Self-adaptive speed regulation method and system for coal conveyor and scraper conveyor based on video recognition

Abstract

The invention provides a self-adaptive speed regulation method and system for a coal machine and a scraper conveyer based on video recognition, and relates to the field of intelligent debugging of coal mines. Comprising the following steps: acquiring coal flow video and picture data, annotating the data and transmitting the data into a visual training platform to obtain a coal flow recognition algorithm model; pushing the trained algorithm model to a visual application platform, and accessing a video source for monitoring the coal flow of the scraper in real time to identify the size of the coal flow; coal machine traction speed, frequency converter current and coal machine position are accessed, and scraper conveyer current and operation speed are accessed; in the initial state, the traction speed of the coal machine is kept constant, when the coal flow is recognized as overload, the speed of the scraper conveyor is increased or reduced, when the coal flow is recognized as normal, the original speed of the coal machine is maintained, and when the coal flow is recognized as light load, the speed of the coal machine and the speed of the scraper conveyor are increased. Self-adaptive speed regulation of the coal machine and the scraper conveyer can be achieved, equipment abrasion is reduced on the premise that production is not affected, the service life of equipment is prolonged, and the purposes of saving energy and reducing cost are achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent commissioning of coal mines, and in particular to an adaptive speed regulation method and an adaptive speed regulation system for a coal mining machine and a scraper conveyor based on video recognition. Background Art

[0002] In the process of coal production, the coordinated cooperation between the coal mining machine and the scraper conveyor plays an important role, and the stability and performance of the equipment directly determine the safety and efficiency in the coal mining process.

[0003] At present, load sensors are mostly used to monitor the coal flow rate of the scraper conveyor. Due to problems such as complex wiring on the working face and high failure rate of sensors, the accuracy of the monitored data is poor, and it is difficult to truly reflect the change of the coal flow rate of the scraper conveyor.

[0004] At present, the coal mining machine and the scraper conveyor have already achieved frequency conversion control. In most cases, they are only adjusted according to their own characteristics, and cannot be adaptively adjusted based on the load conditions of the scraper conveyor and the coal mining machine during the actual coal cutting process. Whether the scraper conveyor is unloaded or loaded, the coal mining machine does not achieve precise speed control, and the optimal cooperation between the two cannot be achieved, which easily leads to problems such as equipment wear, overload operation, and power loss, and the optimal performance of the equipment cannot be exerted. Summary of the Invention

[0005] In view of the above problems, the present invention proposes an adaptive speed regulation method and an adaptive speed regulation system for a coal mining machine and a scraper conveyor based on video recognition.

[0006] The embodiment of the present invention provides an adaptive speed regulation method for a coal mining machine and a scraper conveyor based on video recognition. The adaptive speed regulation method includes:

[0007] Training an algorithm model based on the historical video and picture data of the coal flow of the scraper conveyor, and the algorithm model is used for identifying the coal flow rate of the scraper conveyor;

[0008] Connecting the video source for real-time monitoring of the coal flow rate of the scraper conveyor on the working face to the visual application platform, and adjusting the corresponding picture of the video source;

[0009] Processing the video source by using the algorithm model to obtain the recognition result of the size of the coal flow rate of the scraper conveyor;

[0010] Obtaining real-time parameters of the coal mining machine and the scraper conveyor;

[0011] According to the recognition result, the real-time parameters of the coal mining machine and the scraper conveyor, adaptively adjusting the speeds of the coal mining machine and the scraper conveyor.

[0012] Optionally, an algorithm model is trained based on the historical video and picture data of the coal flow of the scraper conveyor, including:

[0013] Collect the historical video and picture data of the coal flow of the scraper conveyor;

[0014] Annotate the historical video and picture data of the coal flow of the scraper conveyor, and input the annotated historical video and picture data of the coal flow of the scraper conveyor into the visual training platform;

[0015] Use the model in the visual training platform for training to obtain the algorithm model.

[0016] Optionally, use the algorithm model to process the video source to obtain the recognition result of the coal flow size of the scraper conveyor, including:

[0017] Push the algorithm model to the visual application platform;

[0018] Use the algorithm model to recognize the real-time coal flow of the scraper conveyor in the working face in the video source to obtain the recognition result of the coal flow size of the scraper conveyor.

[0019] Optionally, obtain the real-time coal mining machine parameters and scraper conveyor parameters, including:

[0020] Obtain the real-time traction speed and frequency converter current of the coal mining machine;

[0021] Obtain the real-time running speed and frequency converter current of the scraper conveyor.

