Coal residue identification and alarm system and method

Abstract

The invention relates to the technical field of coal identification, and particularly discloses a coal residue identification and alarm system and method, and the system comprises a first detection module which is used for obtaining historical coal unloading data, and determining a first detection parameter of current dumped coal according to the historical coal unloading data; the second detection module is used for obtaining the compartment image data and the illumination intensity value after dumping is completed, and determining a second detection parameter according to the compartment image data and the illumination intensity value after dumping is completed; and the identification alarm module is used for identifying a coal residue image of the carriage image data according to the first detection parameter and the second detection parameter, and performing coal residue alarm according to the coal residue image. According to the invention, the coal residue in the carriage after the coal is dumped can be accurately identified and the residue alarm is timely given, so that the coal utilization rate is effectively improved and the coal resource is saved.

Description

Technical Field

[0001] The present application relates to the technical field of coal identification, and more specifically, to a coal residue identification and alarm system and method. Background Art

[0002] Coal will continue to occupy the main position of China's main energy consumption for a long time in the future. Ensuring the security of coal supply and demand is crucial to my country's economic, social and energy development. Therefore, in addition to regulating coal production, we must also pay attention to the transportation and safety of coal.

[0003] After the coal train unloads the coal, different amounts of coal will remain in the carriage. The amount of coal remaining in the carriage is mostly estimated by human observation, and the feedback from experience is used to tell whether the remaining coal in the carriage needs to be cleared, which is inefficient. The existing technology measures the coal residue through laser measurement, but it has the disadvantages of only single-point measurement and discontinuous measurement points. Summary of the invention

[0004] The present invention provides a coal residue identification and alarm system and method, which are used to solve the problem that the pile of coal blocks remaining in the carriage cannot be accurately identified in the prior art, and include: A first detection module is used to obtain historical coal unloading data and determine a first detection parameter of the current coal unloading according to the historical coal unloading data; A second detection module is used to obtain the image data and the light intensity value of the carriage after the unloading is completed, and determine the second detection parameter according to the image data and the light intensity value of the carriage after the unloading is completed; The recognition alarm module is used to recognize the coal residue image in the carriage image data according to the first detection parameter and the second detection parameter, and to issue a coal residue alarm according to the coal residue image.

[0005] Furthermore, the first detection module determines the first detection parameter of the current coal unloading according to the historical coal unloading data, including: Obtaining the coal ash content of the coal in the historical coal unloading data, and performing clustering processing on the coal ash content of the coal in the historical coal unloading data; Determine the cluster to which the current coal belongs according to the coal ash content of the current coal, and determine the cluster center value of the current coal according to the cluster to which the current coal belongs; Determine the corresponding first preset detection parameter value according to the current cluster center value of the coal, and calculate the difference between the coal ash content of the current coal and the cluster center value; The difference between the coal ash content of the current coal and the cluster center value is normalized, and the normalized difference between the coal ash content of the current coal and the cluster center value is multiplied by the first preset detection parameter value to obtain the first detection parameter.

[0006] Furthermore, clustering the coal ash content in the historical coal unloading data includes: Obtain the number of coal samples in the historical coal unloading data, and randomly select k initial clustering centers according to the number of coal samples in the historical coal unloading data; The distance between each coal sample and the initial cluster center is calculated according to the coal ash content of each coal sample, and each coal sample is divided into each cluster according to the distance between each coal sample and the initial cluster center; The average value of all coal ash contents is calculated according to the coal ash contents of the coal samples in each cluster after clustering, and the cluster center is updated according to the average value of all coal ash contents; Repeat the iteration and set new cluster centers until the cluster centers no longer change, and finally obtain the k cluster centers.

[0007] Furthermore, the second detection module determines the second detection parameter according to the image data of the carriage after unloading and the light intensity value, including: Obtain the light intensity value of the current coal unloading scene, and determine the corresponding light threshold value according to the light intensity value of the current coal unloading scene; Grayscale processing is performed on the carriage image data to obtain a carriage grayscale image; Calculate the gray value of each pixel in the gray image of the carriage, and filter out the area in the gray image of the carriage where the gray value is greater than the illumination threshold; The area in the carriage grayscale image where the grayscale value is greater than the illumination threshold is set as the illumination area, and the remaining area is set as the shadow area, and the second detection parameter is determined according to the grayscale values ​​of the illumination area and the shadow area.

