Method, device and system for adjusting camera device in fully-mechanized coal mining video stitching scene

Abstract

The invention provides a method, a device and a system for adjusting a camera device in a fully mechanized video stitching scene, and the method comprises the steps: carrying out the calibration object position analysis of a video image collected by each camera device, and determining a first position of a calibration object in the video image; determining a first offset according to the first position and a second position of the calibration object in a previous video picture acquired by the same camera device; when it is determined that the first offset is larger than a first threshold value, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to conduct position adjustment according to the first adjustment amount till the first offset is smaller than the first threshold value. When deviation is determined, the camera device is controlled to carry out position adjustment according to the deviation amount, regular inspection and manual adjustment of workers are avoided, and the current situation that alignment errors exist in view fields of adjacent camera devices in current video stitching and stable application and popularization are difficult can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fully-mechanized coal mining, and in particular to a method, device, equipment and medium for adjusting a camera device in a fully-mechanized coal mining video splicing scene. Background Art

[0002] As video splicing technologies continue to mature and improve, coal companies are also exploring their practical applications in fully mechanized coal mining. With the deepening of coal mining, the underground environment has become increasingly complex. To meet the needs of comprehensive safety monitoring, video splicing technology can provide a broader field of view, enable remote monitoring and operation, and strive to achieve green, safe, and efficient coal mining.

[0003] Autonomous shearer tracking is an advanced coal mining technology that uses automation and intelligence to enable the shearer to automatically adjust its operating status and position based on the actual working surface conditions, improving coal mining efficiency, safety, and stability. Safety monitoring is required during this process.

[0004] In video stitching technology, highly stable gun-type cameras are usually used to collect image data. The initial installation position of the camera on the hydraulic support is specially designed to ensure the stability of the video stitching process. However, as coal mining operations continue, the hydraulic support will be frequently moved. This results in the position of the camera possibly undergoing slight changes in pitch and yaw angles after a period of use, which in turn affects the degree of alignment of the overlapping areas of the field of view of adjacent cameras. In order to ensure good video stitching results, staff are required to regularly check and manually adjust the installation positions of deviated cameras, which to a certain extent causes mechanical repetitive work for underground personnel, making it difficult to ensure continuous alignment of the effective visual range of video stitching, making it difficult to meet on-site application requirements, and cannot be widely used in full-scene autonomous visual monitoring of normalized coal mine production. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a method, device and system for adjusting a camera device in a comprehensive mining video splicing scenario.

[0006] The present invention provides a method for adjusting a camera device in a fully mechanized mining video splicing scene, which is applicable to a process in which a coal mining machine autonomously follows the machine. A plurality of calibration objects are arranged at intervals on the coal mining machine body, and the camera device is arranged on a hydraulic support on a fully mechanized mining working surface. After each movement of the coal mining machine is completed, the hydraulic support equipped with the camera device corresponds to a calibration object. The method comprises: Determining a video acquisition range based on the position information of the coal mining machine; Based on the video acquisition range, obtaining video images captured by multiple camera devices around the coal mining machine; Performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; Determining a first offset according to the first position and a second position of the calibration object in a previous video image captured by the same camera device; When it is determined that the offset is greater than a first threshold, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than a first threshold.

[0007] According to a method for adjusting a camera device in a fully-mechanized mining video splicing scenario provided by the present invention, the method further includes: When it is determined that the offset is greater than a first threshold and the camera device has not completed position adjustment, controlling an adjacent camera device to adjust to an auxiliary position, and capturing an auxiliary video image of a calibration object corresponding to the camera device that has not completed position adjustment; Performing calibration object position analysis on the auxiliary video screen to determine a third position of the calibration object in the auxiliary video screen; determining a second offset according to the third position and a fourth position of the calibration object in a previous auxiliary video image captured by the same camera device; When it is determined that the second offset is greater than a second threshold, a second adjustment amount in the offset direction of the second offset is determined, and adjacent cameras are controlled to adjust their positions according to the second adjustment amount until the second offset is less than a second threshold.

