art, the present invention determines the operation danger range of each monitoring area; obtains the image data of each monitoring area, extracts the corresponding abnormal features, determines the abnormal degree characterization parameter of the monitoring area according to the abnormal features, so as to generate the safety level label of the monitoring area; adaptively analyzes and detects the monitoring area according to the safety level label; based on the relative position relationship between the monitored target and the operation danger range in the image data of each monitoring area, determines whether to issue a warning signal. The present invention can monitor and detect the equipment status and operation conditions involved in real time during the coal mine process, improve the detection efficiency, and ensure the construction safety.

[0050] In particular, the present invention determines the abnormal degree characterization parameter of the monitoring area and generates the safety level label for the monitoring area. During the actual operation of the coal mine, in the mine roadway, a dispatching winch is used to realize the dispatching of the required load. At the same time, the dispatching operation is carried out on the laid track. Under normal circumstances, the winding rope configured by the winch is orderly retracted and released, and the swing amplitude is moderate. However, the abnormal swing of the winding rope will have a certain impact on the connected dispatching target and the corresponding cooperative equipment; at the same time, if the trajectory of the dispatching object connected by the winding rope deviates, the continuous deviation will lead to the deviation of the established moving trajectory, increasing the risk of the dispatching target tilting. Therefore, the present invention uses the abnormal degree characterization parameter to characterize the abnormal fluctuation degree reflected by the winding rope and the dispatching target during the dispatching operation, provides data support for generating the safety level label for each monitoring area subsequently, and then adaptively analyzes and detects the monitoring area, monitors and detects the equipment status and operation conditions involved in real time, improves the detection efficiency, and ensures the construction safety.

[0051] In particular, the present application classifies the safety levels of each monitoring area. For the monitoring areas with low - safety - level tags, the present invention focuses on considering the offset characteristics at the track bends during the dispatching operation process. At the same time, it comprehensively analyzes the state and working conditions of the dispatching operation in combination with the curvature at the track bends. During the actual dispatching operation in coal mines, when passing through the track bends, the curvature of the track will change, increasing the difficulty of the dispatching target fitting with the track, and it is easy to have derailment situations, reducing the stability of the dispatching operation. Moreover, due to the curved structure of the bend itself, the dispatching target may be inclined, side - shifted, etc., resulting in the center - of - gravity offset of the dispatching target, leading to uneven stress on the dispatching target at the bend. The connection stability between the winch rope and the dispatching target will decrease accordingly, and it is easy to have off - track situations at the bend. At the same time, when moving at the bend, the running resistance of the dispatching target increases, and the tension borne by the winch rope also increases accordingly, further increasing the risk of excessive wear and breakage of the winch rope. Therefore, the present invention determines the abnormal characterization value of the dispatching operation in the monitoring area based on the offset characteristics of the dispatching target and the curvature at the track bends to characterize the relatively high abnormal fluctuation degree of the winch rope and the dispatching target during the dispatching operation process, that is, the abnormal degree of the dispatching operation when passing through the track bends, providing data support for subsequent determination of whether the monitoring area meets the safe operation standard, further accurately analyzing whether there are abnormalities in the dispatching operation, and monitoring and detecting the equipment state and operating conditions involved in real - time, improving the detection efficiency and ensuring the safety of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 Schematic diagram of the steps of the coal - mine comprehensive monitoring method according to an embodiment of the invention;

[0053] Figure 2 Logic decision diagram for generating safety - level tags of monitoring areas according to an embodiment of the invention;

[0054] Figure 3 Logic decision diagram for determining whether a monitoring area meets the safe operation standard according to an embodiment of the invention;

[0055] Figure 4 Logic decision diagram for determining whether there are abnormalities in the dispatching operation according to an embodiment of the invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] In order to make the objectives and advantages of the present invention clearer and more understandable, the present invention will be 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 do not limit the present invention.

[0057] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0058] It should be noted that in the description of the present invention, terms indicating directions or positional relationships such as "upper" are based on the directions or positional relationships shown in the drawings. This is only for 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 construed as a limitation to the present invention.

[0059] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and defined, 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.

