Intelligent mine comprehensive management and control system based on industrial internet

Abstract

The invention belongs to the technical field of intelligent management and control, and particularly relates to an industrial internet-based intelligent mine comprehensive management and control system, which comprises a first module, a second module and a third module, monitoring images of different management and control areas in a mine are collected, all pixel points in the monitoring images form a sequence in a scanning mode, and the sequence is divided into a plurality of subsequences; calculating the information complexity of the subsequences according to the numerical values of all pixel points in the subsequences on the attribute bits contained in each group; obtaining a target combination mode and a target scanning mode according to the information complexity; obtaining a plurality of target subsequences in the target scanning mode; and constructing a to-be-embedded matrix and an attribute matrix of the target sub-sequence, and embedding the watermark information into the target sub-sequence in combination with the key matrix and based on a block hiding algorithm, thereby obtaining the monitoring image after the information is embedded, and realizing safety management and control of the mine. According to the invention, the security of the monitoring image is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control. More specifically, the present invention relates to an integrated intelligent mine control system based on the industrial Internet. Background Art

[0002] In the integrated intelligent mine control system, when a safety accident occurs due to illegal operations or abnormal behaviors, the monitoring images in different control areas can be used as key evidence to trace the source of the problem and clarify the responsibilities of relevant production nodes. To avoid difficulties in accountability due to doubts about the authenticity of the images, watermark information is embedded in the monitoring images of different control areas.

[0003] For grayscale images, a commonly used watermark embedding method is based on the prediction error histogram. At this time, the embedding amount of watermark information depends on the prediction error with the largest frequency in the prediction error histogram, and the amount of data of the watermark information embedded in each pixel point corresponding to the prediction error with the largest frequency is equal to 1, resulting in a limited embedding amount of watermark information in grayscale images. The prediction error with the largest frequency in the prediction error histogram is usually the prediction error of 0, and the pixel points with a prediction error of 0 are located in the smooth area with less information in the grayscale image. However, the texture area with more information in the grayscale image is the key area. Therefore, when using this watermark embedding method to judge whether the smooth area with less information in the grayscale image has been tampered with, the judgment effect is better, but the judgment effect for whether the key area in the grayscale image has been tampered with is not good, and it is impossible to effectively protect the texture area containing important information in the monitoring image.

[0004] The block hiding algorithm is a method that embeds watermark information in each image block of a binary image based on the block means. Therefore, this method can overcome the problems in the watermark embedding method based on the prediction error histogram, such as limited embedding amount of watermark information and inability to effectively protect the texture area containing important information in the monitoring image. However, when the block hiding algorithm is applied to grayscale images, due to the local similarity of grayscale images, the types of elements in the attribute matrix constructed according to the grayscale values of pixel points in the image block are less, which leads to the failure to successfully embed watermark information into the image block, affecting the embedding amount of watermark information and further affecting the security of the image. Summary of the Invention

[0005] To solve the above technical problem that when the block hiding algorithm is applied to grayscale images, the types of elements in the attribute matrix constructed according to the grayscale values of pixel points in image blocks with local similarity are few, resulting in the failure to successfully embed watermark information into image blocks, affecting the embedding amount of watermark information and the security of the image, the present invention provides an integrated intelligent mine control system based on the industrial Internet. The system includes the following modules: The first module is used to collect monitoring images of different control areas in the mine, and set watermark information and key matrices for different control areas; The second module is used to set multiple scanning methods; all pixel points in the monitoring image are formed into a sequence through the scanning method; the sequence is divided into multiple subsequences; the last two bits of the 8-bit gray value of the pixel points are used as the embedding bits, and the remaining are used as attribute bits; the attribute bits are divided into two groups by any combination method, and the information complexity of the subsequence is calculated according to the values of all pixel points in the subsequence on the attribute bits included in each group; the sum of the information complexities of all subsequences is used as the preference degree of the combination method; the combination method with the largest preference degree is used as the optimal combination method of the scanning method; the optimal combination method with the largest preference degree and its scanning method are used as the target combination method and the target scanning method; The third module is used to obtain multiple target subsequences in the target scanning method; two matrices to be embedded are constructed according to the values of all pixel points in the target subsequence on the two embedding bits; two attribute matrices are constructed according to the values of all pixel points on the attribute bits included in each group in the target combination method; based on the block hiding algorithm, watermark information is embedded into the target subsequence according to the attribute matrix, the matrix to be embedded, and the key matrix, and then the monitoring image after the information is embedded is obtained, realizing the safety control of the mine.

[0006] The present invention scans and divides multiple subsequences through multiple set scanning methods, calculates the information complexity of the subsequences according to the values of all pixel points in the subsequence on the attribute bits included in each group of different combination methods, and then obtains the preference degrees of different combination methods, and then determines the target combination method and the target scanning method from multiple scanning methods and multiple combination methods, so that the types of elements in the attribute matrix constructed according to the values of all pixel points in the target subsequence on the attribute bits in the target combination method are more, thereby increasing the probability of successfully embedding watermark information into the monitoring image, increasing the embedding amount of watermark information, and further improving the security of the monitoring image.

