Bidirectional control method and control system for mining arrester

Abstract

The invention relates to a mining arrester bidirectional control method and a mining arrester bidirectional control system, and relates to the field of mine tunnel safety, and the method comprises the following steps: when a shuttle car is detected to reach a first designated position of each arrester, outputting prompt information, acquiring a first image of the joint of the shuttle car and the cable, a second image of the shuttle car compartment and video information of each position of the cable, determining the abnormal degree of the shuttle car based on the first image, the second image and the video information, determining preset prompt information corresponding to the abnormal degree, and outputting the preset prompt information at a second specified position of each arrester, and when it is detected that the shuttle car reaches the second designated position of each arrester and a worker triggers a second switch of the arrester bidirectional control device, the height values from multiple positions of the lowest railing of the arrester to the mine ground and the horizontal values of the railings are obtained, and whether each arrester is normally closed or not is judged according to the height values and the horizontal values. The method and the device have the effect of finding abnormal conditions in shuttle vehicle transportation more timely.

Description

Technical Field

[0001] This application relates to the field of mine tunnel safety, and in particular to a two-way control method and control system for a mine car stop fence. Background Art

[0002] In coal mine excavation work, shuttle cars are usually used to transport the mined coal materials underground to the ground. The winch is connected to the shuttle car through a steel wire rope, and the winch pulls the shuttle car to transport along the slope tunnel of the mine. However, during the transportation process, the steel wire rope may break, which may lead to a shuttle car runaway accident, resulting in casualties. Therefore, multiple car stop fences are installed in the mine to block the shuttle car. However, when the shuttle car moves in the mine, it is not easy to monitor the status of the shuttle car and the car stop fence, so it is not convenient to timely detect abnormal situations according to the status of the shuttle car and the car stop fence. Therefore, how to more timely detect abnormal situations during shuttle car transportation has become a problem. Summary of the Invention

[0003] In order to more timely detect abnormal situations during shuttle car transportation, this application provides a two-way control method and control system for a mine car stop fence.

[0004] In the first aspect, this application provides a two-way control method for a mine car stop fence, adopting the following technical solution: A two-way control method for a mine car stop fence includes: When it is detected that the shuttle car reaches the first designated position of each car stop fence, a prompt message is output, so that the staff triggers the first switch of the two-way control device of the car stop fence, so that the air cylinder acts to drive the car stop fence to open; Obtain the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable; Determine the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable; Determine the preset prompt information corresponding to the abnormal degree and output the preset prompt information at the second designated position of each car stop fence; When it is detected that the shuttle car reaches the second designated position of each car stop fence and it is detected that the staff triggers the second switch of the two-way control device of the car stop fence, obtain the height values from multiple positions of the bottommost railing of the car stop fence to the mine floor and the horizontal values of the railing, and judge whether each car stop fence is closed normally according to the height values and the horizontal values.

[0005] By adopting the above technical solution, when it is detected that the shuttle car reaches the first designated position of each car stop, it indicates that the shuttle car needs to pass through the car stop. Therefore, a prompt message is output so that the staff can timely know that the car stop needs to be opened. After the staff triggers the first switch, the car stop opens. The shuttle car passes through the car stop, and the first image, the second image, and the video information of each part of the cable are obtained to facilitate subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, the abnormal degree of the shuttle car and the cable when passing through each car stop can be accurately analyzed based on the first image, the second image, and the video information of each part of the cable. Different abnormal degrees correspond to different prompt messages. Therefore, the preset prompt message corresponding to the abnormal degree is determined and output at the second designated position of each car stop, so as to facilitate the staff to timely understand the abnormal situation of the shuttle car and the cable. When the shuttle car passes through the second designated position of each car stop and it is detected that the staff triggers the second switch of the car stop bidirectional control device, it indicates that the car stop is closed. The height values from multiple positions of the lowest railing of the car stop to the mine floor and the horizontal values of the railing are obtained, and it is determined whether each car stop is closed normally according to the height values and the horizontal values. By analyzing the shuttle car, the cable, and the closing situation of the car stop, the abnormal situation in the shuttle car transportation can be discovered more timely.

[0006] In another possible implementation manner, determining the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable includes: Performing feature recognition on the first image to obtain multiple feature points at the connection between the shuttle car and the cable; Mapping the multiple feature points into a preset coordinate system to obtain the current scatter plot, and obtaining the previous scatter plot of the shuttle car, where the previous scatter plot is a scatter plot of multiple feature points in the first image of the shuttle car at the previous car stop; Determining the first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot; Performing coal pile recognition on the second image to obtain coal pile features, and determining the centroid position of the coal pile features; Based on the deviation value between the centroid position and the reference centroid position, the deviation value represents the second abnormal value; Determining the widths of each part of the cable from the video information of each part of the cable, and determining the positions where burrs exist on the cable; Determining the third abnormal value of the cable based on the widths of each part and the positions where burrs exist; Determine a total outlier based on the first outlier, the second outlier, and the third outlier, where the total outlier characterizes the degree of abnormality of the shuttle car.

[0007] In another possible implementation, among the multiple feature points, there are feature points of the free end of the cable and multiple feature points characterizing the cable joint component. The determining of the first outlier at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot includes: Calculate a first similarity between the current scatter plot and the previous scatter plot; Calculate the distance between the feature point of the free end of the cable and a preset feature point, where the preset feature point is any one of the multiple feature points of the cable joint component; Connect the multiple feature points of the cable joint in sequence to obtain a broken line graph, and calculate a second similarity between the broken line graph and a preset broken line graph characterizing the standard state of the cable joint; Determine the first outlier based on the first similarity, the distance, and the second similarity.

[0008] In another possible implementation, the determining of the third outlier of the cable based on the width at each location and the position where burrs exist includes: Determine a target cable segment with a width less than a preset width threshold based on the width at each location; Calculate the total length and average width of all target cable segments, and determine the minimum width value from the widths at each location; Determine a first cable outlier regarding the cable based on the total length, the average width, and the minimum width value; Determine the number of burrs and the average length of burrs at each position, and determine the product of the number of burrs and the average length of burrs at each position; Determine the ratio of the product to the width of the cable at the corresponding position; Determine the average value of all ratios and the total number of positions where burrs exist on the cable; Determine a second cable outlier regarding the cable based on the average value and the total number; Determine the third outlier based on the first cable outlier and the second cable outlier.

[0009] In another possible implementation, the method further includes: If there is a target position where the ratio of the product to the width of the cable at the corresponding position reaches a preset ratio threshold, output an alarm message.