[0060] Please refer to Figure 1 as shown, which is a schematic diagram of the steps of the comprehensive coal mine monitoring method according to an embodiment of the present invention. The comprehensive coal mine monitoring method according to an embodiment of the present invention includes:

[0061] Step S1, determining the operating dangerous range of each monitoring area, including fully loading the scheduling target dispatched by the winch, dispatching it from the starting point to the target point, recording the movement trajectory of the scheduling target, and determining the operating dangerous range based on the movement trajectory;

[0062] Step S2, obtaining the image data of each monitoring area, extracting the corresponding abnormal features, and determining the abnormal degree characterization parameter of the monitoring area according to the abnormal features to generate the safety level label of the monitoring area;

[0063] Step S3, analyzing and detecting the monitoring area according to the safety level label, including,

[0064] calling the image data at the corresponding track curve in the monitoring area, extracting the offset feature of the scheduling target and combining the curvature at the track curve to determine the abnormal characterization value of the dispatching operation in the monitoring area to determine whether the monitoring area meets the safe operation standard, determining the change situation of the connection gap feature between the scheduling target and the winch rope according to the image data to calculate the connection fitting value, determining whether there is an abnormality in the dispatching operation to brake the dispatching operation, and adjusting the operating dangerous range of the monitoring area;

[0065] Or, maintaining the operating dangerous range of the monitoring area;

[0066] Step S4, determining whether to issue a warning signal based on the relative position relationship between the monitoring target and the operating dangerous range in the image data of each monitoring area;

[0067] Among them, the abnormal movement characteristics include the swinging amplitude of the winding rope and the trajectory deviation amplitude of the scheduling target connected by the winding rope; the deviation characteristics include the roll angle of the scheduling target and the derailment frequency.

[0068] Specifically, there is no specific limitation on the method of obtaining the image data of each monitoring area, as long as it can collect the image data of the scheduling operation process of each monitoring area.

[0069] In some possible implementations, on the premise of ensuring that the complete monitoring area can be collected, an oscillating industrial camera is installed on the top or side wall of the key positions in the roadway.

[0070] In some possible implementations, a small camera with explosion-proof and dust-proof functions is installed at the front end of the scheduling target. During the transportation operation, as the scheduling target is towed and moved, the camera shuttles through the roadway, captures dynamic images in real time, and can also reduce the impact of the visual blind area on the analysis and detection. This will not be elaborated here.

[0071] Specifically, there is no limitation on the method of dividing the monitoring area. 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 placement position of the winch and several positions that the scheduling target can pass through. This will not be elaborated here.

[0072] It can be understood that the scheduling target refers to the object that needs to be towed by the winch to the target point. Usually, the scheduling operations in the mine roadway are carried out on the laid tracks. Based on this, in actual situations, the object towed by the winch is generally a mine car for easy movement and transportation on the tracks. Among them, the required load is placed in the mine car, and the whole composed of the mine car and the load in the mine car is used as the scheduling target. This will not be elaborated here.

[0073] It can be understood that during the scheduling operation process, the winding rope is in a state of rapid rotation. If construction workers approach, they are easily involved. At the same time, the construction equipment required in the coal mine may be left around the track route. The existence of these construction equipment may cause the winding rope to get stuck and the scheduling target to derail, affecting the normal towing of the winch. In the long run, it will also damage the equipment. Therefore, delimiting the operation danger range can ensure that construction workers keep a safe distance from the rapidly rotating and dangerous components such as the winding rope and the winch drum, ensure the normal operation of the scheduling operation and the personal safety of construction workers. Moreover, delimiting the operation danger range can ensure that the area interfered by the scheduling operation is clean and tidy, and ensure the stable operation of relevant equipment. This will not be elaborated here.

[0074] Specifically, determining the operation danger range based on the moving trajectory includes

[0075] obtaining the image data corresponding to the moving trajectory;

[0076] Extract the maximum swing amplitude of the inner and outer swings of the winch rope in the image data;

[0077] Construct a bar range covering the moving trajectory, and expand the width of the bar range to obtain a running danger range;

[0078] Wherein, the enlarged amount of the width is positively correlated with the maximum swing amplitude.

[0079] It can be understood that the initial width of the formed bar range can be determined according to the track width, the width of the bar range is fixed, and the center of the width is always the center line of the track, which will not be elaborated here.

[0080] In implementation, optionally,

[0081] Match the maximum swing amplitude with the swing amplitude comparison threshold interval,

[0082] When the maximum swing amplitude is in the range of (0, 1.3F0], determine that the enlarged amount of the width is 1.6K0;

[0083] When the maximum swing amplitude is in the range of (1.3F0, 1.5F0], determine that the enlarged amount of the width is 1.4K0;

[0084] When the maximum swing amplitude is in the range of (1.5F0, +∞), determine that the enlarged amount of the width is 1.2K0.