[0008] According to a method for adjusting a camera device in a comprehensive mining video splicing scenario provided by the present invention, when determining that the offset is greater than a first threshold, determining a first adjustment amount in an offset direction of the first offset includes: Determining an adjustment strategy according to a correspondence between the offset and a preset offset and adjustment strategy; A first adjustment amount is determined based on the adjustment strategy.

[0009] According to a method for adjusting a camera device in a fully-mechanized mining video splicing scenario provided by the present invention, the method further includes: The position of the calibration object is analyzed for the video images captured by each camera device. When it is determined that no calibration object exists, the camera device is controlled to adjust to a preset position and continue to capture video images.

[0010] According to a method for adjusting a camera device in a fully-mechanized mining video splicing scenario provided by the present invention, the method further includes: The position of the calibration object is analyzed for the video image captured by each camera device. When it is determined that there are multiple calibration objects, the first position of the calibration object corresponding to the hydraulic support corresponding to the camera device in the video image is determined.

[0011] According to a method for adjusting a camera device in a fully-mechanized mining video splicing scenario provided by the present invention, determining that the position adjustment of the camera device has not been completed includes: Performing calibration object position analysis on the video images captured by each camera device, and when it is determined that no calibration object exists, controlling the camera device to adjust to a preset position so that no calibration object exists in the captured video images; After determining that the offset is greater than a first threshold, controlling the camera device to adjust its position according to the first adjustment amount, and not receiving feedback information on the position adjustment of the camera device; After determining that the offset is greater than a first threshold, the camera device is controlled to adjust its position according to the first adjustment amount, and it is determined that the first offset has not changed based on the first position of the calibration object in the re-captured video screen and the second position of the calibration object in the previous video screen captured by the same camera device.

[0012] The present invention also provides a camera device adjustment device in a fully mechanized mining video splicing scene, which is suitable for use in a coal mining machine autonomous tracking process. A plurality of calibration objects are arranged at intervals on the coal mining machine body, and the camera device is configured on a hydraulic support on the fully mechanized mining working surface. After each movement of the coal mining machine is completed, the hydraulic support equipped with the camera device will correspond to a calibration object. The device includes: A screening module, configured to determine a video acquisition range based on the location information of the coal mining machine; An acquisition module, configured to acquire video images captured by multiple cameras around the coal mining machine based on the video acquisition range; A positioning module is used to analyze the position of the calibration object on the video image captured by each camera device and determine the first position of the calibration object in the video image; a calculation module, configured to determine a first offset based on the first position and a second position of the calibration object in a previous video image captured by the same camera device; The adjustment module is configured to determine a first adjustment amount in an offset direction of the first offset when determining that the offset is greater than a first threshold, and control the camera device to adjust its position according to the first adjustment amount until the first offset is less than a first threshold.

[0013] The present invention also provides a camera device adjustment system in a fully mechanized mining video splicing scene, which is suitable for setting multiple calibration objects at intervals on the coal mining machine body during the coal mining machine autonomous tracking process. The system includes: A camera device is arranged on the hydraulic support on the fully mechanized mining working face to collect video images; wherein, after each movement of the coal mining machine is completed, the hydraulic support equipped with the camera device will correspond to a calibration object; Control unit for: Determining a video acquisition range based on the position information of the coal mining machine; Based on the video acquisition range, obtaining video images captured by multiple camera devices around the coal mining machine; Performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; Determining a first offset according to the first position and a second position of the calibration object in a previous video image captured by the same camera device; When it is determined that the offset is greater than a first threshold, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than a first threshold.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, it implements a camera device adjustment method in any of the above-mentioned comprehensive mining video splicing scenarios.

[0015] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for adjusting the camera device in any of the above-mentioned comprehensive mining video splicing scenarios is implemented.

[0016] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements a camera device adjustment method in any of the above-mentioned comprehensive mining video splicing scenarios.