[0022] Optionally, according to the recognition result, the real-time coal mining machine parameters and scraper conveyor parameters, perform adaptive speed regulation on the coal mining machine and the scraper conveyor, including:

[0023] According to the recognition result, combined with the magnitude of the frequency converter current of the coal mining machine and the frequency converter current of the scraper conveyor, perform adaptive acceleration or deceleration control on the coal mining machine and perform adaptive acceleration or deceleration control on the scraper conveyor.

[0024] Optionally, the recognition result of the coal flow of the scraper conveyor includes: overload; according to the recognition result, combined with the magnitude of the frequency converter current of the coal mining machine and the frequency converter current of the scraper conveyor, perform adaptive acceleration or deceleration control on the coal mining machine and perform adaptive acceleration or deceleration control on the scraper conveyor, including:

[0025] When the recognition result is overloaded and the current of the scraper conveyor frequency converter is within the upper and lower limits, perform adaptive acceleration control on the scraper conveyor, and at the same time perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is higher than the upper limit, then stop the adaptive acceleration and deceleration control of the scraper conveyor and the coal shearer;

[0026] When the recognition result is overloaded and the current of the scraper conveyor frequency converter is higher than the upper limit, perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is within the normal upper and lower limits, then stop the adaptive deceleration control of the coal shearer.

[0027] Optionally, the recognition result includes: normal; according to the recognition result, combined with the current of the scraper conveyor frequency converter and the magnitude of the current of the scraper conveyor frequency converter, perform adaptive acceleration or deceleration control on the coal shearer, and perform adaptive acceleration or deceleration control on the scraper conveyor, including:

[0028] When the recognition result is normal and the current of the scraper conveyor frequency converter is within the upper and lower limits, maintain the original traction speed of the coal shearer;

[0029] When the recognition result is normal and the current of the scraper conveyor frequency converter is higher than the upper limit, perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is within the normal upper and lower limits, then stop the adaptive deceleration control of the coal shearer.

[0030] Optionally, the recognition result includes: light load; according to the recognition result, combined with the current of the coal shearer frequency converter and the current of the scraper conveyor frequency converter, perform adaptive acceleration or deceleration control on the coal shearer, and perform adaptive acceleration or deceleration control on the scraper conveyor, including:

[0031] When the recognition result is light load and the currents of both the scraper conveyor frequency converter and the coal shearer frequency converter are within the upper and lower limits, perform adaptive acceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is higher than the upper limit or the current of the coal shearer frequency converter is higher than the upper limit, then stop the adaptive acceleration control of the coal shearer;

[0032] When the recognition result is light load and the current of the scraper conveyor frequency converter is lower than the lower limit, perform adaptive acceleration control on the traction speeds of both the scraper conveyor and the coal shearer until the current of the scraper conveyor frequency converter is within the upper and lower limits or the current of the coal shearer frequency converter is higher than the upper limit, then stop the adaptive acceleration control of the operating speeds of the scraper conveyor and the coal shearer.

[0033] Optionally, the video source includes the position information of the coal mining machine; adjusting the picture corresponding to the video source includes:

[0034] Taking the head of the scraper conveyor as a reference point, the visual application platform rotates the camera device at any time according to the position information of the coal mining machine, so that the accessed video source is switched in real time as the position of the coal mining machine changes, and the picture corresponding to the video source is always maintained between the head of the scraper conveyor and the coal mining machine, so as to ensure that the picture corresponding to the video source is always the transportation picture of the scraper conveyor.

[0035] An embodiment of the present invention provides an adaptive speed regulation system for a coal mining machine and a scraper conveyor based on video recognition. The adaptive speed regulation system includes:

[0036] A visual recognition training module, configured to train an algorithm model based on the historical video and picture data of the coal flow of the scraper conveyor, and the algorithm model is used for recognizing the coal flow rate of the scraper conveyor;

[0037] A video source management module, configured to access the video source for real-time monitoring of the coal flow rate of the scraper conveyor on the working face to the visual application platform, and adjust the picture corresponding to the video source;

[0038] A visual recognition application module, configured to process the video source by using the algorithm model to obtain an identification result of the size of the coal flow rate of the scraper conveyor;

[0039] An equipment data acquisition module, configured to acquire real-time coal mining machine parameters and scraper conveyor parameters;

[0040] A centralized control module, configured to perform adaptive speed regulation on the coal mining machine and the scraper conveyor according to the recognition result, the real-time coal mining machine parameters and scraper conveyor parameters.

[0041] The visual recognition training module is specifically configured to:

[0042] Collect the historical video and picture data of the coal flow of the scraper conveyor;

[0043] Label the historical video and picture data of the coal flow of the scraper conveyor, and transmit the labeled historical video and picture data of the coal flow of the scraper conveyor to the visual training platform;

[0044] Use the model in the visual training platform for training to obtain the algorithm model.