[0085] Wherein, in this embodiment, the purpose of setting the enlarged amount reference value K0 of the width is to expand a certain distance based on the track width to ensure the safety of construction personnel. Therefore, the enlarged amount reference value K0 of the width is determined according to the track width, and the enlarged amount reference value K0 of the width is 0.6 times the track width.

[0086] Specifically, the process of determining the abnormal degree characterization parameter of the monitoring area according to the abnormal characteristics includes,

[0087] Take the ratio of the swing amplitude of the winch rope to the swing amplitude threshold as the first abnormal characteristic;

[0088] Take the ratio of the trajectory deviation amplitude of the scheduling target connected by the winch rope to the trajectory deviation amplitude threshold as the second abnormal characteristic;

[0089] Perform weighted summation of the first abnormal characteristic and the second abnormal characteristic as the abnormal degree characterization parameter of the monitoring area.

[0090] Specifically, the trajectory deviation amplitude refers to the distance in the direction perpendicular to the ideal track, which characterizes the degree to which the running trajectory of the scheduling target deviates from its established running trajectory during the traction operation.

[0091] 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;

[0092] Specifically, the swing amplitude of the winding rope is usually related to the winch and its equipment, load, roadway and track;

[0093] When installing the winch, if the base is not level, the axis of the drum is not parallel to the track, etc., it will cause the winding rope to 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 its steel wire rope can generally be controlled within a small range, usually within ±0.3 meters; while for a winch with poor installation accuracy, the swing amplitude may exceed ±0.5 meters, or even larger;

[0094] The closer the weight of the scheduling target is to the rated lifting capacity of the winch, the greater the tension on the steel wire rope, and the more likely it is to swing. Generally speaking, when the weight of the scheduling target is less than 50% of the rated lifting capacity of the winch, the swing amplitude of the winding rope is relatively small, which can be controlled within ±0.3 meters; when the weight of the scheduling 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 even may cause a safety accident;

[0095] In mine roadways with different slopes, the component force of the gravity of the scheduling target along the roadway direction is different, which makes the tendency of the winding rope to slide or rush up different during the process of towing the scheduling target for movement and transportation, and the resulting swing amplitude will also be different accordingly. For example, generally in a roadway with a slope less than 15°, the swing amplitude of the steel wire rope is relatively small, which can be controlled within ±0.3 meters; while in a roadway with a slope greater than 15°, the swing amplitude may increase to about ±0.5 meters; in the case of a particularly large slope, the swing amplitude will be even greater.

[0096] Based on this, in this embodiment, the swing amplitude threshold F0 of the winding rope is determined to be within ±0.5m.

[0097] Similarly, the track deviation amplitude of the scheduling target connected by the winding rope is also related to the winch and its equipment, load, roadway and track;

[0098] Due to different installation levels of the winch, the track deviation amplitude of the scheduling target during the scheduling operation is different. For example, for a winch with a better installation level, the deviation angle is extremely small, and the track deviation amplitude of the scheduling target can be controlled within 50 millimeters; while for a winch with a poor installation level, the deviation amplitude will increase to 100 millimeters;

[0099] When the winch rope normally pulls the scheduling target, the trajectory deviation angle of the scheduling target is about 50 mm. When the scheduling target is affected by uneven gravity and undergoes side shift, the trajectory deviation angle will gradually increase to about 100 mm during the side shift process;

[0100] Therefore, in this embodiment, the trajectory deviation amplitude threshold of the scheduling target connected by the winch rope is selected within the interval [50 mm, 70 mm].

[0101] Specifically, the present invention determines the abnormal degree characterization parameter of the monitoring area, generates a safety level label for the monitoring area. During the actual operation of the coal mine, in the roadway of the mine, a scheduling winch is used to achieve the scheduling of the required load. At the same time, the scheduling operation is carried out on the laid track. Under normal circumstances, the winch rope configured by the winch is orderly retracted and released, with a moderate swing amplitude. However, abnormal swinging of the winch rope will have a certain impact on the connected scheduling target and the corresponding collaborative equipment. For example, when the scheduling target connected by the winch rope is out of balance, such as the offset and accumulation of materials in the mine car, which causes the center of gravity of the scheduling target to change, resulting in irregular and large-amplitude swinging of the winch rope. This causes the winch rope to continuously bear additional bending and torsional stresses, and the internal structure is unevenly stressed, which will accelerate fatigue accumulation, making the scheduling operation deviate from the safe state, and even reducing the toughness of the winch rope and increasing the risk of fracture; at the same time, if the connected scheduling object of the winch rope has a trajectory deviation, continuous deviation will lead to deviation of the established movement trajectory, increasing the risk of tilting of the scheduling target. Therefore, the present invention uses the abnormal degree characterization parameter to characterize the abnormal fluctuation degree reflected by the winch rope and the scheduling target during the scheduling operation, providing data support for generating safety level labels for each monitoring area subsequently, and then adaptively analyzing and detecting the monitoring area, and monitoring and detecting the equipment status and operating conditions involved in real time, improving the detection efficiency and ensuring the safety of construction.