[0008] Further, determining the second detection parameter according to the grayscale values ​​of the illuminated area and the shadow area includes: Calculate the illumination average value of the grayscale values ​​of the pixels in the illumination area and the shadow average value of the grayscale values ​​of the pixels in the shadow area, and determine the illumination deviation value according to the difference between the illumination average value and the shadow average value; Obtain the area values ​​of the illuminated area and the shadow area, and calculate the ratio of the area values ​​of the illuminated area to the shadow area; The ratio of the area values ​​of the illuminated area to the area of ​​the shadow area is multiplied by the illumination deviation value to obtain a second detection parameter.

[0009] Furthermore, the recognition alarm module recognizes the coal residue image of the carriage image data according to the first detection parameter and the second detection parameter, including: Obtaining the grayscale difference between any two pixels in the grayscale image of the carriage, screening out two pixels whose grayscale difference is greater than a first preset threshold, and setting all pixels whose grayscale difference is greater than the first preset threshold as initial seed points; Traverse the initial seed point, record the location of the pixel points in the preset neighborhood of the initial seed point, obtain the pixel point to be tested, and determine whether the similarity between the pixel point to be tested and the initial seed point is within the preset range according to the similarity calculation formula; If the similarity between the pixel to be tested and the initial seed point is within a preset interval, the pixel to be tested is set as a new growth seed point; Taking the new growth seed point as the center, continue to detect new pixel points to be tested until the area can no longer grow, obtain the grayscale images of each segmented carriage, and filter out the coal residue image in the segmented carriage grayscale image according to the first detection parameter and the second detection parameter.

[0010] Furthermore, the step of filtering out the coal residue image in the segmented carriage grayscale image according to the first detection parameter and the second detection parameter includes: A coal residue identification formula is set according to the first detection parameter and the second detection parameter, and a coal feature value of each segmented carriage grayscale image is calculated according to the coal residue identification formula; The segmented carriage grayscale images whose coal characteristic values ​​are greater than the second preset threshold are screened out to obtain coal residue images. The coal residue identification formula is specifically as follows:

[0011] in, is the characteristic value of coal, is the average grayscale value of the segmented carriage grayscale image, is the preset segmentation threshold, is the first weight value, is the second weight value, is the first detection parameter, is the second detection parameter, is the preset range factor.

[0012] Furthermore, the recognition alarm module performs a coal residue alarm according to the coal residue image, including: Calculating the area value of the coal residue image according to the coal residue image, calculating the ratio of the area value of the coal residue image to the area value of the carriage grayscale image, and obtaining the coal residue value; The coal residue level is determined based on the coal residue value, and a coal residue alarm is issued based on the coal residue level.

[0013] Further, determining the coal residue grade according to the coal residue value includes: Obtaining a preset coal residue allowable value, and calculating a difference between the coal residue value and the preset coal residue allowable value; Determine whether the difference between the coal residue value and the preset coal residue allowable value is greater than a third preset threshold value, and if the difference between the coal residue value and the preset coal residue allowable value is greater than the third preset threshold value, set the first level as the coal residue level; If the difference between the coal residue value and the preset coal residue allowable value is less than or equal to the third preset threshold, then determining whether the difference between the coal residue value and the preset coal residue allowable value is greater than a fourth preset threshold; If the difference between the coal residue value and the preset coal residue allowable value is greater than a fourth preset threshold, the second level is set as the coal residue level; If the difference between the coal residue value and the preset coal residue allowable value is less than or equal to the fourth preset threshold value, the third level is set as the coal residue level.

[0014] In order to achieve the above object, the present invention also provides a coal residue identification and alarm method, comprising: Acquire historical coal unloading data, and determine the first detection parameter of the current coal unloading according to the historical coal unloading data; Acquire the image data and the light intensity value of the carriage after the unloading is completed, and determine the second detection parameter according to the image data and the light intensity value of the carriage after the unloading is completed; The coal residue image of the carriage image data is identified according to the first detection parameter and the second detection parameter, and a coal residue alarm is issued according to the coal residue image.