[0017] The present invention provides a camera device adjustment method, device and system in a comprehensive mining video splicing scenario. The method analyzes the position of the calibration object in the video picture collected by the camera device, determines the position of the calibration object in the picture, and compares it with the previous position. When it is determined that an offset has occurred, the camera device is controlled to adjust the position according to the offset, avoiding regular inspections and manual adjustments by staff. This can significantly improve the current situation in which adjacent camera devices in the video splicing have alignment errors in the field of view and are difficult to promote and apply stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flow chart of the camera device adjustment method in the comprehensive mining video splicing scenario provided by the present invention.

[0020] Figure 2 It is a structural schematic diagram of the camera device adjustment device in the comprehensive mining video splicing scene provided by the present invention.

[0021] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0023] The following combination Figure 1-Figure 3 The present invention describes a method, device, system, equipment and medium for adjusting a camera device in a fully-mechanized mining video splicing scenario.

[0024] Figure 1 A flow chart showing a method for adjusting a camera device in a fully mechanized mining video splicing scenario provided by the present invention is shown. Figure 1 The method is applicable to the process of autonomous tracking of a coal mining machine. Multiple calibration objects are set at intervals on the coal mining machine body, and the camera device is configured on the hydraulic support on the fully mechanized mining working face. After each movement of the coal mining machine, the hydraulic support equipped with the camera device will correspond to a calibration object. The method includes the following steps: Step 11: Determine the video acquisition range based on the location information of the coal mining machine.

[0025] Step 12: Based on the video acquisition range, obtain the video images captured by multiple cameras around the coal mining machine.

[0026] Step 13: Analyze the position of the calibration object on the video images captured by each camera device to determine the first position of the calibration object in the video image.

[0027] Step 14: Determine a first offset according to the first position and the second position of the calibration object in the previous video image captured by the same camera device.

[0028] Step 15: When it is determined that the offset is greater than the first threshold, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than the first threshold.

[0029] Regarding steps 11-15, it's important to note that as video stitching technology continues to mature and improve, coal companies are also continuously exploring its practical application in fully mechanized coal mining operations. With the deepening of coal mining, the underground environment is becoming increasingly complex. To meet comprehensive safety monitoring needs, video stitching technology can provide a broader field of view, enable remote monitoring and operation, and strive to achieve green, safe, and efficient coal mining.

[0030] In this invention, autonomous shearer tracking is an advanced coal mining technology that uses automation and intelligence to enable the shearer to automatically adjust its operating status and position based on the actual working surface conditions, thereby improving coal mining efficiency, safety, and stability. Safety monitoring is required during this process.

[0031] In the present invention, panoramic video monitoring is adopted. However, due to the long length of the fully-mechanized mining working face, a single camera device cannot achieve panoramic video monitoring of the fully-mechanized mining working face. For this purpose, video splicing technology is required. Therefore, a camera device needs to be configured on the hydraulic support of the fully-mechanized mining working face. There are multiple hydraulic supports on the fully-mechanized mining working face, and a camera device can be installed on each hydraulic support. In this case, multiple calibration objects are arranged at intervals on the coal mining machine body, and each hydraulic support can be corresponded to each other. Alternatively, based on the multiple calibration objects arranged at intervals on the coal mining machine body, corresponding hydraulic supports can be selected at intervals and installed with camera devices. The camera device can be a pan-tilt camera.

[0032] In the present invention, after each movement of the coal mining machine, the hydraulic support equipped with a camera device is aligned with a calibration object. In other words, the camera device on the hydraulic support can be accurately aligned with the calibration object. The calibration object is provided with a code. The camera device can capture the video image in front of it, and the calibration object is captured as much as possible in the video image. Due to the code on the calibration object, the video image can be analyzed to identify which calibration object a camera device is capturing.

[0033] In the present invention, the shearer's position information can be acquired in real time during its movement. Based on this position information, nearby hydraulic supports can be identified, and corresponding multiple cameras can be located accordingly. Therefore, based on the shearer's position information, the video capture range is determined, specifically the cameras within this range, and the video images captured by these cameras are then acquired.

[0034] In the present invention, since a calibration object may exist on the video screen, the calibration object on the video screen may be identified, and the coordinate position (ie, the first position) of the calibration object on the video screen may be determined.