[0102] Specifically, please refer to Figure 2 As shown, it is the logical decision diagram for generating the safety level label of the monitoring area in the embodiment of the present invention. Generating the safety level label of the monitoring area includes,

[0103] If the abnormal degree characterization parameter is greater than or equal to the abnormal degree characterization parameter threshold, the monitoring area is correspondingly generated with a low safety level label;

[0104] If the abnormal degree characterization parameter is less than the abnormal degree characterization parameter threshold, the monitoring area is correspondingly generated with a high safety level label.

[0105] The abnormal degree characterization parameter threshold is selected within the interval [1.18, 1.22].

[0106] Specifically, according to the security level label, the monitoring area is analyzed and detected, including

[0107] If the label corresponding to the monitoring area is a low security level label, the image data at the corresponding track bend in the monitoring area is called, the offset feature of the scheduling target is extracted, combined with the curvature at the track bend, to determine the scheduling operation abnormal characterization value of the monitoring area, so as to determine whether the monitoring area meets the safe operation standard, determine the change situation of the connection gap feature between the scheduling target and the winch rope based on the image data, so as to calculate the connection fitting value, determine whether there is an abnormality in the scheduling operation, brake the scheduling operation, and adjust the operation danger range of the monitoring area;

[0108] If the label corresponding to the monitoring area is a high security level label, the operation danger range of the monitoring area is maintained.

[0109] Specifically, the process of determining the scheduling operation abnormal characterization value of the monitoring area includes

[0110] Sum the ratio of the roll angle of the scheduling target to the roll angle threshold and the ratio of the track jump frequency to the track jump frequency threshold as the first scheduling operation abnormal feature;

[0111] Take the ratio of the curvature at the track bend to the curvature threshold as the second scheduling operation abnormal feature;

[0112] Determine the sum of the first scheduling operation abnormal feature and the second scheduling operation abnormal feature as the scheduling operation abnormal characterization value.

[0113] Specifically, the roll angle of the scheduling target refers to the angle of lateral inclination of the whole scheduling target in the left and right directions of the scheduling target during the moving operation.

[0114] In this embodiment, the purpose of setting the roll angle threshold of the scheduling target and the curvature threshold at the track bend is to characterize the situation of high abnormal degree of the scheduling operation at the track bend. Among them, the above two thresholds are determined based on the average roll angle of the corresponding scheduling target and the average curvature at the track bend;

[0115] Obtain the historical data of the weight of the same monitoring area and the same scheduling target for several times of scheduling operations, extract the historical data of the roll angle of the scheduling target and the historical data of the curvature at the track bend, solve the average roll angle of the scheduling target and the average curvature at the track bend, and based on the purpose of setting the roll angle threshold of the scheduling target and the curvature threshold at the track bend, determine the roll angle threshold of the scheduling target between 1.15 times and 1.2 times of the average roll angle of the scheduling target, and determine the curvature threshold at the track bend between 1.35 times and 1.55 times of the average curvature at the track bend.

[0116] Specifically, please refer to Figure 3 shown in the figure, which is the logical decision diagram for determining whether the monitored area meets the safe operation standard in the embodiment of the present invention. Determining whether the monitored area meets the safe operation standard includes

[0117] If the abnormal characterization value of dispatching operation is greater than or equal to the abnormal characterization threshold of dispatching operation, it is determined that the monitored area does not meet the safe operation standard;

[0118] If the abnormal characterization value of dispatching operation is less than the abnormal characterization threshold of dispatching operation, it is determined that the monitored area meets the safe operation standard.

[0119] The abnormal characterization threshold of dispatching operation is selected within the interval [2.54, 2.8].