[0015] The beneficial effects of the present invention are: By applying the above technical scheme, the present invention combines historical coal unloading data and current lighting data during coal unloading to perform image recognition on the carriage image data, which can effectively reduce the noise in the carriage image data, and then accurately identify the coal residue image and promptly issue a coal residue alarm, effectively improving the coal utilization rate and saving coal resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 The overall structure diagram of a coal residue identification and alarm system proposed in an embodiment of the present invention is shown; Figure 2 A schematic flow chart of a coal residue identification and alarm method proposed in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0020] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0021] The present application embodiment provides a coal residue identification and alarm system, such as Figure 1 As shown, it includes: a first detection module, used to obtain historical coal unloading data, and determine the first detection parameter of the current coal unloading according to the historical coal unloading data; a second detection module, used to obtain the carriage image data and the light intensity value after the unloading is completed, and determine the second detection parameter according to the carriage image data and the light intensity value after the unloading is completed; an identification and alarm module, used to identify the coal residue image of the carriage image data according to the first detection parameter and the second detection parameter, and issue a coal residue alarm according to the coal residue image.

[0022] In this embodiment, the first detection parameter and the second detection parameter in the historical coal unloading data are extracted by the first detection module and the second detection module. The second detection parameter is obtained by the carriage image data and the light intensity value after the unloading is completed. By combining the first detection parameter and the second detection parameter, the noise in the carriage image data is reduced, and then the accurate coal residue image is identified, and timely coal residue alarm is performed for the coal residue image.

[0023] In some embodiments of the present application, the first detection module determines the first detection parameter of the current coal unloading based on the historical coal unloading data, including: obtaining the ash content of the coal in the historical coal unloading data, and clustering the ash content of the coal in the historical coal unloading data; determining the cluster to which the current coal belongs based on the ash content of the current coal, and determining the cluster center value of the current coal based on the cluster to which the current coal belongs; determining the corresponding first preset detection parameter value based on the cluster center value of the current coal, and calculating the difference between the ash content of the current coal and the cluster center value; normalizing the difference between the ash content of the current coal and the cluster center value, and multiplying the difference between the ash content of the current coal and the cluster center value after normalization by the first preset detection parameter value to obtain the first detection parameter.

[0024] In this embodiment, the ash content of coal is an important influencing factor of coal image data. By clustering the historical coal unloading data, ash content clustering clusters corresponding to each type of coal are obtained. A corresponding first preset detection parameter value is preset for each cluster. The larger the cluster center value of the cluster, the higher the set first preset detection parameter value. The first preset detection parameter is corrected by the difference value between the ash content of the current coal and the cluster center of its corresponding cluster to obtain the first detection parameter.

[0025] In some embodiments of the present application, the clustering processing of the coal ash content of the coal in the historical coal unloading data includes: obtaining the number of coal samples in the historical coal unloading data, and randomly selecting k initial clustering centers according to the number of coal samples in the historical coal unloading data; calculating the distance value between each coal sample and the initial clustering center according to the coal ash content of each coal sample, and dividing each coal sample into each cluster according to the distance value between each coal sample and the initial clustering center; calculating the average value of all coal ash contents according to the coal ash content of the coal samples in each cluster after clustering, and updating the clustering center according to the average value of all coal ash contents; repeating the iteration and setting new clustering centers until the clustering centers no longer change, and obtaining the final k clustering centers.

[0026] In this embodiment, clustering of historical coal unloading data is implemented based on the k-means clustering algorithm. The initial k value is set according to the number of coal samples in the historical coal unloading data. The larger the number of samples, the higher the set initial k value, and the greater the number of clusters.

[0027] In some embodiments of the present application, the second detection module determines the second detection parameter based on the carriage image data and the light intensity value after unloading is completed, including: obtaining the light intensity value of the current coal unloading scene, and determining the corresponding light threshold value based on the light intensity value of the current coal unloading scene; graying the carriage image data to obtain a carriage grayscale image; calculating the grayscale value of each pixel in the carriage grayscale image, and filtering out the area in the carriage grayscale image where the grayscale value is greater than the light threshold; setting the area in the carriage grayscale image where the grayscale value is greater than the light threshold as the illuminated area, and setting the remaining area as the shadow area, and determining the second detection parameter based on the grayscale values ​​of the illuminated area and the shadow area.

[0028] In this embodiment, corresponding illumination thresholds are preset for different illumination intensity values. The larger the illumination intensity value, the higher the corresponding illumination threshold. The illumination threshold is used to divide the illumination area and shadow area of ​​the grayscale image of the vehicle compartment.