[0035] To adjust the position of the camera device, it is necessary to determine whether the position of the calibration object on the video screen is offset from the previous position on the video screen. Here, it is necessary to obtain the coordinate position (i.e., the second position) of the same calibration object in the previous video screen captured by the same camera device. If the code of the calibration object is 9, the corresponding camera device is on the hydraulic support numbered 10. When the coal mining machine moves, the camera device on the hydraulic support numbered 10 can capture the video screen of any calibration object. However, the entire process can only capture the video screen of the calibration object numbered 9 once. Therefore, the previous video screen of the present invention is the video screen of the hydraulic support numbered 10 when it captured the calibration object numbered 9 last time. When the currently captured video is the first captured video screen, the coordinate position of the previous video screen is the initial position. In the present invention, the position information of the previous video screen can be stored at any time and can be called when needed.

[0036] In the present invention, an offset, namely a first offset, can be determined based on the two positions. When it is determined that the first offset is greater than a first threshold, a first adjustment amount is determined in the offset direction of the first offset, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than the first threshold, at which point the adjustment of the camera device position ceases. The video images recaptured by the camera device after the adjustment can provide a more uniform overlapping area for video stitching, ensuring more accurate subsequent video stitching.

[0037] The present invention provides a camera device adjustment method in a comprehensive mining video splicing scenario. The method analyzes the position of the calibration object in the video image captured by the camera device, determines the position of the calibration object in the image, and compares it with the previous position. When it is determined that an offset has occurred, the camera device is controlled to adjust its position according to the offset, avoiding regular inspections and manual adjustments by staff. This can significantly improve the current situation in which adjacent camera devices in the video splicing have alignment errors in their fields of view and are difficult to promote and apply stably.

[0038] In a further method of the above method, when the offset is greater than a threshold, the position of the camera device needs to be adjusted. However, when the camera device cannot complete the position adjustment, the camera device cannot obtain a better video image, which affects the accuracy of subsequent video splicing. Therefore, when the camera device has not completed the position adjustment, the adjacent camera device is controlled to be adjusted to an auxiliary position, and an auxiliary video image is captured for the calibration object corresponding to the camera device that has not completed the position adjustment. The auxiliary position here is the position set by the adjacent camera device in order to obtain the video image of the adjacent calibration object. This position can ensure that the camera device can reasonably capture the video image of the adjacent calibration object. Accordingly, the video image captured at the auxiliary position can be regarded as an auxiliary video image.

[0039] It should be noted here that the position of the calibration object is analyzed for the video images captured by each camera device. When it is determined that there is no calibration object, the camera device is controlled to adjust to the preset position. If there is still no calibration object in the captured video image, it can be regarded as the camera device failing to complete the position adjustment.

[0040] Or after determining that the offset is greater than the threshold, the camera device is controlled to adjust its position according to the first adjustment amount. When a signal is fed back after the camera device successfully adjusts its position, if no feedback information of the camera device adjusting its position is received, it can be regarded that the camera device cannot complete the position adjustment.

[0041] Or after determining that the offset is greater than the threshold, the camera device is controlled to adjust its position according to the first adjustment amount, and it is determined that the first offset has not changed based on the first position of the calibration object in the re-captured video picture and the second position of the calibration object in the previous video picture captured by the same camera device. At this time, it indicates that the position of the camera device has not changed, and the position of the calibration object in the captured video picture is still the first position.

[0042] In the present invention, the position of the calibration object is analyzed on the auxiliary video screen to determine the position of the calibration object in the auxiliary video screen (ie, the third position).

[0043] The offset is determined again based on this position and the position of the calibration object in the previous auxiliary video image captured by the same camera device (ie, the fourth position).

[0044] When it is determined that the offset is greater than a threshold value (i.e., the second threshold value), the adjustment amount in the offset direction of the offset is determined (i.e., the second adjustment amount), and the adjacent camera devices are controlled to adjust their positions according to the adjustment amount until the offset is less than the second threshold value, and the position adjustment of the adjacent camera devices is stopped.

[0045] A further method of the present invention is to collect video images of the calibration object corresponding to the camera device that has not completed position adjustment through adjacent camera devices, and analyze the position of the calibration object based on the video images, so that the camera device in a suitable position can capture the video images of the adjacent calibration object, which helps to complete and accurately stitch the video.