[0010] In another possible implementation, the determining of whether each car stop is closed normally according to the height value and the horizontal value includes: Determine whether the horizontal value is within a preset horizontal value range. If it is within the preset horizontal value range, determine the minimum height value from the height values at multiple positions. If the minimum height value is within a preset height value range, determine that the car stop fence is closed normally.

[0011] In another possible implementation, before obtaining the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable, it further includes: Control the operation of the jet device and / or the water spray device so that the jet device sprays gas onto the cable and / or the water spray device sprays water towards the cable.

[0012] In a second aspect, the present application provides a two-way control system for a mine car stop fence, adopting the following technical solution: A two-way control system for a mine car stop fence includes: A camera device for collecting the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable; A two-way car stop fence control device includes a first switch and a second switch. The first switch is used to control the cylinder to drive the car stop fence to open, and the second switch is used to control the cylinder to drive the car stop fence to close. The first switch and the second switch are respectively located on both sides of the car stop fence in the mine; A plurality of distance sensors for collecting the height values from multiple positions of the lowest railing of the car stop fence to the mine floor; An angle sensor is arranged on the railing of the car stop fence for collecting the horizontal value of the railing of the car stop fence; An electronic device is communicatively connected to the camera device, communicatively connected to the two-way car stop fence control device, communicatively connected to the plurality of distance sensors, and communicatively connected to the angle sensor. When it detects that the shuttle car reaches the first designated position of each car stop fence, it outputs a prompt message so that the staff triggers the first switch of the two-way car stop fence control device to make the cylinder drive the car stop fence to open, obtains the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable, determines the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable, determines the preset prompt message corresponding to the abnormal degree and outputs the preset prompt message at the second designated position of each car stop fence. When it detects that the shuttle car reaches the second designated position of each car stop fence and detects that the staff triggers the second switch of the two-way car stop fence control device, it obtains the height values from multiple positions of the lowest railing of the car stop fence to the mine floor and the horizontal value of the railing, and determines whether each car stop fence is closed normally according to the height value and the horizontal value.

[0013] By adopting the above technical solution, the camera device collects the first image, the second image and video information. The vehicle barrier two-way control device includes a first switch and a second switch. The first switch is used to control the cylinder to drive the vehicle barrier to open, and the second switch is used to control the cylinder to drive the vehicle barrier to close. The first switch and the second switch are respectively located on both sides of the vehicle barrier in the mine. When it is detected that the shuttle car reaches the first designated position of each vehicle barrier, it indicates that the shuttle car needs to pass through the vehicle barrier. Therefore, a prompt message is output so that the staff can know in time that the vehicle barrier needs to be opened. After the staff triggers the first switch, the vehicle barrier opens. The shuttle car passes through the vehicle barrier, and the first image, the second image and the video information of each part of the cable are obtained to facilitate subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, it is possible to accurately analyze the abnormal degree of the shuttle car and the cable when passing through each vehicle barrier according to the first image, the second image and the video information of each part of the cable. Different abnormal degrees correspond to different prompt messages. Therefore, the preset prompt message corresponding to the abnormal degree is determined and output at the second designated position of each vehicle barrier, so as to facilitate the staff to timely understand the abnormal situation of the shuttle car and the cable. When the shuttle car passes through the second designated position of each vehicle barrier and it is detected that the staff triggers the second switch of the vehicle barrier two-way control device, it indicates that the vehicle barrier is closed. The height values from the multiple positions of the lowest railing of the vehicle barrier collected by multiple distance sensors to the mine floor and the horizontal value of the railing collected by the angle sensor are obtained, and it is judged whether each vehicle barrier is closed normally according to the height value and the horizontal value. By analyzing the shuttle car, the cable and the closing situation of the vehicle barrier, the abnormal situation in the shuttle car transportation can be found more timely.

[0014] In another possible implementation manner, the vehicle barrier two-way control device further includes an air supply pipeline, a first three-way pipe communicated with the air supply pipeline, a first branch pipe and a second branch pipe respectively communicated with the first three-way pipe, a second three-way pipe respectively communicated with the first branch pipe and the second branch pipe, and the second three-way pipe is communicated with the air inlet of the cylinder on the vehicle barrier body; the first switch is arranged on the first branch pipe, and the second switch is arranged on the second branch pipe.

[0015] By adopting the above technical solution, the first branch pipe and the second branch pipe are respectively communicated with the air supply pipeline, that is, the air supply pipeline is divided into two strands at the vehicle barrier, so as to facilitate the car attendant on the shuttle car to open and close the vehicle barrier while following the shuttle car.

[0016] In a third aspect, the present application provides an electronic device, adopting the following technical solution: An electronic device, the electronic device includes: At least one processor; Memory; At least one application program, where the at least one application program is stored in the memory and configured to be executed by at least one processor, and the at least one is configured to: execute a two-way control method for a mine car arrester shown in any possible implementation manner according to the first aspect.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, adopting the following technical solution: A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to execute a two-way control method for a mine car arrester described in any item of the first aspect.

[0018] In summary, the present application includes at least one of the following beneficial technical effects: When it is detected that the shuttle car reaches the first designated position of each arrester, it indicates that the shuttle car needs to pass through the arrester. Therefore, a prompt message is output so that the staff can timely know that the arrester needs to be opened. After the staff triggers the first switch, the arrester opens. The shuttle car passes through the arrester, and the first image, the second image, and the video information of each part of the cable are obtained to facilitate subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation at the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, therefore, according to the first image, the second image, and the video information of each part of the cable, the abnormal degree of the shuttle car and the cable when passing through each arrester can be accurately analyzed. Different abnormal degrees correspond to different prompt messages. Therefore, the preset prompt message corresponding to the abnormal degree is determined and output at the second designated position of each arrester, so as to facilitate the staff to timely understand the abnormal situation of the shuttle car and the cable. When the shuttle car passes through the second designated position of each arrester and it is detected that the staff triggers the second switch of the two-way control device of the arrester, it indicates that the arrester is closed. The height values from multiple positions of the lowest railing of the arrester to the mine floor and the horizontal values of the railing are obtained, and it is judged whether each arrester is closed normally according to the height values and the horizontal values. By analyzing the shuttle car, the cable, and the closing situation of the arrester, the abnormal situation in the shuttle car transportation can be found more timely. Description of the Drawings

[0019] Figure 1 is a schematic flowchart of a two-way control method for a mine car arrester according to an embodiment of the present application.