[0007] Preferably, the setting of the watermark information and the key matrix for different control areas includes: for any one control area, constructing a binary sequence with a length of as the watermark information for this control area; the data in the binary sequence can only be one of 0 or 1; constructing a size of A binary matrix serves as the key matrix for the control area; the elements in the binary matrix can only be one of 0 or 1; among them, the length of the binary sequence ; where is the size of the monitoring image of the control area, are the length and width of the monitoring image respectively, is the length of the embedded watermark information, and = 3.

[0008] The present invention sets different watermark information and key matrices for different control areas, and attackers need to obtain and crack them separately, which greatly increases the difficulty of tampering with the monitoring image.

[0009] Preferably, the scanning method includes: zigzag scanning, horizontal serpentine scanning, vertical serpentine scanning, Hilbert curve scanning, Zigzag scanning, and other custom scans.

[0010] Preferably, the sequence is divided into multiple subsequences, and the lengths of all subsequences are the same and equal to 16.

[0011] Preferably, calculating the information complexity of the subsequence according to the values of all pixel points in the attribute bits included in each group includes: for any combination method, each group includes 3 attribute bits, and there are 8 results for the values of pixel points in the attribute bits included in each group; obtaining the values of pixel points in the attribute bits included in the first group, and then counting the frequencies of each result in the first group; obtaining the values of pixel points in the attribute bits included in the second group, and then counting the frequencies of each result in the second group; calculating the information complexity of the subsequence according to the frequencies of all results in the first group and the second group.

[0012] Preferably, the calculation formula for the information complexity of the subsequence is: ; where is the information complexity of the subsequence, represents the number of results with frequencies greater than 0 among all results in the th group, represents the th result in the th group, represents the logarithmic function with base 2.

[0013] The present invention calculates the information complexity of the subsequence to reflect the quantity of element types in the attribute matrix of the subsequence constructed subsequently, and then uses it to screen the target combination method and target scanning method that can increase the quantity of element types in the constructed attribute matrix.

[0014] Preferably, constructing two matrices to be embedded according to the values of all pixel points in the target subsequence at two embedding bits includes: forming a 4×4 matrix with the values of all pixel points in the target subsequence at the first embedding bit, and denoting it as the matrix to be embedded of the target subsequence , forming a 4×4 matrix with the values of all pixel points in the target subsequence at the second embedding bit, and denoting it as the matrix to be embedded of the target subsequence .

[0015] The present invention selects the low-order bits, i.e., the last two bits, of the 8-bit gray value of the pixel points as the embedding bits, and constructs the matrix to be embedded of the target subsequence, which has less influence on the image effect of the monitored image after embedding the watermark information while realizing the embedding of the watermark information

[0016] Preferably, constructing two attribute matrices according to the values of the attribute bits included in each group in the target combination manner of all pixel points includes: denoting the binary number formed by the values of the bits included in the first group in the target combination manner of each pixel point as the binary number , denoting the binary number formed by the values of the bits included in the second group in the target combination manner of each pixel point as the binary number ; using the decimal numbers corresponding to the binary number and the binary number as the attribute value and the attribute value of the pixel point respectively ; forming a 4×4 matrix with the attribute values of all pixel points in the target subsequence , and denoting it as the attribute matrix of the target subsequence , forming a 4×4 matrix with the attribute values of all pixel points in the target subsequence , and denoting it as the attribute matrix of the target subsequence .

[0017] Preferably, embedding the watermark information into the target subsequence based on the block hiding algorithm includes: based on the attribute matrix of the target subsequence, the matrix to be embedded and the key matrix, embedding the watermark information into the target subsequence based on the block hiding algorithm to realize the first embedding of the target subsequence; based on the attribute matrix of the target subsequence, the matrix to be embedded and the key matrix, embedding the watermark information into the target subsequence based on the block hiding algorithm to realize the second embedding of the target subsequence; embedding the watermark information into the target subsequence is achieved by performing an inversion operation on the elements in the matrix to be embedded so that the inverted matrix to be embedded Meet ; is the key matrix and the attribute matrix, is the exclusive OR operation and the dot product operation, represents taking the remainder of division, is the summation function, is the length of the embedded watermark information, is the decimal number corresponding to the embedded watermark information.

[0018] Preferably, the implementation of the safety control of the mine includes: when a safety accident occurs due to illegal operations or abnormal behaviors, through the monitoring images of the control area, trace the source of the problem and clarify the responsibilities of the relevant production nodes. At this time, combined with the key matrix of the control area, based on the block hiding algorithm, extract the verification information from the monitoring images, and calculate the Hamming distance between the extracted verification information and the watermark information of the control area. If the Hamming distance between the verification information and the watermark information is greater than or equal to , the monitoring image of this control area can be used as key evidence. Otherwise, the monitoring image of this control area cannot be used as key evidence. At this time, a risk warning is issued to the intelligent mine integrated control system, and a system log review and system vulnerability repair are carried out on the intelligent mine integrated control system; among them, the length of the watermark information of this control area is equal to , is a preset parameter.

[0019] The present invention provides a reliable verification mechanism for the monitoring images of each control area, enabling accurate determination of which production node has problems, avoiding the shifting of responsibilities, and enhancing the sense of responsibility and quality control awareness of production nodes.