[0046] In a further method of the above method, in the process of determining the adjustment amount in the offset direction of the offset, it should be noted that the position deviation sent by the camera device will not deviate too much. For this reason, the position adjustment will also be carried out in a gentle position adjustment according to different strategies to ensure that the camera device will not send an offset in other directions. For this reason, the adjustment strategy is determined based on the correspondence between the offset and the preset offset and the adjustment strategy. In other words, different offsets will be configured with a suitable adjustment method, or a large adjustment or a small adjustment or an adjustment in a certain direction, which can complete the adjustment more accurately. After the adjustment strategy is determined, the adjustment amount can be calculated based on the adjustment strategy. For example, the angle is adjusted by 0.1° each time.

[0047] In a further embodiment of the above method, if the camera is not properly set up, causing it to significantly change position, resulting in the calibration object not being present in the captured adaptation image, the camera is controlled to adjust to a preset position and continue capturing video images. The preset position is the initial position of the camera, which is the initial position that allows the calibration object to be captured more appropriately.

[0048] Furthermore, the position of the calibration object is analyzed for the video images captured by each camera. If multiple calibration objects are determined, the position of the calibration object corresponding to the hydraulic support corresponding to the camera device is determined in the video image. In other words, each camera determines whether it has offset based on the corresponding calibration object. The present invention can simultaneously adjust each camera in real time, ensuring the synchronization of multiple video images and improving the efficiency of video splicing.

[0049] The following describes the camera device adjustment device in the comprehensive mining video splicing scenario provided by the present invention. The camera device adjustment device in the comprehensive mining video splicing scenario described below and the camera device adjustment method in the comprehensive mining video splicing scenario described above can be referenced to each other.

[0050] Figure 2 A schematic diagram of the process flow of a camera device adjustment device in a fully mechanized mining video splicing scene provided by the present invention is shown. Figure 2The device is suitable for use in a coal mining machine during autonomous tracking. Multiple calibration objects are spaced apart on the coal mining machine body, and the camera device is configured on the hydraulic support on the fully mechanized mining working surface. After each movement of the coal mining machine, the hydraulic support equipped with the camera device will correspond to a calibration object. The device includes a screening module 21, an acquisition module 22, a positioning module 23, a calculation module 24, and an adjustment module 25, wherein: A screening module is used to determine the video acquisition range based on the location information of the coal mining machine; An acquisition module, configured to acquire video images captured by multiple cameras around the coal mining machine based on a video acquisition range; A positioning module is used to analyze the position of the calibration object on the video image captured by each camera device and determine the first position of the calibration object in the video image; a calculation module, configured to determine a first offset based on the first position and a second position of the calibration object in a previous video image captured by the same camera device; The adjustment module is configured to determine a first adjustment amount in an offset direction of the first offset when determining that the offset amount is greater than a first threshold, and control the camera device to adjust its position according to the first adjustment amount until the first offset amount is less than the first threshold.

[0051] Since the principles of the apparatus of the embodiment of the present invention are the same as those of the method of the above embodiment, more detailed explanations are omitted here.

[0052] It should be noted that, in the embodiment of the present invention, relevant functional modules may be implemented by a hardware processor.

[0053] The camera device adjustment device in the comprehensive mining video splicing scenario provided by the present invention analyzes the position of the calibration object in the video picture collected by the camera device, determines the position of the calibration object in the picture, and compares it with the previous position. When it is determined that an offset has occurred, the camera device is controlled to adjust the position according to the offset, avoiding regular inspection and manual adjustment by staff, and can significantly improve the current situation in which there is alignment error in the field of view of adjacent camera devices in video splicing and it is difficult to promote and apply it stably.