[0020] Figure 2 is a schematic structural diagram of a two-way control system for a mine car arrester according to an embodiment of the present application.

[0021] Figure 3It is a schematic structural diagram of the two-way control device for the vehicle barrier in the embodiments of the present application.

[0022] Figure 4 It is a schematic structural diagram of an electronic device in the embodiments of the present application.

[0023] Description of the drawings: 1. Camera device; 2. Two-way control device for the vehicle barrier; 21. First switch; 22. Second switch; 23. Air supply pipeline; 24. First three-way pipe; 25. First branch pipe; 26. Second branch pipe; 27. Second three-way pipe; 28. Cylinder; 3. Distance sensor; 4. Angle sensor; 5. Electronic device; 51. Processor; 52. Bus; 53. Memory; 54. Transceiver. Detailed implementation manners

[0024] The following further describes the present application in detail with reference to the accompanying drawings.

[0025] Those skilled in the art can make modifications to this embodiment without creative contributions according to needs after reading this specification, but as long as it is within the scope of the claims of the present application, it is protected by the Patent Law.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0027] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, unless otherwise specified.

[0028] The following further describes the embodiments of the present application in detail with reference to the drawings in the specification.

[0029] An embodiment of the present application provides a two-way control method for a mine car stop fence, which is executed by an electronic device. The electronic device can be a server or a terminal device. Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and the embodiment of the present application does not limit this here. For example, Figure 1 as shown, the method includes step S101, step S102, step S103, step S104 and step S105, where, S101, when it is detected that the shuttle car reaches the first designated position of each car stop fence, output a prompt message so that the staff can trigger the first switch of the two-way control device of the car stop fence, so that the air cylinder acts to drive the car stop fence to open.

[0030] For the embodiment of the present application, the shuttle car usually includes four load-bearing wheels and a carriage, and is towed and moved by a winch at the mine entrance. The staff can install an infrared pair-emitting device in the mine. The infrared pair-emitting device includes an infrared transmitting tube and an infrared receiving tube. The infrared transmitting tube and the infrared receiving tube are respectively located on the side wall of the mine. The infrared pair-emitting device is located at the position where the shuttle car is about to reach the car stop fence in the upward direction, that is, the first designated position. When the shuttle car reaches the first designated position, the shuttle car blocks the infrared rays emitted by the infrared transmitting tube. Therefore, the infrared receiving tube cannot receive the infrared rays and outputs a detection signal. The infrared pair-emitting device is connected to the electronic device through a wire, so that the electronic device receives the detection signal, and then knows that the shuttle car reaches the first designated position.

[0031] A display screen or an indicator light is installed on the side wall at the first designated position in the mine. The display screen or the indicator light is connected to the electronic device through a wire. After the electronic device detects that the shuttle car reaches the first designated position, it can control the display screen to display the text prompt message of "Please trigger the first switch", or control the indicator light to turn on, so that the staff can timely know that they need to trigger the first switch, and then open the car stop fence to allow the shuttle car to pass.

[0032] S102, obtain the first image of the connection between the shuttle car and the cable, the second image of the shuttle car carriage, and the video information of each part of the cable.

[0033] For the embodiment of the present application, a camera device is also installed at the car stop fence in the mine or at the top of the mine. The camera device is connected to the electronic device through a wire and is used to collect the first image of the connection between the shuttle car and the cable, the second image of the shuttle car vehicle, and the video information of each part of the cable.

[0034] S103. Determine the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable.

[0035] For the embodiments of the present application, the first image records the specific situation at the connection between the cable and the shuttle car, the second image records the specific situation in the shuttle car compartment, the camera device always collects the video information of each part of the cable when passing through the car stop at the car stop, and the video information of each part of the cable records the specific situation of each part of the cable. Therefore, the electronic device can accurately determine the abnormal degree of the shuttle car according to the first image, the second image, and the video information of each part of the cable.

[0036] S104. Determine the preset prompt information corresponding to the abnormal degree and output the preset prompt information at the second specified position of each car stop.

[0037] For the embodiments of the present application, the preset prompt information corresponding to different abnormal degrees is different. The electronic device stores the preset prompt information corresponding to different abnormal degrees, and the electronic device can determine the corresponding preset prompt information according to the determined abnormal degree. A display screen or an indicator light is also installed at the second specified position. The preset prompt information can be the abnormal level corresponding to different abnormal degrees. The electronic device controls the display screen to display the abnormal level corresponding to the abnormal degree, so as to facilitate the staff to timely know the current abnormal degree of the shuttle car. The preset prompt information can also be different colors. The electronic device can control the indicator light to light up according to the color corresponding to the abnormal degree, which is also convenient for the staff to timely know the current abnormal degree of the shuttle car.

[0038] S105. When it is detected that the shuttle car reaches the second specified position of each car stop and it is detected that the staff triggers the second switch of the two-way control device of the car stop, obtain the height values from the multiple positions of the lowest rail of the car stop to the mine ground and the horizontal value of the rail, and judge whether each car stop is closed normally according to the height value and the horizontal value.

[0039] For the embodiments of the present application, an infrared pair emission device is also provided at the second specified position of each car stop fence. Whether the shuttle car reaches the second specified position can be known according to whether the infrared rays emitted by the infrared emission tube are blocked by the shuttle car. The second switch of the two-way control device of the car stop fence can be connected to the electronic device through a wire. When the staff on the shuttle car triggers the second switch, the second switch outputs a detection signal. After receiving the detection signal, the electronic device can know that the car stop fence is closed. When the electronic device detects that the shuttle car reaches the second specified position and detects that the staff triggers the second switch, it means that the shuttle car has completely passed through the car stop fence and the car stop fence is about to close. An angle sensor is installed on the railing of the car stop fence to collect the horizontal inclination angle of the railing. Similarly, a plurality of ranging sensors are installed on the mine floor directly below the car stop fence to collect the distances from multiple positions at the bottommost railing of the car stop fence to the mine floor, that is, the height values of multiple positions. If the inclination angle of the car stop fence is too large and a car runaway accident occurs, the car stop fence may not be able to fully block the shuttle car, resulting in the shuttle car continuing to move downward. If the height value is too high or too low and a car runaway accident occurs, the car stop fence may also not be able to fully block the shuttle car, resulting in the shuttle car continuing to move downward. The electronic device can more accurately determine whether the car stop fence is closed normally according to the height value and the horizontal value. By analyzing the shuttle car, the cable rope, and the closing condition of the car stop fence, abnormal conditions during the shuttle car transportation can be discovered more timely.