[0020] The beneficial effects of the present invention are as follows: By screening the target combination method and the target scanning method that can increase the variety of elements in the constructed attribute matrix, the present invention enables the constructed attribute matrix to have a relatively large variety of elements according to the numerical values of the attribute bits of all pixel points in the target subsequence in the target combination method. Furthermore, it improves the probability of successfully embedding the watermark information into the monitoring images, increases the embedding amount of the watermark information, and thus enhances the security of the monitoring images; at the same time, by providing a reliable verification mechanism for the monitoring images of each control area, it enables accurate determination of which production node has problems, avoids the shifting of responsibilities, and enhances the sense of responsibility and quality control awareness of production nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic block diagram showing an intelligent mine integrated control system based on the industrial Internet in the present invention; Figure 2is a system block diagram schematically showing the second module 200; Figure 3 is a schematic diagram schematically showing various scanning methods. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Next, the detailed implementation manners of the present invention will be described in conjunction with the accompanying drawings.

[0024] An embodiment of the present invention discloses an integrated intelligent mine control system based on the industrial Internet. Referring to Figure 1 , it includes a first module 100 to a third module 300: The first module 100 is used to collect monitoring images of different control areas in the mine and set watermark information and key matrices for different control areas.

[0025] In the integrated intelligent mine control system, the entire mine is divided into multiple control areas. By collecting monitoring images of these control areas, rich real-time data can be provided for the integrated intelligent mine control system, realizing visual management, intelligent analysis, and automatic control of the entire process of mine production, improving the safety, production efficiency, and management level of the mine, and promoting the sustainable development of the mine industry. The specific division results of the control areas are as follows: 1. Mining area: It is the core area of mine mining operations, including open-pit mines or underground mining roadways, stopes, etc.; by collecting monitoring images of the mining area, the mining progress of ores, the effect of blasting operations, the operating status of mining equipment, etc. can be monitored in real time to ensure the safety and efficiency of mining operations.

[0026] 2. Transportation area: Responsible for the transportation of ores, materials, and personnel, including transportation belts, railways, roads and other transportation lines and their related transfer and loading and unloading stations; by collecting monitoring images of the transportation area, it helps to optimize transportation scheduling, avoid traffic jams on transportation lines, improve transportation efficiency, and at the same time, the operating conditions of transportation equipment can be monitored, such as whether the belt is running off track, whether the carriage is overloaded, etc., to ensure the safety and smoothness of the transportation process.

[0027] 3. Ventilation area: The ventilation system is crucial for the safety of the mine, including ventilation roadways, fan rooms, air doors, etc.; by collecting monitoring images of the ventilation area, the operating conditions of ventilation equipment can be observed in real time to ensure the normal operation of the ventilation system, provide fresh air for underground workers, and remove harmful gases and dust.

[0028] 4. Drainage area: A large amount of accumulated water is generated during the mining process in the mine, which needs to be processed through a drainage system, including drainage pump stations, drainage pipelines, etc. By collecting the monitoring images of the drainage area, the working status of the drainage equipment can be understood in a timely manner, such as the operation of the water pumps and the changes in the water level, to prevent the mine from being flooded by accumulated water and ensure the normal production of the mine.

[0029] 5. Substation: The substation provides power support for various equipment in the mine and is a key area for the energy supply of the mine. By collecting the monitoring images of the substation, the power equipment can be monitored in real time, equipment failures or abnormal conditions can be detected in a timely manner, and safety accidents such as electrical fires can be prevented, ensuring the stable and reliable power supply of the mine.

[0030] 6. Concentrator: It is used to separate and process the mined ore to obtain concentrated ore products that meet the requirements. By collecting the monitoring images of the concentrator, all links of the ore dressing process can be comprehensively grasped, such as the operation status of equipment such as crushing, grinding, flotation, and filtration, optimizing the ore dressing process, and improving the ore dressing recovery rate and product quality.

[0031] 7. Tailings pond: It is used to store the tailings generated after ore dressing and is an important facility for mine environmental protection. By collecting the monitoring images of the tailings pond, the dam body stability of the tailings dam, the water level changes in the reservoir area, the discharge of tailings, etc. can be monitored in real time, preventing environmental safety accidents such as dam breaks and leaks in the tailings pond, and protecting the surrounding ecological environment and the safety of residents.

[0032] 8. Office area and living area: They are the places where mine management personnel and operators work and rest. By collecting the monitoring images of the office area and living area, the personal safety and property safety of personnel can be guaranteed, the behavior of personnel can be standardized, and it is also helpful for personnel evacuation and rescue work in case of emergencies.

[0033] Specifically, by installing cameras in different control areas in the mine, the monitoring images of different control areas in the mine are collected; the control areas include: mining area, transportation area, ventilation area, drainage area, substation, concentrator, tailings pond, office area and living area; the cameras in all control areas are connected through the industrial Internet, and the collected monitoring videos are transmitted and stored in the intelligent mine integrated control system.