[0045] The video source includes the position information of the coal mining machine; the video source management module is specifically configured to:

[0046] Taking the head of the scraper conveyor as the reference point, the visual application platform rotates the camera device according to the coal mining machine position information at any time, so that the accessed video source is switched in real time as the position of the coal mining machine changes, and the picture corresponding to the video source is always maintained between the head of the scraper conveyor and the coal mining machine, so as to ensure that the picture corresponding to the video source is always the transportation picture of the scraper conveyor.

[0047] The visual recognition application module is specifically used for:

[0048] Pushing the algorithm model to the visual application platform;

[0049] Using the algorithm model to identify the coal flow of the scraper conveyor in real time for monitoring the working face in the video source, and obtaining the recognition result of the size of the coal flow of the scraper conveyor.

[0050] The device data acquisition module is specifically used for:

[0051] Obtaining the real-time traction speed and frequency converter current of the coal mining machine;

[0052] Obtaining the real-time running speed and frequency converter current of the scraper conveyor.

[0053] The centralized control module is specifically used for:

[0054] According to the recognition result, in combination with the magnitude of the frequency converter current and the running current, performing adaptive acceleration or deceleration control on the coal mining machine, and performing adaptive acceleration or deceleration control on the scraper conveyor.

[0055] The recognition result includes: overload; the centralized control module is also specifically used for: when the recognition result is overload and the frequency converter current of the scraper conveyor is within the upper and lower limits, performing adaptive acceleration control on the scraper conveyor, and at the same time performing adaptive deceleration control on the traction speed of the coal mining machine until the frequency converter current of the scraper conveyor is higher than the upper limit, stopping the adaptive acceleration and deceleration control of the scraper conveyor and the coal mining machine;

[0056] When the recognition result is overload and the frequency converter current of the scraper conveyor is higher than the upper limit, performing adaptive deceleration control on the traction speed of the coal mining machine until the frequency converter current of the scraper conveyor is within the normal upper and lower limits, stopping the adaptive deceleration control of the coal mining machine.

[0057] The recognition result includes: normal; the centralized control module is also specifically used for: when the recognition result is normal and the frequency converter current of the scraper conveyor is within the upper and lower limits, maintaining the original traction speed of the coal mining machine;

[0058] When the recognition result is normal and the current of the scraper conveyor frequency converter is higher than the upper limit, perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is within the normal upper and lower limit range, and then stop the adaptive deceleration control of the coal shearer.

[0059] The recognition result includes: light load; the centralized control module is further specifically configured to: when the recognition result is light load and the currents of both the scraper conveyor frequency converter and the coal shearer frequency converter are within the upper and lower limit ranges, perform adaptive acceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is higher than the upper limit or the current of the coal shearer frequency converter is higher than the upper limit, and then stop the adaptive acceleration control of the coal shearer;

[0060] When the recognition result is light load and the operating current is lower than the lower limit, perform adaptive acceleration control on the traction speeds of both the scraper conveyor and the coal shearer until the current of the scraper conveyor frequency converter is within the upper and lower limit ranges or the current of the coal shearer frequency converter is higher than the upper limit, and then stop the adaptive acceleration control of the traction speeds of the scraper conveyor and the coal shearer.

[0061] The adaptive speed regulation method for a coal shearer and a scraper conveyor based on video recognition provided by the present invention first trains an algorithm model based on the historical video and picture data of the coal flow of the scraper conveyor, and this algorithm model is used to identify the coal flow of the scraper conveyor; then connect the video source for real-time monitoring of the coal flow of the scraper conveyor on the working face to the visual application platform and adjust the corresponding picture of the video source; then use the algorithm model to process the video source to obtain the recognition result of the size of the coal flow of the scraper conveyor; obtain the real-time coal shearer parameters and scraper conveyor parameters; finally, perform adaptive speed regulation on the coal shearer and the scraper conveyor according to the recognition result, the real-time coal shearer parameters and scraper conveyor parameters.

[0062] The present invention creatively proposes to use intelligent analysis technologies such as AI to extract valuable data from video monitoring, construct an algorithm model for identifying the coal flow of the scraper conveyor with "video + AI", and achieve efficient and accurate identification of the coal flow. During the production process, perform adaptive adjustment control on the speeds of the coal shearer and the scraper conveyor. And it uses the video source already installed on the working face for model training, without additional investment in hardware equipment, reduces equipment wear and increases the service life of the equipment on the premise of not affecting production, achieving the purpose of energy conservation and cost reduction, and has high practicability. Description of the Drawings

[0063] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Also, throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0064] Figure 1 is a flowchart of the adaptive speed regulation method for a coal shearer and a scraper conveyor based on video recognition according to an embodiment of the present invention;

[0065] Figure 2 is a better control flow of the adaptive speed regulation method in an embodiment of the present invention;

[0066] Figure 3 is a block diagram of the adaptive speed regulation system for a coal shearer and a scraper conveyor based on video recognition according to an embodiment of the present invention. Detailed Embodiments

[0067] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, which is only a part of the embodiments of the present invention and not all of them, and are not used to limit the present invention.