[0040] In a possible implementation manner of the embodiments of the present application, in step S103, determining the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable rope specifically includes step S1031 (not shown in the figure), step S1032 (not shown in the figure), step S1033 (not shown in the figure), step S1034 (not shown in the figure), step S1035 (not shown in the figure), step S1036 (not shown in the figure), step S1037 (not shown in the figure), and step S1038 (not shown in the figure), where S1031, performing feature recognition on the first image to obtain multiple feature points at the connection between the shuttle car and the cable rope.

[0041] For the embodiments of the present application, the electronic device inputs the first image into a trained network model for feature recognition to identify multiple feature points at the connection between the shuttle car and the cable rope. The multiple feature points include the feature points at the cable joint and the feature points of the joint component on the shuttle car. By analyzing the feature points at the cable joint and the feature points of the joint component, the abnormal degree at the connection between the cable rope and the joint can be determined. Specifically, the network model can be a convolutional neural network model, a recurrent neural network model, or other types of network models, which are not limited herein.

[0042] S1032. Map multiple feature points to a preset coordinate system to obtain the current scatter plot, and acquire the previous scatter plot of the shuttle car.

[0043] The previous scatter plot is a scatter plot of multiple feature points in the first image of the shuttle car at the previous car stop barrier.

[0044] For the embodiments of the present application, the preset coordinate system is a plane rectangular coordinate system. The electronic device maps multiple feature points to the preset coordinate system to obtain a scatter plot of the current state at the connection of the cable and the joint, that is, the current scatter plot. The shuttle car collects the first image and generates a scatter plot of the connection of the cable and the joint when passing through each car stop barrier. The electronic device acquires the scatter plot of the shuttle car passing through the previous car stop barrier and compares it with the current scatter plot to analyze whether the state at the connection of the cable and the joint has changed compared with the previous passage, and then determines the degree of abnormality at the connection of the cable and the joint.

[0045] S1033. Determine the first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot.

[0046] For the embodiments of the present application, the electronic device compares the current scatter plot with the previous scatter plot to determine the difference between the two scatter plots. Therefore, the electronic device can determine the first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot.

[0047] S1034. Perform coal pile recognition on the second image to obtain coal pile features and determine the centroid position of the coal pile features.

[0048] For the embodiments of the present application, the electronic device can input the second image into a trained network model for coal pile recognition. After recognizing the coal pile features, the centroid position of the coal pile features can be determined. The electronic device can divide the coal pile features into multiple simple figures (such as rectangles, triangles, etc.), then calculate the centroid of each simple figure, and finally calculate the overall centroid according to the following formula:

[0049] where and are the overall centroid coordinates of the coal pile features, is the area of each simple figure, and are the centroid coordinates of each simple figure. represents starting from the first simple figure for calculation, represents the last simple figure, that is, a total of are divided.

[0050] S1035. Based on the deviation value between the centroid position and the reference centroid position.

[0051] Among them, the deviation value characterizes the second outlier.

[0052] For the embodiments of the present application, the reference center of gravity position can be a certain center of gravity reference point on the shuttle car. The electronic device can calculate the distance between the center of gravity position of the coal pile feature and the reference center of gravity position through the distance formula between two points, that is, the deviation value. The greater the deviation value, the greater the possibility of a runaway accident and the higher the degree of abnormality. Therefore, the deviation value characterizes the second outlier in terms of the center of gravity of the shuttle car.

[0053] S1036. Determine the widths at various locations of the cable from the video information of the cable, and determine the positions where burrs exist on the cable.

[0054] For the embodiments of the present application, the electronic device performs edge detection on each frame of the video information of the cable at various locations to segment the cable image. The electronic device can determine the widths at various locations of the cable by calculating the number of pixels of the cable image in the width direction. The smaller the width, the more likely it indicates that the cable has a local fracture, the lower the strength of the cable, and the more likely a runaway accident will occur. The electronic device performs burr feature recognition on each cable image through a trained network model to identify whether there are burrs on the cable. If there are burrs, the positions of the burrs on the cable are determined. The appearance of burrs indicates that the single wires of the cable are broken, resulting in a lower strength of the cable and increasing the risk of a runaway accident.

[0055] S1037. Determine the third outlier of the cable based on the widths at various locations and the positions where burrs exist.

[0056] For the embodiments of the present application, the widths at various locations of the cable and the positions where burrs exist are both key factors affecting the degree of abnormality of the cable. Therefore, the electronic device can determine the third outlier of the cable according to the widths at various locations of the cable and the positions where burrs exist.

[0057] S1038. Determine the total outlier based on the first outlier, the second outlier, and the third outlier.

[0058] Among them, the total outlier characterizes the degree of abnormality of the shuttle car.

[0059] For the embodiments of the present application, in summary, the first outlier, the second outlier, and the third outlier are all outliers of the shuttle car and the cable determined from different perspectives. The electronic device can sum the above three outliers to obtain the total outlier, that is, use the total outlier to characterize the overall degree of abnormality of the shuttle car. The degree of abnormality obtained by comprehensively considering the above various factors is more accurate.

[0060] In a possible implementation manner of the embodiments of the present application, among multiple feature points, there are feature points of the free end of the cable and multiple feature points representing the cable joint component. Determining the first outlier at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot in step S1033 specifically includes step S1 (not shown in the figure), step S2 (not shown in the figure), step S3 (not shown in the figure), and step S4 (not shown in the figure). Among them, S1, calculate the first similarity between the current scatter plot and the previous scatter plot.

[0061] For the embodiments of the present application, the electronic device can calculate the cosine distance between the current scatter plot and the previous scatter plot, and represent the first similarity through the cosine distance. The higher the first similarity, the smaller the degree of change in the state of the connection between the cable and the shuttle car when passing through the previous car stop fence, indicating a lower degree of abnormality.

[0062] S2, calculate the distance between the feature point of the free end of the cable and the preset feature point.

[0063] Among them, the preset feature point is any one of the multiple feature points of the cable joint component.

[0064] Corresponding to the embodiments of the present application, the cable joint component is arranged at the front of the shuttle car and is used to fix the cable. For example, a wedge joint. The preset feature point can be the end point of the cable joint component far from the shuttle car. The electronic device can calculate the distance between the feature point of the free end of the cable and the preset feature point through the distance formula between two points. The shorter the distance, the closer the free end of the cable is to the cable joint component, the greater the possibility that the cable falls off the cable joint component, and thus the greater the possibility of a derailment accident and the higher the degree of abnormality.