[0034] It should be noted that in the integrated management and control system of intelligent mines, watermark information is embedded in the monitoring images of different management and control areas. By embedding watermarks, it is possible to prevent someone from maliciously tampering with the monitoring images to cover up illegal operations or abnormal behaviors, etc., ensuring the authenticity and reliability of the collected images. Once a safety accident occurs, the monitoring images with embedded watermarks can be used as key evidence to accurately trace the source of the problem, clarify the responsibilities of relevant production nodes, and avoid difficulties in accountability due to doubts about the authenticity of the images. It is an important technical guarantee for realizing the safety management and control of intelligent mines. Therefore, for different management and control areas, watermark information and key matrices for different management and control areas are set to embed watermark information in the monitoring images of different management and control areas.

[0035] Specifically, the watermark information for different management and control areas is set, and the watermark information for different management and control areas is different. The specific method is as follows: For any management and control area, a binary sequence with a length of is constructed as the watermark information for this management and control area; the data in the binary sequence can only be one of 0 or 1.

[0036] Among them, the length of the binary sequence ; in the formula, is the size of the monitoring image of this management and control area, are the length and width of the monitoring image respectively, is the length of the embedded watermark information, and = 3.

[0037] Since the size of the monitoring image of this management and control area is , therefore, the length of the sequence composed of all pixel points in the scanning order is equal to ; the sequence is divided into multiple subsequences with a length equal to 16. Therefore, the number of all obtained subsequences is equal to ; for each subsequence, watermark information is embedded twice, and the length of the watermark information embedded each time is , therefore, the data volume of the watermark information finally embedded in the monitoring image of this management and control area is equal to .

[0038] Specifically, the key matrices for different management and control areas are set, and the key matrices for different management and control areas are different. The specific method is as follows: For any management and control area, a binary matrix with a size of is constructed as the key matrix for this management and control area; the elements in the binary matrix can only be one of 0 or 1.

[0039] Exemplarily, the binary matrix is used as the key matrix for this management and control area.

[0040] The second module 200 is used to determine the target combination mode and the target scanning mode.

[0041] It should be noted that the block hiding algorithm is a method that embeds watermark information into each image block in a binary image based on the block means. Therefore, this method can overcome the problems in the watermark embedding method based on the prediction error histogram, where the embedding amount of watermark information is limited and it is unable to effectively protect the texture regions containing important information in the monitored images. Therefore, the block hiding algorithm is applied to embed watermark information into grayscale images.

[0042] When applying the block hiding algorithm to embed watermark information into grayscale images, by dividing the 8-bit bits of the grayscale value of the constituent pixel points into 2 embedding bits and 6 attribute bits, two matrices to be embedded are constructed according to the values of the pixel points in the two embedding bits, and two attribute matrices are constructed according to the values of the pixel points in the attribute bits. By performing an inversion operation on the elements in the matrix to be embedded, where the inverted matrix to be embedded satisfies the relation: ; is the key matrix, is the attribute matrix, represents the exclusive OR operation, represents the dot product operation, represents taking the remainder of division, is the summation function, is the length of the embedded watermark information, and =3, is the decimal number corresponding to the embedded watermark information, then the watermark information can be successfully embedded; in this process, if no matter which elements in the matrix to be embedded are inverted, the calculation results of the inverted matrix to be embedded, the key matrix, and the attribute matrix are equal to the decimal number corresponding to the embedded watermark information, then the watermark information cannot be successfully embedded.

[0043] Exemplarily, if the key matrix , the matrix to be embedded , and the embedded watermark information is "001"; when the types of elements in the attribute matrix are few, that is, the attribute matrix , no matter which elements in the matrix to be embedded are inverted, the calculation results of the inverted matrix to be embedded, the key matrix, and the attribute matrix are equal to the decimal number corresponding to the embedded watermark information, that is, the watermark information cannot be successfully embedded; when the types of elements in the attribute matrix are many, that is, the attribute matrix , perform an inversion operation on the element "1" in the 4th row and 4th column of the matrix to be embedded to obtain the inverted matrix to be embedded , it is possible to make the calculation results of the inverted matrix to be embedded, the key matrix, and the attribute matrix equal to the decimal number corresponding to the embedded watermark information, that is, it is possible to successfully embed the watermark information.

[0044] Therefore, for the attribute matrix constructed according to the values of the pixels at the attribute bits, the fewer the types of elements in the attribute matrix, the more likely it is that the watermark information cannot be successfully embedded into the image, affecting the embedding amount of the watermark information and further affecting the security of the image.

[0045] In order to ensure the security of the monitored image to the greatest extent, it is required to be able to successfully embed more watermark information into the monitored image. Therefore, the present invention sets multiple scanning methods and multiple combination methods of attribute bits, and judges the information complexity of the subsequent obtained attribute matrix according to the values of all pixels in the subsequences obtained under different scanning methods at the attribute bits included in different combination methods, and then obtains the preference degrees of different scanning methods and combination methods, and takes the combination method with the largest preference degree and its scanning method as the target combination method and the target scanning method, so as to increase the types of elements in the attribute matrix constructed according to the values of the pixels at the attribute bits, increase the probability of successfully embedding the watermark information into the image, increase the embedding amount of the watermark information, and further improve the security of the monitored image.

[0046] Therefore, the second module 200 includes 4 sub-modules, and the system block diagram refers to Figure 2 , including the first sub-module 201, the second sub-module 202, the third sub-module 203, and the fourth sub-module 204: The first sub-module 201 is used to set multiple scanning methods.