[0068] Referring to Figure 1 , a flowchart of the adaptive speed regulation method for a coal shearer and a scraper conveyor based on video recognition according to an embodiment of the present invention is shown, and the method includes:

[0069] Step 101: Train an algorithm model based on the historical video and picture data of the coal flow of the scraper conveyor, and the algorithm model is used for identifying the coal flow rate of the scraper conveyor.

[0070] For the adaptive speed regulation method proposed by the present invention, an algorithm model is first trained based on the historical video and picture data of the coal flow of the scraper conveyor, and the algorithm model is used for identifying the coal flow rate of the scraper conveyor. The historical video and picture data of the coal flow are the basis for the algorithm model to better identify the coal flow rate of the scraper conveyor. The more data there is, the higher the accuracy of the algorithm model and the higher the accuracy of the recognition result. A better method for training the algorithm model includes:

[0071] First, collect the historical video and picture data of the coal flow of the scraper conveyor; then label these historical video and picture data of the coal flow of the scraper conveyor, and then input the labeled historical video and picture data of the coal flow of the scraper conveyor into the visual training platform; finally, use the model in the visual training platform to obtain the algorithm model after multiple trainings and iterations.

[0072] Step 102: Connect the video source that monitors the coal flow of the scraper conveyor in real time on the working face to the visual application platform and adjust the corresponding picture of the video source.

[0073] After the algorithm model is trained, then connect the video source that monitors the coal flow of the scraper conveyor in real time on the working face to the visual application platform, and at the same time adjust the corresponding picture of the video source. Connecting the video source that monitors the coal flow of the scraper conveyor in real time on the working face to the visual application platform is to enable the algorithm model to recognize the current real-time coal flow size of the scraper conveyor, and adjusting the corresponding picture of the video source not only makes the corresponding picture of the video source always the transportation picture of the scraper conveyor, but also enables the algorithm model to identify more accurately and obtain accurate identification results. Preferably: The video source includes the position information of the coal mining machine.

[0074] The head of the scraper conveyor can be used as a reference point, and the visual application platform rotates the camera device at any time according to the position information of the coal mining machine, so that the accessed video source is switched in real time as the position of the coal mining machine changes, and the corresponding picture of the video source is maintained between the head of the scraper conveyor and the coal mining machine at all times to ensure that the corresponding picture of the video source is always the transportation picture of the scraper conveyor. Preferably, the visual application platform can rotate multiple 360-degree rotatable PTZ cameras installed on the working face according to the position information of the coal mining machine to make the accessed video source switch in real time as the position of the coal mining machine changes.

[0075] Step 103: Process the video source using the algorithm model to obtain the recognition result of the coal flow size of the scraper conveyor.

[0076] After accessing the video source, the algorithm model can be used to process the video source to obtain the recognition result of the coal flow size of the scraper conveyor. A preferred method includes:

[0077] First, push the algorithm model to the visual application platform; then use the algorithm model to recognize the coal flow of the scraper conveyor monitored in real time on the working face in the video source, and the recognition result of the coal flow size of the scraper conveyor can be obtained.

[0078] Step 104: Obtain the real-time parameters of the coal mining machine and the scraper conveyor.

[0079] While performing the recognition, it is also necessary to obtain the real-time parameters of the coal mining machine and the scraper conveyor. Because the speeds of the coal mining machine and the scraper conveyor need to be adjusted adaptively, the real-time parameters of the coal mining machine and the scraper conveyor are also required. Preferred methods for obtaining real-time parameters include:

[0080] Obtain the real-time traction speed and inverter current of the coal mining machine; obtain the real-time operating speed and inverter current of the scraper conveyor. Among them, the traction speed of the coal mining machine can also be understood as the speed of the coal mining machine.

[0081] Step 105: According to the recognition result, real-time coal miner parameters, and scraper conveyor parameters, perform adaptive speed regulation on the coal miner and the scraper conveyor.