[0065] S3, connect the multiple feature points of the cable joint in sequence to obtain a broken line graph, and calculate the second similarity between the broken line graph and the preset broken line graph representing the standard state of the cable joint.

[0066] For the embodiments of the present application, the multiple feature points of the cable joint component can be the outer contour representing the cable joint component. The electronic device can connect the multiple feature points of the cable joint in sequence in the scatter plot to obtain a broken line graph representing the outer contour of the cable joint component. The electronic device calculates the second similarity between the broken line graph and the preset broken line graph. The higher the second similarity, the closer the state of the cable joint is to the standard state when the cable joint component is firm, indicating a lower possibility of abnormality of the cable joint component and a lower possibility of a derailment accident.

[0067] S4, determine the first outlier based on the first similarity, the distance, and the second similarity.

[0068] For the embodiments of the present application, in summary, the first similarity, distance, and second similarity are all key factors characterizing the abnormality degree of the connection between the cable and the shuttle car, and their influence degrees on the abnormality degree are different. Therefore, the staff can set their respective corresponding coefficients for the first similarity, distance, and second similarity and store them in the local storage medium in the electronic device. After the electronic device determines the first similarity, distance, and second similarity, it calls their respective corresponding coefficients to perform weighted calculation to obtain the first abnormality value regarding the connection between the cable and the shuttle car. The first abnormality value determined comprehensively through features such as the first similarity is more accurate.

[0069] A possible implementation manner of the embodiments of the present application. In step S1037, determining the third abnormality value of the cable based on the widths at various locations and the positions with burrs specifically includes step Sa (not shown in the figure), step Sb (not shown in the figure), step Sc (not shown in the figure), step Sd (not shown in the figure), step Se (not shown in the figure), step Sf (not shown in the figure), step Sg (not shown in the figure), and step Sh (not shown in the figure), where Sa, determining the target cable segments with widths less than the preset width threshold based on the widths at various locations.

[0070] For the embodiments of the present application, the preset width threshold is used as the demarcation point for whether the cable width is too small. If the cable width is less than the preset width threshold, it indicates a greater possibility of cable breakage. Therefore, the electronic device compares the widths at various locations with the preset width threshold to determine the target cable segments, that is, the cable segments with smaller widths.

[0071] Sb, calculating the total length and average width of all the target cable segments, and determining the minimum width from the widths at various locations.

[0072] For the embodiments of the present application, the electronic device calculates the total length of all the target cable segments through the summation formula. The longer the total length, the greater the proportion of the part with a smaller cable width, and the higher the possibility of breakage. The electronic device calculates the average width of all the target cable segments using the average value calculation formula. Using the average width can more accurately characterize the width of all the target cable segments as a whole. The electronic device sorts the widths at various locations to determine the minimum width, and the minimum width is also a key factor affecting the possibility of cable breakage.

[0073] Sc, determining the first cable abnormality value regarding the cable based on the total length, average width, and minimum width.

[0074] For the embodiments of the present application, the total length, average width, and minimum width of the target cable segment are all key factors characterizing the abnormality degree of the cable itself, and their influence degrees on the abnormality degree are different. Therefore, the staff can set their respective corresponding coefficients for the total length, average width, and minimum width and store them in the local storage medium in the electronic device. After the electronic device determines the total length, average width, and minimum width, it calls their respective corresponding coefficients for weighted calculation to obtain the first cable abnormality value characterizing the state of the cable itself from the aspect of cable width. The first cable abnormality value determined by comprehensively considering features such as the total length is more accurate.

[0075] Sd, determine the number of burrs and the average length of burrs at each position, and determine the product of the number of burrs and the average length of burrs at each position.

[0076] For the embodiments of the present application, the electronic device counts the burrs at each position to obtain the number of burrs at each position. The more the number of burrs at a certain position, the more the number of broken steel wires, and the greater the possibility of cable breakage at this position. The electronic device calculates the average length of burrs at each position through the average value calculation formula. The longer the average length of burrs at a certain position, the more obvious the burrs at this position, the more severe the spread of the steel wire rope, and the lower the strength of the cable at this position. The electronic device multiplies the number of burrs at each position by the average length of burrs to obtain the product. The larger the product at a certain position, the higher the abnormality degree of the burrs at this position.

[0077] Se, determine the ratio of the product to the width of the cable at the corresponding position.

[0078] For the embodiments of the present application, after the electronic device determines the product of burrs at each position, it divides the product by the width of the cable at the corresponding position to obtain a ratio. Since the product is inversely proportional to the cable strength and the width is directly proportional to the cable strength, the larger the ratio at a certain position of the cable, the higher the abnormality degree of the cable at this position, and the higher the risk of breakage, and vice versa. That is, the ratio is used to characterize the size of the abnormality feature value of the position with burrs on the cable.

[0079] Sf, determine the average value of all ratios and the total number of all positions with burrs on the cable.

[0080] For the embodiments of the present application, after the electronic device determines the ratios of all positions with burrs, it calculates the average value of all ratios to obtain the average value of all ratios, and uses the average value to overall characterize the abnormality degree of all positions with burrs on the cable. The electronic device counts the positions with burrs to obtain the total number of positions with burrs.

[0081] Sg, determine the second cable abnormality value regarding the cable based on the average value and the total number.

[0082] For the embodiments of the present application, the larger the average value, the greater the degree of abnormality of the cable itself, and the more positions with burrs, the greater the degree of abnormality of the cable itself. In summary, both the average value and the total quantity are key factors characterizing the degree of abnormality of the cable itself, and they have different degrees of influence on the degree of abnormality. Therefore, the staff can set their respective corresponding coefficients for the average value and the total quantity and store them in the local storage medium in the electronic device. After the electronic device determines the average value and the total quantity, it calls their respective corresponding coefficients for weighted calculation to obtain the second cable abnormality value characterizing the state of the cable itself from the aspect of cable burrs. The second cable abnormality value determined by comprehensively considering features such as the number of burrs and the ratio is more accurate.

[0083] Sh, determine the third abnormality value based on the first cable abnormality value and the second cable abnormality value.

[0084] For the embodiments of the present application, after the electronic device determines the first cable abnormality value and the second cable abnormality value, it can sum the first cable abnormality value and the second cable abnormality value to obtain a total abnormality value, and this total abnormality value is the third abnormality value characterizing the cable. It is more accurate for the electronic device to comprehensively determine the third abnormality value of the cable from two aspects: cable width and burrs.