[0047] It should be noted that from the perspective of signal processing, the monitored image can be regarded as a two-dimensional discrete signal. By using a space-filling curve to scan the two-dimensional monitored image signal, the two-dimensional discrete signal can be transformed into a one-dimensional discrete signal, and then further processing can be performed on the monitored image.

[0048] Specifically, the scanning methods include but are not limited to zigzag scanning, horizontal serpentine scanning, vertical serpentine scanning, Hilbert curve scanning, Zigzag scanning, and other custom scans; among them, the schematic diagram of zigzag scanning is as shown in Figure 3 in (1), the schematic diagram of horizontal serpentine scanning is as shown in Figure 3 in (2), the schematic diagram of vertical serpentine scanning is as shown in Figure 3 in (3), the schematic diagram of Hilbert curve scanning is as shown in Figure 3 in (4), and the schematic diagram of Zigzag scanning is as shown in Figure 3As shown in (5) therein, the schematic diagram of the custom scan 1 is as Figure 3 As shown in (6) therein, the schematic diagram of the custom scan 2 is as Figure 3 As shown in (7) therein, the schematic diagram of the custom scan 3 is as Figure 3 As shown in (8) therein, the schematic diagram of the custom scan 4 is as Figure 3 As shown in (9) therein, the schematic diagram of the custom scan 5 is as Figure 3 As shown in (10) therein.

[0049] The second sub-module 202 is used to divide the embedding bits and the attribute bits.

[0050] It should be noted that embedding watermark information into the monitored image is achieved by performing an inversion operation on the bit positions in the binary number corresponding to the gray value of the pixel point and replacing the gray value of the pixel point; among them, after performing the inversion operation on the higher bit positions, the difference between the pixel point after replacing the gray value and the original gray value of the pixel point is greater, seriously affecting the image effect of the monitored image after embedding the information; in the present invention, the lower bit positions, that is, the last two bit positions, among the 8 bit positions constituting the gray value of the pixel point are used as the embedding bits, while achieving the embedding of the watermark information, the influence on the image effect of the monitored image after embedding the information is relatively small.

[0051] Specifically, for any scanning method, all pixel points in the monitored image are scanned according to this scanning method, and all pixel points are formed into a sequence in the scanning order.

[0052] Furthermore, the sequence is divided into multiple subsequences, and the lengths of all subsequences are the same and are all equal to 16.

[0053] Among them, for the gray value of the pixel point, since the value range of the gray value is [0, 255], therefore, the number of bit positions in the binary number corresponding to the gray value of the pixel point is equal to = 8, that is to say, there are 8 bit positions constituting the gray value of the pixel point, and these 8 bit positions are respectively denoted as , the binary number is a number represented by 0 and 1, therefore, the value of the pixel point on each bit position can only be one of 0 or 1.

[0054] Furthermore, for the 8 bit positions constituting the gray value of the pixel point, the last two bit positions are used as the embedding bits, that is, the bit positions and the bit position are used as the embedding bits; the remaining 6 bit positions are used as the attribute bits, that is, the bit positions , the bit position , the bit position , the bit position , the bit position and the bit position As an attribute bit.

[0055] It should be noted that bit and bit are low bits, and changing their values results in little change in the grayscale value of the pixel point. Bit , bit , bit , bit , bit and bit are high bits, and changing their values results in a large change in the grayscale value of the pixel point; in order to ensure the quality of the monitored image after embedding the watermark, it is required to use bit and bit as the embedding bits.

[0056] The third sub-module 203 is used to calculate the preference degrees of different combination methods.

[0057] Specifically, since there are 6 attribute bits in total, if these 6 attribute bits are divided into two groups, with each group containing 3 attribute bits, then there are = 10 different combination methods.

[0058] Exemplarily, the two groups in the first combination method are respectively and ; the two groups in the second combination method are respectively and ; the two groups in the third combination method are respectively and ; the two groups in the fourth combination method are respectively and ; the two groups in the fifth combination method are respectively and ; the two groups in the sixth combination method are respectively and ; the two groups in the seventh combination method are respectively and ; the two groups in the eighth combination method are respectively and ; the two groups in the ninth combination method are respectively and ; the two groups in the tenth combination method are respectively and .

[0059] Furthermore, for any combination method, by dividing the 6 attribute bits into two groups through this combination method, with each group containing 3 attribute bits, the two groups in this combination method are respectively denoted as , and , where are three attribute bits in the first group, are three attribute bits in the second group.

[0060] Furthermore, since the attribute bit is a bit, and the value of a pixel at a bit can only be one of 0 or 1, therefore, the number of values of a pixel at the attribute bits included in each group is = 8 results; exemplarily, the number of values of a pixel at the attribute bits included in each group is 8 results, which are respectively , , , , , , , .

[0061] Furthermore, for all pixels in any subsequence: obtain the values of the pixels at the attribute bits included in the first group, and then count the frequency of each result in the first group; obtain the values of the pixels at the attribute bits included in the second group, and then count the frequency of each result in the second group; calculate the information complexity of the subsequence according to the frequencies of all results in the first group and the second group.