[0082] After obtaining the recognition result and real-time parameters, adaptive speed regulation can be performed on the coal miner and the scraper conveyor according to the recognition result, real-time coal miner parameters, and scraper conveyor parameters. A relatively optimal method for adaptive speed regulation includes: according to the recognition result, combined with the magnitudes of the current of the coal miner frequency converter and the current of the scraper conveyor frequency converter, perform adaptive acceleration or deceleration control on the coal miner and perform adaptive acceleration or deceleration control on the scraper conveyor. Specifically:

[0083] Through algorithmic models for recognition, the obtained recognition results include: overload, normal, and light load. For the recognition result of overload: when the recognition result is overload and the current of the scraper conveyor frequency converter is within the upper and lower limits, that is, when the current of the scraper conveyor frequency converter is not exceeded, adaptive acceleration control can be performed on the scraper conveyor, and at the same time, adaptive deceleration control can be performed on the traction speed of the coal miner. This is equivalent to reducing the amount of coal mined while accelerating the amount of coal transported out, and quickly resolving the overload situation. The adaptive speed regulation control stops until the current of the scraper conveyor frequency converter is higher than the upper limit, that is, stops the adaptive acceleration control of the scraper conveyor and stops the adaptive deceleration control of the coal miner. If it does not stop when the current of the scraper conveyor frequency converter is higher than the upper limit, it will cause damage or even destruction to the scraper conveyor.

[0084] Another situation: when the recognition result is overload and the current of the scraper conveyor frequency converter is higher than the upper limit, that is, although it is currently overloaded, the operating current of the scraper conveyor has already exceeded the upper limit. At this time, directly perform adaptive deceleration control on the traction speed of the coal miner to achieve the purpose of reducing the amount of coal mined. As the amount of coal mined decreases, the current of the scraper conveyor frequency converter also decreases, and stop the adaptive deceleration control of the coal miner until the current of the frequency converter is within the normal upper and lower limits, resolving the overload situation.

[0085] For the recognition result of normal: when the recognition result is normal and the current of the scraper conveyor frequency converter is within the upper and lower limits, only need to maintain the original traction speed of the coal miner, that is, maintain the current traction speed of the coal miner; when the recognition result is normal and the current of the scraper conveyor frequency converter is higher than the upper limit, then adaptive deceleration control needs to be performed on the traction speed of the coal miner until the current of the frequency converter is within the normal upper and lower limits and stop the adaptive deceleration control of the coal miner.

[0086] For light load in recognition results: When the recognition result is light load and the currents of the scraper conveyor frequency converter and the coal shearer frequency converter are both within the upper and lower limits, the traction speed of the coal shearer needs to be adaptively accelerated, that is, the amount of coal mined is increased until the current of the scraper conveyor frequency converter is higher than the upper limit or the current of the coal shearer frequency converter is higher than the upper limit, and then the adaptive acceleration control of the coal shearer is stopped; in this way, the overall coal output can be increased.

[0087] When the recognition result is light load and the current of the scraper conveyor frequency converter is lower than the lower limit, the traction speeds of both the scraper conveyor and the coal shearer are adaptively accelerated, that is, at this time, neither the amount of coal mined nor the amount of coal transported reaches the normal state, and the operations of both are not saturated, so both need to be accelerated until the current of the scraper conveyor frequency converter is within the upper and lower limits or the current of the coal shearer frequency converter is higher than the upper limit, and then the adaptive acceleration control of the traction speeds of the scraper conveyor and the coal shearer is stopped.

[0088] The above entire adaptive speed regulation method can also be Figure 2 summarized by the control flow shown as:

[0089] At the beginning of operation, first initialize the operating parameters of the coal shearer (including but not limited to the traction speed, frequency converter current, etc.) of the coal shearer, and then perform visual recognition of the scraper coal flow (that is, use the algorithm model to process the video source to obtain the recognition result of the size of the coal flow of the scraper conveyor). The recognition results generally include: coal flow overload, normal coal flow, and light coal flow.

[0090] For the case of coal flow overload: Judge whether the current of the scraper conveyor (that is, the current of the scraper conveyor frequency converter) is higher than the upper limit. If it is not higher than the upper limit, increase the speed level of the scraper conveyor (that is, perform adaptive acceleration control on the scraper conveyor), reduce the traction speed level of the coal shearer (that is, perform adaptive deceleration control on the traction speed of the coal shearer), and continuously judge whether the current of the scraper conveyor frequency converter is higher than the upper limit. If it is higher than the upper limit, stop the acceleration and deceleration control; if it is not higher than the upper limit, continue to increase the speed level of the scraper conveyor and reduce the traction speed level of the coal shearer.

[0091] If it is overloaded and the current of the scraper conveyor frequency converter is directly higher than the upper limit, the speed level of the scraper conveyor cannot be increased, but only the traction speed level of the coal shearer is reduced, and continuously judge whether the current of the scraper conveyor is normal. If it is not normal, continue to reduce the traction speed level of the coal shearer; if it is normal, stop the deceleration control (that is, stop the adaptive deceleration control of the traction speed of the coal shearer).

[0092] For the case of normal coal flow: Judge whether the current of the scraper conveyor frequency converter is higher than the upper limit. If it is not higher than the upper limit, the speed level of the coal shearer remains unchanged (that is, maintain the original traction speed of the coal shearer).