[0085] A possible implementation manner of the embodiments of the present application further includes step Si (not shown in the figure) after step Se, where Si, if there is a target position where the ratio of the product to the width of the cable at the corresponding position reaches a preset ratio threshold, then output an alarm message.

[0086] For the embodiments of the present application, the preset ratio threshold is used as the demarcation point for an overly large ratio. If the ratio at a certain position reaches the preset ratio threshold, it means that the width of the cable at this position is too small but the degree of burr abnormality is too large. The possibility of the cable breaking at this position is relatively high, and the possibility of a runaway accident occurring is also relatively high. Therefore, the electronic device outputs an alarm message. Specifically, the electronic device can send a text message reminder or make a phone call to the terminal device of the staff on the shuttle car, that is, the car-following operator, so that the car-following operator can timely learn that a runaway accident is about to occur.

[0087] A possible implementation manner of the embodiments of the present application, in step S105, determining whether each car stop is normally closed according to the height value and the horizontal value specifically includes step S1051 (not shown in the figure) and step S1052 (not shown in the figure), where S1051, determine whether the horizontal value is within the preset horizontal value range. If it is within the preset horizontal value range, then determine the minimum height value from the height values at multiple positions.

[0088] S1052, if the minimum height value is within the preset height value range, then determine that the car stop is normally closed.

[0089] For the embodiments of the present application, the electronic device compares the horizontal value with a preset horizontal value range, such as [-10°, 10°]. If the horizontal value is within the preset horizontal value range, it indicates that the horizontal posture of the railing of the car stop fence meets the requirements. Therefore, the electronic device further determines the minimum height value from the height values at multiple positions, and uses the preset height value range as the range for determining whether the height of the lowermost railing of the car stop fence meets the requirements. The preset height value range is, for example, [20 cm, 30 cm]. If the minimum height value is within the preset height value range, it indicates that the height of the car stop fence meets the requirements. If the height of the lowermost railing is too high or too low, the shuttle car cannot be effectively blocked, and the shuttle car continues to move downward into the mine. Similarly, if the railing horizontal value is not within the preset horizontal value range, it indicates that the railing of the car stop fence is too inclined and cannot effectively block the shuttle car either. Therefore, if the horizontal value is not within the preset horizontal value range, it is determined that the car stop fence is abnormally closed. If the horizontal value is within the preset horizontal value range but the height value is not within the preset height value range, it is determined that the car stop fence is abnormally closed. The electronic device can more accurately determine whether the car stop fence is normally closed through the horizontal value and height value of the car stop fence.

[0090] A possible implementation manner of the embodiments of the present application further includes Step 1 before Step S102, where Step 1: Control the operation of the jet device and / or the water spray device so that the jet device sprays gas on the cable and / or the water spray device sprays water towards the cable.

[0091] For the embodiments of the present application, the electronic device is connected to the jet device and / or the water spray device through wires. The jet device and / or the water spray device are arranged under the mine floor, with the jet nozzle and / or the water spray nozzle facing upward. The electronic device sends a control instruction to the jet device and / or the water spray device, so that the jet device and / or the water spray device operate to spray high-speed gas or high-speed water flow on the cable, to remove floating ash, coal ash, etc. attached to the surface of the cable, so that the cable in the first image and the video information of each part of the cable is clearer, and reduce the influence of impurities such as floating ash and coal ash on the cable analysis.

[0092] The above embodiments introduce a two-way control method for a mine car stop fence from the perspective of the method flow. The following embodiments introduce a two-way control system for a mine car stop fence. For details, see the following embodiments.

[0093] The embodiments of the present application provide a two-way control system for a mine car stop fence, as Figure 2 shown. A two-way control system for a mine car stop fence may specifically include: A camera device 1, configured to collect a first image of the connection between the shuttle car and the cable, a second image of the shuttle car compartment, and video information of each part of the cable; The two-way control device 2 for the car blocking fence includes a first switch 21 and a second switch 22. The first switch 21 is used to control the operation of the air cylinder 28 to drive the car blocking fence to open, and the second switch 22 is used to control the operation of the air cylinder 28 to drive the car blocking fence to close. The first switch 21 and the second switch 22 are respectively located on both sides of the car blocking fence in the mine; A plurality of distance sensors 3 are used to collect the height values of multiple positions of the lowest railing of the car blocking fence to the mine ground; An angle sensor 4 is arranged on the railing of the car blocking fence and is used to collect the horizontal value of the railing of the car blocking fence; An electronic device 5 is communicatively connected to the camera device 1, communicatively connected to the two-way control device 2 for the car blocking fence, communicatively connected to the plurality of distance sensors 3, and communicatively connected to the angle sensor 4, and is used to execute a method for two-way control of a mine car blocking fence in the above embodiment.

[0094] For the embodiments of the present application, a camera device 1 is installed on the mine above each car blocking fence, and is used to collect video information of the cable, a first image of the connection between the cable and the shuttle car when the shuttle car passes through the car blocking fence, and a second image of the shuttle car compartment in real time. When the shuttle car passes through the car blocking fence and reaches the first designated position, the car attendant on the shuttle car triggers the first switch 21 on the two-way control device 2 for the car blocking fence, so that the car blocking fence opens. When the shuttle car completely passes through the car blocking fence and reaches the second designated position, the car attendant on the shuttle car triggers the second switch 22 on the two-way control device 2 for the car blocking fence, so that the car blocking fence closes. After the car blocking fence closes, the plurality of distance sensors 3 collect the height values of multiple positions of the lowest railing of the car blocking fence to the mine ground. In other embodiments, the plurality of distance sensors 3 can also be equally spaced on the lowest railing of the car blocking fence and face the mine ground. The angle sensor 4 collects the horizontal value of the railing of the car blocking fence, and judges whether the car blocking fence is closed normally according to the plurality of height values and horizontal values. The electronic device 5 analyzes the first image, the second image, and the video information of each part of the cable in the manner in the method embodiment above to obtain the abnormal degree of the shuttle car. After the electronic device 5 detects that the car attendant triggers the second switch 22, it indicates that the car blocking fence is closed. The electronic device 5 judges whether the car blocking fence is closed normally according to the methods disclosed in step S1051 and step S1052 in the above method embodiment.

[0095] The electronic device 5 can be connected to the camera device 1, the second switch 22 of the two-way control device 2 for the car blocking fence, the plurality of distance sensors 3, and the angle sensor 4 through wires.