[0062] Among them, the calculation formula for the information complexity of the subsequence is: ; In the formula, is the information complexity of the subsequence, represents the number of results with a frequency greater than 0 among all results in the th group, represents the frequency of the th result in the th group, represents the logarithmic function with base 2; there are 2 groups, and each group contains 8 results, so the sequence number of the group has a value range of , and the sequence number of the result has a value range of .

[0063] It should be noted that the more results with a frequency greater than 0, the greater the information complexity of the elements in the attribute matrix constructed subsequently according to the values of all pixels in the subsequence at the attribute bits included in each group; It represents the information entropy of the numerical distribution of all pixel points in the subsequence on the attribute bits included in each group. The larger this value is, the more chaotic the numerical distribution of all pixel points in the subsequence on the attribute bits included in each group is. Correspondingly, the greater the information complexity of the elements in the attribute matrix constructed subsequently based on the numerical values of all pixel points in the subsequence on the attribute bits included in each group is.

[0064] It should be noted that for the attribute matrix of the subsequence, the richer the elements in the attribute matrix are, that is, the greater the information complexity of the subsequence is, the greater the probability that the subsequence can successfully embed the watermark.

[0065] Furthermore, calculate the information complexity of each subsequence, and take the sum of the information complexities of all subsequences as the preference degree of the combination method.

[0066] It should be noted that for any combination method, the greater the probability that all subsequences under this combination method can successfully embed the watermark is, the more this combination method should be selected as the optimal combination method for the final watermark information embedding. Therefore, the greater the probability that all subsequences under this combination method can successfully embed the watermark is, that is, the greater the sum of the information complexities of all subsequences under this combination method is, the greater the preference degree of this combination method is.

[0067] The fourth sub-module 204 is used to obtain the target scanning method and the target combination method.

[0068] It should be noted that for different combination methods, the preference degrees of the combination methods are different. Among them, the greater the preference degree of the combination method is, the richer the elements in the corresponding attribute matrix are, and correspondingly, the more blocks that can successfully embed the watermark are. Therefore, in order to maximize the watermark embedding, select the combination method with the greatest preference degree as the optimal combination method of the scanning method.

[0069] Specifically, for all combination methods, select the combination method with the greatest preference degree as the optimal combination method of the scanning method.

[0070] It should be noted that for different scanning methods, the preference degrees of the optimal combination methods of the scanning methods are different. Among them, the greater the preference degree of the optimal combination method of the scanning method is, the richer the elements in the corresponding attribute matrix constructed by the scanning method are, and correspondingly, the more blocks that can successfully embed the watermark are. Therefore, in order to maximize the watermark embedding, select the scanning method with the greatest preference degree of the optimal combination method as the target scanning method.

[0071] Furthermore, select from all scanning methods the scanning method with the greatest preference degree of its optimal combination method as the target scanning method, and record the optimal combination method of the target scanning method as the target combination method.

[0072] The third module 300 is used to embed watermark information into the monitoring image according to the target scanning method and the target combination method, so as to obtain the monitoring image after the information is embedded, and realize the safety control of the mine.

[0073] Specifically, all pixel points in the monitoring image are scanned according to the target scanning method, and all pixel points are combined into a sequence in the scanning order and denoted as the target sequence; the target sequence is divided into multiple target subsequences, and the lengths of all target subsequences are the same and are all equal to 16.

[0074] Furthermore, for any target subsequence, two matrices to be embedded are constructed according to the values of all pixel points in the two embedding bits of the target subsequence, including: the values of all pixel points in the first embedding bit of the target subsequence are combined into a matrix of size 4×4 and denoted as the matrix to be embedded of the target subsequence , and the values of all pixel points in the second embedding bit of the target subsequence are combined into a matrix of size 4×4 and denoted as the matrix to be embedded of the target subsequence .

[0075] Furthermore, for all pixel points in the target subsequence, two attribute matrices are constructed according to the values of the bit positions included in each group in the target combination method, including: the binary number formed by the values of the bit positions included in the first group of each pixel point in the target combination method is denoted as the binary number , and the binary number formed by the values of the bit positions included in the second group of each pixel point in the target combination method is denoted as the binary number ; obtain the decimal number corresponding to the binary number and the decimal number corresponding to the binary number ; use the decimal number and the decimal number as the attribute value and the attribute value of the pixel point respectively; it should be specially noted that when the decimal number =0, the attribute value , when the decimal number =8, the attribute value , when the decimal number =0, the attribute value , when the decimal number =8, the attribute value ; the attribute values of all pixel points in the target subsequence are combined into a matrix of size 4×4 and denoted as the attribute matrix of the target subsequence , and the attribute values of all pixel points in the target subsequence , form a matrix of size 4×4 and denote it as the attribute matrix of the target subsequence .

[0076] Furthermore, based on the block hiding algorithm, the watermark information is embedded into the target subsequence according to the attribute matrix of the target subsequence, the matrix to be embedded, and the key matrix, where the key matrix and the watermark information refer to the key matrix and the watermark information of the control area to which the monitoring image where the target subsequence is located belongs.