[0120] Specifically, the process of calculating the connection fitting value includes

[0121] Taking the cable connecting ring and the dispatching target connecting ring as the connection reference points;

[0122] Determining the closed space formed after the connection of the connecting ring and the dispatching target connecting ring;

[0123] Taking the maximum value of the virtual connection line formed by any two points in the closed space as the connection gap length;

[0124] Obtaining the connection gap lengths between the dispatching target and the cable at each moment within a predetermined time period;

[0125] Solving the variance of the connection gap lengths;

[0126] Wherein, the variance is determined as the connection fitting value.

[0127] Specifically, please refer to Figure 4 shown in the figure, which is the logical decision diagram for determining whether there is an abnormality in dispatching operation in the embodiment of the present invention. Determining whether there is an abnormality in dispatching operation to brake the dispatching operation and adjust the operation danger range of the monitored area includes

[0128] If the connection fitting value is greater than or equal to the preset connection fitting threshold, it is determined that there is an abnormality in dispatching operation;

[0129] If the connection fitting value is less than the preset connection fitting threshold, it is determined that there is no abnormality in dispatching operation.

[0130] If there is an abnormality in dispatching operation, brake the dispatching operation and adjust the operation danger range of the monitored area.

[0131] Specifically, the purpose of setting the connection fitting threshold is to characterize the unstable connection and high abnormal degree formed between the winch rope and the scheduling target. Among them, in this embodiment, the connection fitting threshold is determined according to the connection fitting mean value.

[0132] Obtain the historical data of the weight of the same monitoring area and the same scheduling target for several times during the scheduling operation, call the historical data of the connection fitting value, solve the connection fitting mean value, and determine the connection fitting mean value as the connection fitting threshold.

[0133] Specifically, this application divides the safety levels of each monitoring area. For the monitoring areas with low safety level labels, the present invention focuses on the offset characteristics at the track bends during the scheduling operation, that is, the roll angle and derailment frequency of the scheduling target, and comprehensively analyzes the state and working conditions of the scheduling operation in combination with the curvature at the track bends. During the actual scheduling operation in the coal mine, when passing through the track bends, the curvature of the track will change, the fitting difficulty between the scheduling target and the track increases, and derailment is likely to occur, reducing the stability of the scheduling operation. Moreover, due to the curved structure of the bend itself, the scheduling target may be tilted, laterally displaced, etc., resulting in the offset of the center of gravity of the scheduling target, causing uneven force on the scheduling target at the bend, and the connection stability between the winch rope and the scheduling target will decrease accordingly, and derailment is likely to occur at the bend. At the same time, when moving at the bend, the running resistance of the scheduling target increases, and the tension borne by the winch rope also increases accordingly, further increasing the risk of excessive wear and breakage of the winch rope. Therefore, the present invention determines the abnormal characterization value of the scheduling operation in the monitoring area based on the offset characteristics of the scheduling target and the curvature at the track bends to characterize the relatively high abnormal fluctuation degree of the winch rope and the scheduling target during the scheduling operation, and the abnormal degree of the transportation operation when passing through the track bends, providing data support for subsequent determination of whether the monitoring area meets the safety operation standard, further accurately analyzing whether there is an abnormality in the scheduling operation, and monitoring and detecting the equipment status and working conditions involved in real time, improving the detection efficiency, and ensuring the safety of construction.

[0134] Specifically, based on the relative position relationship between the monitoring target and the running danger range in the image data of each monitoring area, it is determined whether to issue a warning signal, including

[0135] If the position point of the monitoring target coincides with any position point on the edge of the running danger range, it is determined to issue a warning signal.

[0136] Among them, the monitoring target includes construction personnel and construction equipment.

[0137] According to the determined operating hazard range, mark the edge curve of the formed range in the image. If it is recognized that the monitoring target coincides with the edge curve, it indicates that the monitoring target may or is about to enter the operating hazard range, and then a warning signal is issued. The warning signal can be a loud alarm sound, etc., which will not be elaborated here.

[0138] If the integrated coal mine monitoring method of the present invention is implemented in the form of software functional units 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, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, etc., all kinds of media that can store program codes.

[0139] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the accompanying drawings. However, those skilled in the art can easily 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 all 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 dispatching target connected by the rope, and the deviation characteristics include the roll angle and track jumping frequency of the dispatching target; 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; Taking a weighted sum of the first abnormality feature and the second abnormality feature as a parameter representing the degree of abnormality of the monitoring area; 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.

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: 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.

4. The comprehensive coal mine monitoring method 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.

5. The comprehensive monitoring method for coal mines 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.

6. 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.

7. The comprehensive coal mine monitoring method according to claim 6, 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.

8. 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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