[0096] In a possible implementation of the embodiment of the present application, the two-way control device 2 of the car stop fence further includes an air supply pipeline 23, a first three-way pipe 24 communicated with the air supply pipeline 23, a first branch pipe 25 and a second branch pipe 26 respectively communicated with the first three-way pipe 24, a second three-way pipe 27 respectively communicated with the first branch pipe 25 and the second branch pipe 26, and the second three-way pipe 27 is communicated with the air inlet of the cylinder 28 on the car stop fence body; the first switch 21 is arranged on the first branch pipe 25, and the second switch 22 is arranged on the second branch pipe 26.

[0097] Referring to Figure 3 , the air supply pipeline 23 is arranged along the driving direction of the mine and can be arranged on the top of the mine. A first three-way pipe 24 is installed at each car stop fence of the air supply pipeline 23. The first branch pipe 25 and the second branch pipe 26 correspond to each car stop fence. The first branch pipe 25 and the second branch pipe 26 are respectively communicated with the first three-way pipe 24. The first switch 21 is installed on the first branch pipe 25, and the second switch 22 is installed on the second branch pipe 26. The first switch 21 and the second switch 22 can be electromagnetic valves. The ends of the first branch pipe 25 and the second branch pipe 26 far away from the air supply pipeline 23 are also communicated with a second three-way pipe 27, and the second three-way pipe 27 is communicated with the air inlet of the cylinder 28 of the car stop fence body. When the shuttle car reaches the first designated position, the car attendant on the shuttle car triggers the first switch 21 to open the car stop fence, and the car attendant does not need to get off the car. When the shuttle car completely passes through the car stop fence and reaches the second designated position, the car attendant triggers the second switch 22 to close the car stop fence, which provides convenience for the car attendant to operate.

[0098] It should be noted that the car stop fence includes two bases arranged on the ground of the mine. A plurality of elastic bars are fixed on each base. The end of each elastic bar far away from the base is fixedly connected with a railing. The two bases are respectively located on both sides of the traveling direction of the shuttle car in the mine passage. The railing can be a "U" - shaped structure. Each elastic bar on the two bases is respectively fixed at both ends of each railing. A plurality of railings are arranged horizontally and parallelly. A support rod perpendicular to the railing is fixed on the plurality of railings to fix the plurality of railings into a whole. The number of cylinders can be two. The cylinder bodies of the cylinders are arranged on the top of the mine, and the telescopic rods of the cylinders are fixedly connected with the railings. When the telescopic rods of the cylinders shorten, the cylinders drive the railings to move towards the top of the mine to leave space for the shuttle car to pass through. When the telescopic rods of the cylinders extend, the cylinders drive the railings to move towards the bottom of the mine to close the car stop fence.

[0099] In other embodiments, the car stop railing can be a pneumatic lateral car stop railing, which includes two load-bearing columns arranged on the mine ground. The two load-bearing columns are respectively located on both sides of the shuttle car's traveling direction in the mine passage. A railing is rotatably connected to one of the load-bearing columns, and the railing can rotate horizontally along the load-bearing column. When the railing rotates to the other load-bearing column, the other load-bearing column plays a limiting role to prevent the railing from continuing to rotate, and the railing is limited to rotate on the side close to the mine entrance. An air cylinder is arranged on the top of the load-bearing column where the railing is installed. The cylinder body of the air cylinder is rotatably connected to the load-bearing column, and the telescopic rod of the air cylinder is fixedly connected to the top of the railing. The expansion and contraction of the telescopic rod of the air cylinder drive the railing to rotate to realize the opening and closing of the railing. Due to the complex geological environment in the mine, vibrations generated by geological activities or mechanical operations may cause the load-bearing columns to become loose and then tilt. If the car stop railing is this lateral car stop railing, an angle sensor can also be set at the rotating shaft of the railing or at the rotating shaft of the cylinder body of the air cylinder and the load-bearing column. By combining the detection of the rotation angle of the railing, the height value between the railing and the ground, and the horizontal angle value, it can be judged whether the car stop railing is closed normally. When a runaway accident occurs to the shuttle car, the railing blocks the shuttle car, making it difficult for the shuttle car to continue sliding downward into the mine. The above two structures of the car stop railing are clear to those skilled in the art, so no further illustration will be given through drawings.

[0100] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described two-way control system of a mine car stop railing can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0101] An electronic device is provided in an embodiment of the present application, such as Figure 4 shown. Figure 4 As shown, the electronic device 5 includes: a processor 51 and a memory 53. Among them, the processor 51 and the memory 53 are connected, such as through a bus 52. Optionally, the electronic device 5 may further include a transceiver 54. It should be noted that in practical applications, the transceiver 54 is not limited to one, and the structure of the electronic device 5 does not constitute a limitation to the embodiments of the present application.

[0102] The processor 51 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 51 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0103] The bus 52 may include a path for transmitting information between the above components. The bus 52 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 52 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0104] The memory 53 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0105] The memory 53 is used to store the application program code for implementing the solution of this application, and is controlled by the processor 51 for execution. The processor 51 is used to execute the application program code stored in the memory 53 to implement the content shown in the foregoing method embodiments.

[0106] Among them, the electronic device includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 4 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0107] The embodiments of this application provide a computer-readable storage medium, on which a computer program is stored. When it runs on a computer, it enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the related art, in the embodiments of this application, when it is detected that the shuttle car reaches the first specified position of each car stop fence, it indicates that the shuttle car needs to pass through the car stop fence. Therefore, a prompt message is output so that the staff can timely know that the car stop fence needs to be opened. After the staff triggers the first switch, the car stop fence opens, and the shuttle car passes through the car stop fence. The first image, the second image, and the video information of each part of the cable are obtained to facilitate subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, therefore, according to the first image, the second image, and the video information of each part of the cable, the abnormal degree of the shuttle car and the cable when passing through each car stop fence can be accurately analyzed. Different abnormal degrees correspond to different prompt messages. Therefore, the preset prompt message corresponding to the abnormal degree is determined and output at the second specified position of each car stop fence, so as to facilitate the staff to timely understand the abnormal situation of the shuttle car and the cable. When the shuttle car passes through the second specified position of each car stop fence and it is detected that the staff triggers the second switch of the car stop fence bidirectional control device, it indicates that the car stop fence is closed. The height values from multiple positions of the bottommost railing of the car stop fence to the mine ground and the horizontal values of the railing are obtained, and it is determined whether each car stop fence is closed normally according to the height values and the horizontal values. By analyzing the shuttle car, the cable, and the closing situation of the car stop fence, the abnormal situation in the shuttle car transportation can be discovered more timely.