[0093] If the current of the scraper conveyor frequency converter is higher than the upper limit, the traction speed level of the coal shearer is reduced (i.e., the traction speed of the coal shearer is adaptively decelerated), and at the same time, it is continuously judged whether the current of the scraper conveyor (i.e., the operating current) is normal. If it is not normal, the traction speed level of the coal shearer is further reduced; if it is normal, the deceleration control is stopped (i.e., the traction speed of the coal shearer is stopped for adaptive deceleration control).

[0094] For the case of light coal flow load: judge whether the current of the scraper conveyor frequency converter is lower than the lower limit. If it is not lower than the lower limit, the speed level of the coal shearer is increased (i.e., the traction speed of the coal shearer is adaptively accelerated), and at the same time, it is continuously judged whether the current of the scraper conveyor frequency converter or the current of the coal shearer frequency converter is higher than the upper limit. If it is higher than the upper limit, the acceleration control is stopped (i.e., the adaptive acceleration control of the traction speed of the coal shearer is stopped); if it is not higher than the upper limit, the speed level of the coal shearer is further increased.

[0095] If it is light load and the current of the scraper conveyor frequency converter is directly lower than the lower limit, the speed level of the coal shearer and the speed level of the scraper conveyor are increased simultaneously, and it is continuously judged whether the current of the scraper conveyor frequency converter is higher than the upper limit or the current of the coal shearer frequency converter is higher than the upper limit. If it is not higher, the traction speed level of the coal shearer and the speed level of the scraper conveyor are further increased; if one of them is higher than the upper limit, the acceleration control is stopped (i.e., the adaptive acceleration control of the traction speed of the coal shearer and the scraper conveyor is stopped).

[0096] In the embodiment of the present invention, based on the above adaptive speed regulation method, an adaptive speed regulation system for a coal shearer and a scraper conveyor based on video recognition is further proposed. Refer to Figure 3 the block diagram of the adaptive speed regulation system shown, which includes:

[0097] A visual recognition training module for training an algorithm model based on the historical video and picture data of the coal flow of the scraper conveyor, and the algorithm model is used for identifying the coal flow of the scraper conveyor;

[0098] A video source management module for accessing the video source for real-time monitoring of the coal flow of the scraper conveyor on the working face to the visual application platform and adjusting the corresponding picture of the video source;

[0099] A visual recognition application module for processing the video source by using the algorithm model to obtain the recognition result of the size of the coal flow of the scraper conveyor;

[0100] An equipment data acquisition module for acquiring real-time parameters of the coal shearer and the scraper conveyor;

[0101] A centralized control module for adaptively adjusting the speed of the coal shearer and the scraper conveyor according to the recognition result, the real-time parameters of the coal shearer and the scraper conveyor.

[0102] The visual recognition training module is specifically used for:

[0103] Collect the historical video and picture data of the coal flow of the scraper conveyor;

[0104] Annotate the historical video and picture data of the coal flow of the scraper conveyor, and input the annotated historical video and picture data of the coal flow of the scraper conveyor into the visual training platform;

[0105] Use the model in the visual training platform for training to obtain the algorithm model.

[0106] The video source includes the position information of the coal mining machine; the video source management module is specifically used for:

[0107] Taking the head of the scraper conveyor as a reference point, the visual application platform rotates the camera device at any time according to the position information of the coal mining machine, so that the accessed video source is switched in real time as the position of the coal mining machine changes, and the picture corresponding to the video source is always maintained between the head of the scraper conveyor and the coal mining machine to ensure that the picture corresponding to the video source is always the transportation picture of the scraper conveyor.

[0108] The visual recognition application module is specifically used for:

[0109] Push the algorithm model to the visual application platform;

[0110] Use the algorithm model to identify the real-time monitored coal flow of the scraper conveyor in the video source to obtain the recognition result of the size of the coal flow of the scraper conveyor.

[0111] The equipment data acquisition module is specifically used for:

[0112] Obtain the real-time traction speed and inverter current of the coal mining machine;

[0113] Obtain the real-time running speed and inverter current of the scraper conveyor.

[0114] The centralized control module is specifically used for:

[0115] According to the recognition result, combined with the magnitude of the inverter current and the running current, perform adaptive acceleration or deceleration control on the coal mining machine and perform adaptive acceleration or deceleration control on the scraper conveyor.

[0116] The recognition result includes: overloading; the centralized control module is further specifically configured to: when the recognition result is overloading and the current of the scraper conveyor frequency converter is within the upper and lower limits, perform adaptive acceleration control on the scraper conveyor, and at the same time perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is higher than the upper limit, then stop the adaptive acceleration and deceleration control of the scraper conveyor and the coal shearer;

[0117] When the recognition result is overloading and the current of the scraper conveyor frequency converter is higher than the upper limit, perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is within the normal upper and lower limits, then stop the adaptive deceleration control of the coal shearer.