[0029] In some embodiments of the present application, determining the second detection parameter based on the grayscale values ​​of the illuminated area and the shadow area includes: calculating the illumination average value of the grayscale values ​​of the pixels in the illuminated area and the shadow average value of the grayscale values ​​of the pixels in the shadow area, and determining the illumination deviation value based on the difference between the illumination average value and the shadow average value; obtaining the area values ​​of the illuminated area and the shadow area, and calculating the ratio of the area values ​​of the illuminated area to the shadow area; multiplying the ratio of the area values ​​of the illuminated area to the shadow area by the illumination deviation value to obtain the second detection parameter.

[0030] In this embodiment, the second detection parameter is calculated by the illumination deviation value and the ratio of the area value of the illumination area to the area value of the shadow area.

[0031] In some embodiments of the present application, the identification alarm module identifies the coal residue image in the carriage image data according to the first detection parameter and the second detection parameter, including: obtaining the grayscale difference between any two pixels in the carriage grayscale image, screening out two pixels whose grayscale difference is greater than the first preset threshold, and setting all pixels whose grayscale difference is greater than the first preset threshold as initial seed points; traversing the initial seed point, recording the positions of the pixels within the preset neighborhood of the initial seed point, obtaining the pixel to be tested, and judging whether the similarity between the pixel to be tested and the initial seed point is within a preset interval according to the similarity calculation formula; if the similarity between the pixel to be tested and the initial seed point is within the preset interval, setting the pixel to be tested as a new growth seed point; taking the new growth seed point as the center, continuing to detect new pixels to be tested until the area can no longer grow, obtaining each segmented carriage grayscale image, and screening out the coal residue image in the segmented carriage grayscale image according to the first detection parameter and the second detection parameter.

[0032] In this embodiment, the coal residue image of the carriage grayscale image is screened out by the region growing algorithm, and the similarity calculation formula is specifically the Euclidean distance calculation formula between the pixel to be tested and the seed point. The color distance similarity between the pixel to be tested and the seed point is calculated by the similarity calculation formula.

[0033] In some embodiments of the present application, the method of filtering out the coal residue image in the segmented carriage grayscale image according to the first detection parameter and the second detection parameter includes: setting a coal residue identification formula according to the first detection parameter and the second detection parameter, and calculating the coal feature value of each segmented carriage grayscale image according to the coal residue identification formula; filtering out the segmented carriage grayscale image whose coal feature value is greater than the second preset threshold value to obtain the coal residue image, and the coal residue identification formula is specifically,

[0034] in, is the characteristic value of coal, is the average grayscale value of the segmented carriage grayscale image, is the preset segmentation threshold, is the first weight value, is the second weight value, is the first detection parameter, is the second detection parameter, is the preset range factor.

[0035] In this embodiment, the coal feature value of each segmented carriage grayscale image is calculated by the coal residue identification formula, and each segmented carriage grayscale image is identified by the coal residue identification formula, so that it can be accurately determined whether the segmented carriage grayscale image is a coal residue image.

[0036] In some embodiments of the present application, the identification alarm module performs a coal residue alarm based on the coal residue image, including: calculating the area value of the coal residue image based on the coal residue image, calculating the ratio of the area value of the coal residue image to the area value of the carriage grayscale image, and obtaining the coal residue value; determining the coal residue level based on the coal residue value, and performing a coal residue alarm based on the coal residue level.

[0037] In some embodiments of the present application, determining the coal residue level based on the coal residue value includes: obtaining a preset coal residue allowable value, calculating the difference between the coal residue value and the preset coal residue allowable value; judging whether the difference between the coal residue value and the preset coal residue allowable value is greater than a third preset threshold value, if the difference between the coal residue value and the preset coal residue allowable value is greater than the third preset threshold value, setting the first level as the coal residue level; if the difference between the coal residue value and the preset coal residue allowable value is less than or equal to the third preset threshold value, judging whether the difference between the coal residue value and the preset coal residue allowable value is greater than a fourth preset threshold value; if the difference between the coal residue value and the preset coal residue allowable value is greater than the fourth preset threshold value, setting the second level as the coal residue level; if the difference between the coal residue value and the preset coal residue allowable value is less than or equal to the fourth preset threshold value, setting the third level as the coal residue level.