[0077] Among them, the specific method of embedding the watermark information into the target subsequence is: according to the attribute matrix of the target subsequence , the matrix to be embedded and the key matrix, based on the block hiding algorithm, the watermark information is embedded into the target subsequence to achieve the first embedding of the target subsequence; according to the attribute matrix of the target subsequence , the matrix to be embedded and the key matrix, based on the block hiding algorithm, the watermark information is embedded into the target subsequence to achieve the second embedding of the target subsequence.

[0078] Among them, based on the block hiding algorithm, embedding the watermark information into the target subsequence is mainly achieved by performing an inversion operation on the elements in the matrix to be embedded , so that the inverted matrix to be embedded satisfies the relational expression: ; in the formula, is the inverted matrix to be embedded, is the key matrix, is the attribute matrix, represents the exclusive OR operation, represents the dot product operation, represents the division with remainder, is the summation function, is the length of the embedded watermark information, and = 3, is the decimal number corresponding to the embedded watermark information; the inverted matrix to be embedded embeds the watermark information.

[0079] Among them, the matrix to be embedded is essentially a binary matrix. Therefore, the elements in the matrix to be embedded can only be one of 0 or 1. Performing an inversion operation on the elements in the matrix to be embedded is to convert 1 to 1 or convert 1 to 0.

[0080] It should be noted that embedding the watermark information only changes the pixel points in the low bit positions, namely bit and bit The value of , bit , bit , bit , bit and bit has not changed the value of the pixel at the high bit, i.e., bit

[0081] Furthermore, obtain the inverted matrix to be embedded and the inverted matrix to be embedded ; use the inverted matrix to be embedded and the inverted matrix to be embedded to replace the values of all pixels in the target subsequence at bit and bit , so as to replace the gray values of all pixels in the target subsequence; take the target subsequence composed of all pixels after replacing the gray values as the target subsequence after embedding information.

[0082] Furthermore, form a sequence by arranging all the target subsequences after embedding information in order as the target sequence after embedding information; take the monitoring image restored from the target sequence after embedding information according to the target scanning method as the monitoring image after embedding information.

[0083] Furthermore, when a safety accident occurs due to illegal operations or abnormal behaviors, trace the source of the problem and clarify the responsibilities of relevant production nodes through the monitoring images of the control area. At this time, it is necessary to verify the authenticity of the monitoring images to achieve the safety control of the mine. The specific method is as follows: Combine the key matrix of the control area, and based on the block hiding algorithm, extract verification information from the monitoring images, and calculate the Hamming distance between the extracted verification information and the watermark information of the control area. If the Hamming distance between the verification information and the watermark information is greater than or equal to , it means that the monitoring image of this control area has not been tampered with. Therefore, the monitoring image is true and reliable, and the monitoring image of this control area can be used as key evidence to trace the source of the problem and clarify the responsibilities of relevant production nodes. If the Hamming distance between the verification information and the watermark information is less than , it means that the monitoring image of this control area has been tampered with. Therefore, the authenticity of the monitoring image is in doubt, and the monitoring image of this control area cannot be used as key evidence. At this time, issue a risk warning to the integrated mine management and control system, and conduct a system log review and system vulnerability repair on the integrated mine management and control system.

[0084] Among them, system log review refers to reviewing the log files of the system to find operation records related to tampering behavior, including user accounts accessing the tampered images, access times, operation commands, etc., to determine the responsible entity and the tampering path; system vulnerability repair refers to repairing the existing security vulnerabilities and weak links in the system according to the review results, such as strengthening user authentication management, updating antivirus software, optimizing network firewall settings, etc., to prevent similar tampering behavior from occurring again.

[0085] Among them, the length of the watermark information in this control area is equal to , is a preset parameter, and the specific value of the preset parameter can be set according to the actual application scenario and requirements, and the value range of the preset parameter is [0.9, 1]. In the present invention, the preset parameter is set to 0.96.

[0086] It should be noted that by providing a credible verification mechanism for the monitoring images of each control area, it is possible to accurately determine which production node has problems, avoid the shirking of responsibility, and enhance the sense of responsibility and quality control awareness of the production nodes.

Claims

1. An integrated intelligent mine control system based on the industrial Internet, characterized in that, Including: A first module, configured to collect monitoring images of different controlled areas in a mine, set watermark information and key matrices for different controlled areas, where the watermark information and key matrices for different controlled areas are different; A second module, configured to set multiple scanning methods; form all pixel points in the monitoring image into a sequence through the scanning method; divide the sequence into multiple subsequences; use the last two bits of the 8-bit gray value of the pixel points as the embedding bits, and the remaining as attribute bits; divide the attribute bits into two groups by any combination method, calculate the information complexity of the subsequence according to the values of all pixel points in the subsequence on the attribute bits included in each group; use the sum of the information complexities of all subsequences as the preference degree of the combination method; use the combination method with the maximum preference degree as the optimal combination method of the scanning method; use the optimal combination method with the maximum preference degree and its scanning method as the target combination method and the target scanning method; A third module, configured to obtain multiple target subsequences in the target scanning method; construct two matrices to be embedded according to the values of all pixel points in the target subsequence on two embedding bits; Construct two attribute matrices according to the values of all pixel points on the attribute bits included in each group in the target combination method; based on the block hiding algorithm, embed the watermark information into the target subsequence according to the attribute matrix, the matrix to be embedded, and the key matrix, so as to obtain the monitoring image after the information is embedded, and realize the safety control of the mine.