[0118] The recognition result includes: normal; the centralized control module is further specifically configured to: when the recognition result is normal and the current of the scraper conveyor frequency converter is within the upper and lower limits, maintain the original traction speed of the coal shearer;

[0119] When the recognition result is normal and the current of the scraper conveyor frequency converter is higher than the upper limit, perform adaptive deceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is within the normal upper and lower limits, then stop the adaptive deceleration control of the coal shearer.

[0120] The recognition result includes: light load; the centralized control module is further specifically configured to: when the recognition result is light load and the currents of both the scraper conveyor frequency converter and the coal shearer frequency converter are within the upper and lower limits, perform adaptive acceleration control on the traction speed of the coal shearer until the current of the scraper conveyor frequency converter is higher than the upper limit or the current of the coal shearer frequency converter is higher than the upper limit, then stop the adaptive acceleration control of the coal shearer;

[0121] When the recognition result is light load and the operating current is lower than the lower limit, perform adaptive acceleration control on the traction speeds of both the scraper conveyor and the coal shearer until the current of the scraper conveyor frequency converter is within the upper and lower limits or the current of the coal shearer frequency converter is higher than the upper limit, then stop the adaptive acceleration control of the traction speeds of the scraper conveyor and the coal shearer.

[0122] In summary, for the adaptive speed regulation method of the coal mining machine and the scraper conveyor based on video recognition provided by the present invention, first, an algorithm model is trained based on the historical video and picture data of the coal flow of the scraper conveyor. This algorithm model is used to identify the coal flow rate of the scraper conveyor. Then, the video source for real-time monitoring of the coal flow rate of the scraper conveyor on the working face is connected to the visual application platform and the corresponding picture of the video source is adjusted. Next, the algorithm model is used to process the video source to obtain the recognition result of the coal flow rate of the scraper conveyor. The real-time coal mining machine parameters and scraper conveyor parameters are obtained. Finally, according to the recognition result, the real-time coal mining machine parameters and scraper conveyor parameters, the coal mining machine and the scraper conveyor are adaptively speed-regulated.

[0123] The present invention creatively proposes to use intelligent analysis technologies such as AI to extract valuable data from video monitoring, construct an algorithm model for identifying the coal flow rate of the scraper conveyor with "video + AI", and achieve efficient and accurate identification of the coal flow rate. During the production process, the speeds of the coal mining machine and the scraper conveyor are adaptively adjusted and controlled. Moreover, it uses the video source already installed on the working face for model training, without the need for additional investment in hardware equipment. Without affecting production, it reduces equipment wear and increases the service life of the equipment, achieving the purpose of energy conservation and cost reduction, and has high practicality.

[0124] Although the preferred embodiments of the embodiments of the present invention have been described, once those skilled in the art learn the basic creative concept, additional changes and modifications can be made to these embodiments. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0125] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.

[0126] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative rather than restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit of the present invention and the scope protected by the claims. All of these are within the protection scope of the present invention.

Claims

1. An adaptive speed regulation method for coal machine and scraper conveyor based on video recognition, characterized in that: The adaptive speed regulation method comprises: An algorithm model is obtained based on the historical video and image data of the scraper conveyor coal flow, and the algorithm model is used to identify the scraper conveyor coal flow; Connecting the video source for real-time monitoring of the coal flow of the scraper conveyor on the working face to the visual application platform, and adjusting the screen corresponding to the video source; The video source is processed by using the algorithm model to obtain an identification result of the coal flow size of the scraper conveyor; Obtain real-time coal machine parameters and scraper conveyor parameters; According to the identification result, the real-time coal mining machine parameters and the scraper conveyor parameters, the coal mining machine and the scraper conveyor are adaptively adjusted in speed.

2. The adaptive speed regulation method according to claim 1, characterized in that: The algorithm model is trained based on the historical video and image data of the scraper conveyor coal flow, including: Collecting historical video and picture data of the coal flow of the scraper conveyor; Annotating the scraper conveyor coal flow historical video and picture data, and transferring the annotated scraper conveyor coal flow historical video and picture data to the visual training platform; The model in the visual training platform is used for training to obtain the algorithm model.

3. The adaptive speed regulation method according to claim 1, characterized in that: The video source is processed by using the algorithm model to obtain the recognition result of the coal flow size of the scraper conveyor, including: Pushing the algorithm model to the visual application platform; The algorithm model is used to identify the coal flow of the scraper conveyor monitored in real time on the working face in the video source, and an identification result of the coal flow of the scraper conveyor is obtained.