[0038] In this embodiment, the coal residue value is obtained by the ratio of the area value of the coal residue image to the area value of the carriage grayscale image, the coal residue level is determined by the coal residue value, and a coal residue alarm is issued based on the coal residue level. The higher the residue level, the higher the corresponding coal residue severity.

[0039] Based on the same technical concept, such as Figure 2 As shown, the present invention also provides a coal residue identification and alarm method, comprising: S101, acquiring historical coal unloading data, and determining a first detection parameter of current coal unloading according to the historical coal unloading data; S102, acquiring image data and light intensity value of the carriage after unloading is completed, and determining a second detection parameter according to the image data and light intensity value of the carriage after unloading is completed; S103, identifying a coal residue image in the carriage image data according to the first detection parameter and the second detection parameter, and issuing a coal residue alarm according to the coal residue image.

[0040] By applying the above technical scheme, the present invention uses a first detection module to obtain historical coal unloading data, and determines the first detection parameter of the current coal unloading according to the historical coal unloading data; a second detection module is used to obtain the carriage image data and light intensity value after the unloading is completed, and determines the second detection parameter according to the carriage image data and light intensity value after the unloading is completed; an identification alarm module is used to identify the coal residue image of the carriage image data according to the first detection parameter and the second detection parameter, and perform a coal residue alarm according to the coal residue image. The present invention can accurately identify the coal residue in the carriage after the coal is unloaded and promptly perform a residue alarm, effectively improving the coal utilization rate and saving coal resources.

[0041] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by hardware, or by software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present invention.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A coal residue identification and alarm system, characterized in that: include: A first detection module is used to obtain historical coal unloading data and determine a first detection parameter of the current coal unloading according to the historical coal unloading data; A second detection module is used to obtain the image data and the light intensity value of the carriage after the unloading is completed, and determine the second detection parameter according to the image data and the light intensity value of the carriage after the unloading is completed; The recognition alarm module is used to recognize the coal residue image in the carriage image data according to the first detection parameter and the second detection parameter, and to issue a coal residue alarm according to the coal residue image.

2. The coal residue identification and alarm system according to claim 1, characterized in that: The first detection module determines the first detection parameter of the current coal unloading according to the historical coal unloading data, including: Obtaining the coal ash content of the coal in the historical coal unloading data, and performing clustering processing on the coal ash content of the coal in the historical coal unloading data; Determine the cluster to which the current coal belongs according to the coal ash content of the current coal, and determine the cluster center value of the current coal according to the cluster to which the current coal belongs; Determine the corresponding first preset detection parameter value according to the current cluster center value of the coal, and calculate the difference between the coal ash content of the current coal and the cluster center value; The difference between the coal ash content of the current coal and the cluster center value is normalized, and the normalized difference between the coal ash content of the current coal and the cluster center value is multiplied by the first preset detection parameter value to obtain the first detection parameter.

3. The coal residue identification and alarm system according to claim 2, characterized in that: The clustering process of the coal ash content in the historical coal unloading data includes: Obtain the number of coal samples in the historical coal unloading data, and randomly select k initial clustering centers according to the number of coal samples in the historical coal unloading data; The distance between each coal sample and the initial cluster center is calculated according to the coal ash content of each coal sample, and each coal sample is divided into each cluster according to the distance between each coal sample and the initial cluster center; The average value of all coal ash contents is calculated according to the coal ash contents of the coal samples in each cluster after clustering, and the cluster center is updated according to the average value of all coal ash contents; Repeat the iteration and set new cluster centers until the cluster centers no longer change, and finally obtain the k cluster centers.

4. The coal residue identification and alarm system according to claim 3, characterized in that: The second detection module determines the second detection parameter according to the image data of the carriage after unloading and the light intensity value, including: Obtain the light intensity value of the current coal unloading scene, and determine the corresponding light threshold value according to the light intensity value of the current coal unloading scene; Grayscale processing is performed on the carriage image data to obtain a carriage grayscale image; Calculate the gray value of each pixel in the gray image of the carriage, and filter out the area in the gray image of the carriage where the gray value is greater than the illumination threshold; The area in the carriage grayscale image with a grayscale value greater than the illumination threshold is set as the illumination area, and the remaining area is set as the shadow area, and the second detection parameter is determined according to the grayscale values ​​of the illumination area and the shadow area.