[0108] It should be understood that although the steps in the flowchart of the accompanying drawings are shown sequentially according to the indication of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in this document, there is no strict order restriction for the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0109] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A two-way control method for a mine car stop fence, characterized in that, Including: When it is detected that the shuttle car reaches the first designated position of each car stop barrier, a prompt message is output, so that the staff can trigger the first switch of the two-way control device of the car stop barrier, and the cylinder acts to drive the car stop barrier to open; Obtain the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable; Determine the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable; Determine the preset prompt message corresponding to the abnormal degree and output the preset prompt message at the second designated position of each car stop barrier; When it is detected that the shuttle car reaches the second designated position of each car stop barrier and it is detected that the staff triggers the second switch of the two-way control device of the car stop barrier, obtain the height values from multiple positions of the bottommost railing of the car stop barrier to the mine floor and the horizontal values of the railing, and determine whether each car stop barrier is closed normally according to the height values and the horizontal values.

2. The two-way control method for a mine car stop fence according to claim 1, characterized in that, The determining the abnormal degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable includes: Perform feature recognition on the first image to obtain multiple feature points at the connection between the shuttle car and the cable; Map the multiple feature points into a preset coordinate system to obtain the current scatter plot, and obtain the previous scatter plot of the shuttle car, where the previous scatter plot is a scatter plot of multiple feature points in the first image of the shuttle car at the previous car stop barrier; Determine the first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot; Perform coal pile recognition on the second image to obtain coal pile features and determine the centroid position of the coal pile features; Based on the deviation value between the centroid position and the reference centroid position, the deviation value represents the second abnormal value; Determine the widths of each part of the cable from the video information of each part of the cable, and determine the positions where burrs exist on the cable; Determine the third abnormal value of the cable based on the widths of each part and the positions where burrs exist; Determine the total abnormal value based on the first abnormal value, the second abnormal value, and the third abnormal value, and the total abnormal value represents the abnormal degree of the shuttle car.

3. The two-way control method for a mine car stop fence according to claim 2, characterized in that, Among the multiple feature points, there are feature points at the free end of the cable and multiple feature points representing the cable joint components. The determining the first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot includes: Calculate the first similarity between the current scatter plot and the previous scatter plot; Calculate the distance between the feature point at the free end of the cable and a preset feature point, where the preset feature point is any one of the multiple feature points of the cable joint components; Connect the multiple feature points of the cable joint in sequence to obtain a broken line graph, and calculate the second similarity between the broken line graph and a preset broken line graph representing the standard state of the cable joint; Determine the first abnormal value based on the first similarity, the distance, and the second similarity.

4. The two-way control method for a mine car stop fence according to claim 2, characterized in that, The determining the third abnormal value of the cable based on the widths of each part and the positions where burrs exist includes: Determine the target cable section with a width less than a preset width threshold based on the widths of each part; Calculate the total length and average width of all target cable segments, and determine the minimum width from the widths at various locations; Determine a first cable anomaly value for the cable based on the total length, average width, and minimum width; Determine the number of burrs and the average burr length at each location, and determine the product of the number of burrs and the average burr length at each location; Determine the ratio of the product to the width of the cable at the corresponding location; Determine the average value of all the ratios and the total number of positions on the cable where burrs exist; Determine a second cable anomaly value for the cable based on the average value and the total number; Determine the third anomaly value based on the first cable anomaly value and the second cable anomaly value.

5. The two-way control method for a mine car stop fence according to claim 4, characterized in that, The method further includes: If there is a target position where the ratio of the product to the width of the cable at the corresponding location reaches a preset ratio threshold, output an alarm message.

6. A two-way control method for a mine car stop fence according to claim 1, characterized in that, The determining whether each car stop is normally closed according to the height value and the horizontal value includes: Judge whether the horizontal value is within a preset horizontal value range. If it is within the preset horizontal value range, determine the minimum height value from the height values at multiple positions; If the minimum height value is within a preset height value range, determine that the car stop is normally closed.

7. A two-way control method for a mine car stop fence according to claim 1, characterized in that, Before obtaining the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable, it further includes: Control the operation of the jet device and / or the water spraying device so that the jet device sprays gas onto the cable and / or the water spraying device sprays water towards the cable.

8. A two-way control system for a mine car stop fence, characterized in that, It includes: A camera device for collecting the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of each part of the cable; A car stop bidirectional control device including a first switch and a second switch. The first switch is used to control the cylinder to drive the car stop to open, and the second switch is used to control the cylinder to drive the car stop to close. The first switch and the second switch are respectively located on both sides of the car stop in the mine; A plurality of distance sensors for collecting the height values of multiple positions of the lowest railing of the car stop to the mine floor; An angle sensor arranged on the railing of the car stop for collecting the horizontal value of the railing of the car stop; An electronic device, communicatively connected to a camera device, communicatively connected to a two-way control device for a car stop barrier, communicatively connected to a plurality of distance sensors, and communicatively connected to an angle sensor, is configured to output a prompt message when it detects that a shuttle car reaches a first designated position of each car stop barrier, so as to enable a staff member to trigger a first switch of the two-way control device for the car stop barrier, so that a cylinder operates to drive the car stop barrier to open, obtain a first image of the connection between the shuttle car and a cable, a second image of the shuttle car compartment, and video information of each part of the cable, determine the abnormality degree of the shuttle car based on the first image, the second image, and the video information of each part of the cable, determine a preset prompt message corresponding to the abnormality degree and output the preset prompt message at a second designated position of each car stop barrier, and when it detects that the shuttle car reaches a second designated position of each car stop barrier and detects that the staff member triggers a second switch of the two-way control device for the car stop barrier, obtain height values of multiple positions of the bottommost railing of the car stop barrier to the mine ground and horizontal values of the railing, and determine whether each car stop barrier is closed normally according to the height values and the horizontal values.

9. A two-way control system for a mine car stop fence according to claim 8, characterized in that, The two-way control device for the car stop barrier further includes an air supply pipeline, a first three-way pipe communicated with the air supply pipeline, a first branch pipe and a second branch pipe respectively communicated with the first three-way pipe, a second three-way pipe respectively communicated with the first branch pipe and the second branch pipe, and the second three-way pipe is communicated with an air inlet of a cylinder on the car stop barrier body; the first switch is arranged on the first branch pipe, and the second switch is arranged on the second branch pipe.

10. An electronic device, characterized in that, It includes: At least one processor; A memory; At least one application program, wherein the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program is used to execute a two-way control method for a mine car stop barrier according to any one of claims 1 to 7.

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