2. The integrated intelligent mine control system based on industrial Internet according to claim 1, characterized in that, The setting of the watermark information and the key matrix for different controlled areas includes: For any control region, construct a binary sequence with a length of as the watermark information of the control region; the data in the binary sequence can only be one of 0 or 1; construct a binary matrix with a size of as the key matrix of the control region; the elements in the binary matrix can only be one of 0 or 1; Among them, the length of the binary sequence ; In the formula, is the size of the monitoring image of the control area, are the length and width of the monitoring image respectively, is the length of the embedded watermark information, and = 3.

3. The integrated intelligent mine control system based on industrial Internet according to claim 1, characterized in that The scanning methods include: zigzag scanning, horizontal serpentine scanning, vertical serpentine scanning, Hilbert curve scanning, Zigzag scanning, and other custom scans.

4. The integrated intelligent mine management and control system based on industrial Internet according to claim 1, wherein, The sequence is divided into multiple subsequences, and the lengths of all subsequences are the same and equal to 16.

5. The integrated intelligent mine control system based on industrial Internet according to claim 1, characterized in that, The calculation of the information complexity of the subsequence according to the values of all pixel points in the subsequence on the attribute bits included in each group includes: For any combination method, each group includes 3 attribute bits, and there are 8 results for the values of pixel points on the attribute bits included in each group; Obtain the values of the pixel points on the attribute bits included in the first group, and then count the frequencies of each result in the first group; obtain the values of the pixel points on the attribute bits included in the second group, and then count the frequencies of each result in the second group; calculate the information complexity of the subsequence according to the frequencies of all results in the first group and the second group.

6. The integrated intelligent mine control system based on industrial Internet according to claim 5, wherein, The calculation formula for the information complexity of the subsequence is: ； Wherein, is the information complexity of the subsequence, represents the number of results with a frequency greater than 0 among all results in the th group, represents the frequency of the th result in the th group, represents the logarithmic function with base 2.

7. The integrated intelligent mine control system based on industrial Internet according to claim 1, characterized in that, The construction of two matrices to be embedded according to the values of all pixel points in the target subsequence on two embedding bits includes: Form a 4×4 matrix with the values of all pixel points in the first embedding bit of the target subsequence, and denote it as the matrix to be embedded of the target subsequence , form a 4×4 matrix with the values of all pixel points in the second embedding bit of the target subsequence, and denote it as the matrix to be embedded of the target subsequence .

8. A comprehensive intelligent mine control system based on industrial Internet according to claim 1, characterized in that, The construction of two attribute matrices according to the values of all pixel points on the attribute bits included in each group in the target combination method includes: The binary number formed by the numerical values of the bits included in the first group of each pixel point in the target combination method is denoted as the binary number , and the binary number formed by the numerical values of the bits included in the second group of each pixel point in the target combination method is denoted as the binary number ; the decimal numbers corresponding to the binary number and the binary number are respectively used as the attribute value and the attribute value ; the attribute values of all pixel points in the target subsequence are combined to form a 4×4 matrix, which is denoted as the attribute matrix of the target subsequence, and the attribute values of all pixel points in the target subsequence are combined to form a 4×4 matrix, which is denoted as the attribute matrix .

9. The integrated intelligent mine control system based on industrial Internet according to claim 1, characterized in that, The embedding of the watermark information into the target subsequence based on the block hiding algorithm includes: According to the attribute matrix of the target subsequence , the matrix to be embedded and the key matrix, based on the block hiding algorithm, embed the watermark information into the target subsequence to achieve the first embedding of the target subsequence; According to the attribute matrix of the target subsequence , the matrix to be embedded and the key matrix, based on the block hiding algorithm, embed the watermark information into the target subsequence to achieve the second embedding of the target subsequence; Embedding the watermark information into the target subsequence is achieved by performing an inversion operation on the elements in the matrix to be embedded so that the matrix to be embedded after inversion satisfies ; is the key matrix and the attribute matrix, is the exclusive OR operation and the dot product operation, represents taking the remainder of division, is the summation function, is the length of the embedded watermark information, is the decimal number corresponding to the embedded watermark information.

10. A comprehensive intelligent mine control system based on industrial Internet according to claim 1, characterized in that, The realization of the safety control of the mine includes: When a safety accident occurs due to illegal operations or abnormal behaviors, the source of the problem is traced through the monitoring images of the controlled area, and the responsibilities of relevant production nodes are clarified. At this time, combined with the key matrix of the controlled area, based on the block hiding algorithm, verification information is extracted from the monitoring images, and the Hamming distance between the extracted verification information and the watermark information of the controlled area is calculated. If the Hamming distance between the verification information and the watermark information is greater than or equal to , the monitoring images of the controlled area can be used as key evidence. Otherwise, the monitoring images of the controlled area cannot be used as key evidence. At this time, a risk warning is issued for the integrated control system of the intelligent mine, and the system log of the integrated control system of the intelligent mine is reviewed and system vulnerabilities are repaired; Among them, the length of the watermark information in the control area is equal to , is a preset parameter.

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