4. The adaptive speed regulation method according to claim 1, characterized in that: Get real-time coal machine parameters and scraper conveyor parameters, including: Obtaining the real-time traction speed and inverter current of the coal machine; The real-time running speed and inverter current of the scraper conveyor are obtained.

5. The adaptive speed regulation method according to claim 4, characterized in that: According to the identification result, the real-time coal machine parameters and the scraper conveyor parameters, the coal machine and the scraper conveyor are adaptively adjusted in speed, including: According to the identification result, combined with the magnitude of the coal machine inverter current and the scraper conveyor inverter current, the coal machine is adaptively accelerated or decelerated, and the scraper conveyor is adaptively accelerated or decelerated.

6. The adaptive speed regulation method according to claim 5, characterized in that: The coal flow identification result of the scraper conveyor includes: overload; according to the identification result, combined with the magnitude of the inverter current of the coal machine and the inverter current of the scraper conveyor, the coal machine is adaptively accelerated or decelerated, and the scraper conveyor is adaptively accelerated or decelerated, including: When the identification result is overload, and the inverter current of the scraper conveyor is within the upper and lower limits, the scraper conveyor is adaptively accelerated, and the traction speed of the coal machine is adaptively decelerated until the inverter current of the scraper conveyor is higher than the upper limit, and then the adaptive acceleration and deceleration control of the scraper conveyor and the coal machine is stopped; When the identification result is overload and the scraper conveyor inverter current is higher than the upper limit, the traction speed of the coal machine is adaptively decelerated until the scraper conveyor inverter current is within the normal upper and lower limit range, and then the adaptive deceleration control of the coal machine is stopped.

7. The adaptive speed regulation method according to claim 5, characterized in that: The identification result includes: normal; according to the identification result, in combination with the magnitude of the inverter current of the scraper conveyor and the inverter current of the coal machine, adaptively accelerating or decelerating the coal machine, and adaptively accelerating or decelerating the scraper conveyor, including: When the identification result is normal and the inverter current of the scraper conveyor is within the upper and lower limit range, the original traction speed of the coal machine is maintained; When the identification result is normal and the inverter current of the scraper conveyor is higher than the upper limit, the traction speed of the coal machine is adaptively decelerated until the inverter current of the scraper conveyor is within the normal upper and lower limits, at which time the adaptive deceleration control of the coal machine is stopped.

8. The adaptive speed regulation method according to claim 5, characterized in that: The identification result includes: light load; according to the identification result, in combination with the magnitude of the inverter current of the coal machine and the inverter current of the scraper conveyor, adaptively accelerating or decelerating the coal machine, and adaptively accelerating or decelerating the scraper conveyor, including: When the identification result is light load, and the inverter current of the scraper conveyor and the inverter current of the coal machine are both within the upper and lower limits, the traction speed of the coal machine is adaptively accelerated until the inverter current of the scraper conveyor is higher than the upper limit or the inverter current of the coal machine is higher than the upper limit, and then the adaptive acceleration control of the coal machine is stopped; When the identification result is light load and the scraper conveyor inverter current is lower than the lower limit, the traction speeds of the scraper conveyor and the coal machine are adaptively accelerated until the scraper conveyor inverter current is within the upper and lower limits or the coal machine inverter current is higher than the upper limit, and the adaptive acceleration control of the operating speeds of the scraper conveyor and the coal machine is stopped.

9. The adaptive speed regulation method according to claim 1, characterized in that: The video source includes coal machine location information; Adjusting the picture corresponding to the video source includes: Taking the head of the scraper conveyor as a reference point, the visual application platform rotates the camera device at any time according to the position information of the coal machine, so that the connected video source switches in real time with the position change of the coal machine, and maintains that the picture corresponding to the video source is always between the head of the scraper conveyor and the coal machine, so as to ensure that the picture corresponding to the video source is always the transportation picture of the scraper conveyor.

10. An adaptive speed control system for coal machine and scraper conveyor based on video recognition, characterized in that: The adaptive speed regulation system comprises: A visual recognition training module is used to train an algorithm model based on historical video and image data of coal flow in a scraper conveyor. The algorithm model is used to identify coal flow in a scraper conveyor. A video source management module, used to connect the video source of the working face real-time monitoring of the scraper conveyor coal flow to the visual application platform, and adjust the picture corresponding to the video source; A visual recognition application module, used to process the video source using the algorithm model to obtain an identification result of the coal flow size of the scraper conveyor; Equipment data acquisition module, used to obtain real-time coal machine parameters and scraper conveyor parameters; The centralized control module is used to adaptively adjust the speed of the coal machine and the scraper conveyor according to the identification result, the real-time coal machine parameters and the scraper conveyor parameters.

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