5. The coal residue identification and alarm system according to claim 4, characterized in that: The determining of the second detection parameter according to the grayscale values ​​of the illuminated area and the shadow area includes: Calculate the illumination average value of the grayscale values ​​of the pixels in the illumination area and the shadow average value of the grayscale values ​​of the pixels in the shadow area, and determine the illumination deviation value according to the difference between the illumination average value and the shadow average value; Obtain the area values ​​of the illuminated area and the shadow area, and calculate the ratio of the area values ​​of the illuminated area to the shadow area; The ratio of the area values ​​of the illuminated area to the area of ​​the shadow area is multiplied by the illumination deviation value to obtain a second detection parameter.

6. The coal residue identification and alarm system according to claim 5, characterized in that: The recognition alarm module recognizes the coal residue image of the carriage image data according to the first detection parameter and the second detection parameter, including: Obtaining the grayscale difference between any two pixels in the grayscale image of the carriage, screening out two pixels whose grayscale difference is greater than a first preset threshold, and setting all pixels whose grayscale difference is greater than the first preset threshold as initial seed points; Traverse the initial seed point, record the location of the pixel points in the preset neighborhood of the initial seed point, obtain the pixel point to be tested, and determine whether the similarity between the pixel point to be tested and the initial seed point is within the preset range according to the similarity calculation formula; If the similarity between the pixel to be tested and the initial seed point is within a preset interval, the pixel to be tested is set as a new growth seed point; Taking the new growth seed point as the center, continue to detect new pixel points to be tested until the area can no longer grow, obtain the grayscale images of each segmented carriage, and filter out the coal residue image in the segmented carriage grayscale image according to the first detection parameter and the second detection parameter.

7. The coal residue identification and alarm system according to claim 6, characterized in that: The method of screening out the coal residue image in the segmented carriage grayscale image according to the first detection parameter and the second detection parameter includes: A coal residue identification formula is set according to the first detection parameter and the second detection parameter, and a coal feature value of each segmented carriage grayscale image is calculated according to the coal residue identification formula; The segmented carriage grayscale images whose coal characteristic values ​​are greater than the second preset threshold are screened out to obtain coal residue images. The coal residue identification formula is specifically as follows: ， in, is the characteristic value of coal, is the average grayscale value of the segmented carriage grayscale image, is the preset segmentation threshold, is the first weight value, is the second weight value, is the first detection parameter, is the second detection parameter, is the preset range factor.

8. The coal residue identification and alarm system according to claim 1, characterized in that: The recognition alarm module performs a coal residue alarm according to the coal residue image, including: Calculating the area value of the coal residue image according to the coal residue image, calculating the ratio of the area value of the coal residue image to the area value of the carriage grayscale image, and obtaining the coal residue value; The coal residue level is determined based on the coal residue value, and a coal residue alarm is issued based on the coal residue level.

9. The coal residue identification and alarm system according to claim 8, characterized in that: Determining the coal residue grade according to the coal residue value includes: Obtaining a preset coal residue allowable value, and calculating a difference between the coal residue value and the preset coal residue allowable value; Determine whether the difference between the coal residue value and the preset coal residue allowable value is greater than a third preset threshold value, and if the difference between the coal residue value and the preset coal residue allowable value is greater than the third preset threshold value, set the first level as the coal residue level; If the difference between the coal residue value and the preset coal residue allowable value is less than or equal to the third preset threshold, then determining whether the difference between the coal residue value and the preset coal residue allowable value is greater than a fourth preset threshold; If the difference between the coal residue value and the preset coal residue allowable value is greater than a fourth preset threshold, the second level is set as the coal residue level; If the difference between the coal residue value and the preset coal residue allowable value is less than or equal to the fourth preset threshold value, the third level is set as the coal residue level.

10. A coal residue identification and alarm method, characterized in that: include: Acquire historical coal unloading data, and determine the first detection parameter of the current coal unloading according to the historical coal unloading data; Acquire the image data and the light intensity value of the carriage after the unloading is completed, and determine the second detection parameter according to the image data and the light intensity value of the carriage after the unloading is completed; The coal residue image of the carriage image data is identified according to the first detection parameter and the second detection parameter, and a coal residue alarm is issued according to the coal residue image.

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