[0054] The present invention provides a camera device adjustment system for a fully mechanized mining video splicing scene, which is suitable for setting multiple calibration objects at intervals on the coal mining machine body during the coal mining machine's autonomous tracking process. The system includes: A camera device is installed on the hydraulic support on the fully mechanized mining working face to collect video images. After each movement of the coal mining machine, the hydraulic support equipped with the camera device will correspond to a calibration object. Control unit for: Determine the video acquisition range based on the location information of the coal mining machine; Based on the video acquisition range, obtain video images captured by multiple camera devices around the coal mining machine; Performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; Determining a first offset according to the first position and a second position of the calibration object in a previous video image captured by the same camera device; When it is determined that the offset is greater than the first threshold, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than the first threshold.

[0055] Figure 3 An example of a physical structure diagram of an electronic device is shown below. Figure 3 As shown, the electronic device may include: a processor 31 (processor), a communication interface 32 (Communications Interface), a memory 33 (memory) and a communication bus 34, wherein the processor 31, the communication interface 32, and the memory 33 communicate with each other via the communication bus 34. The processor 31 may call the logic instructions in the memory 33 to execute a camera device adjustment method in a fully mechanized mining video splicing scenario, the method comprising: determining a video acquisition range based on the position information of the coal mining machine; acquiring video images captured by multiple cameras around the coal mining machine based on the video acquisition range; performing calibration object position analysis on the video images captured by each camera device to determine a first position of the calibration object in the video image; determining a first offset based on the first position and the second position of the calibration object in the previous video image captured by the same camera device; determining a first adjustment amount in the offset direction of the first offset when it is determined that the first offset is greater than a first threshold, and controlling the camera device to adjust its position according to the first adjustment amount until the first offset is less than the first threshold.

[0056] Furthermore, the logic instructions in the aforementioned memory 33 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0057] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the camera device adjustment method in the comprehensive mining video splicing scenario provided by the above methods, the method including: determining the video acquisition range based on the position information of the coal mining machine; obtaining video images captured by multiple cameras around the coal mining machine based on the video acquisition range; performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; determining a first offset based on the first position and the second position of the calibration object in the previous video image captured by the same camera device; when it is determined that the first offset is greater than the first threshold, determining a first adjustment amount in the offset direction of the first offset, and controlling the camera device to adjust its position according to the first adjustment amount until the first offset is less than the first threshold.

[0058] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the camera device adjustment method in the comprehensive mining video splicing scenario provided by the above-mentioned methods, the method comprising: determining the video acquisition range based on the position information of the coal mining machine; obtaining the video images captured by multiple cameras around the coal mining machine based on the video acquisition range; performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; determining a first offset based on the first position and the second position of the calibration object in the previous video image captured by the same camera device; when it is determined that the first offset is greater than a first threshold, determining a first adjustment amount in the offset direction of the first offset, and controlling the camera device to adjust its position according to the first adjustment amount until the first offset is less than the first threshold.

[0059] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0060] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for adjusting a camera device in a fully mechanized mining video splicing scene, characterized in that: The method is applicable to the process of autonomous tracking of a coal mining machine, wherein a plurality of calibration objects are arranged at intervals on the coal mining machine body, and the camera device is configured on the hydraulic support on the fully mechanized mining working face. After each movement of the coal mining machine is completed, the hydraulic support equipped with the camera device corresponds to a calibration object. The method includes: Determining a video acquisition range based on the position information of the coal mining machine; Based on the video acquisition range, obtaining video images captured by multiple camera devices around the coal mining machine; Performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; Determining a first offset according to the first position and a second position of the calibration object in a previous video image captured by the same camera device; When it is determined that the first offset is greater than a first threshold, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than a first threshold.

2. The camera device adjustment method in the fully mechanized mining video splicing scene according to claim 1 is characterized in that: The method further comprises: When it is determined that the offset is greater than a first threshold and the camera device has not completed position adjustment, controlling an adjacent camera device to adjust to an auxiliary position, and capturing an auxiliary video image of a calibration object corresponding to the camera device that has not completed position adjustment; Performing calibration object position analysis on the auxiliary video screen to determine a third position of the calibration object in the auxiliary video screen; determining a second offset according to the third position and a fourth position of the calibration object in a previous auxiliary video image captured by the same camera device; When it is determined that the second offset is greater than a second threshold, a second adjustment amount in the offset direction of the second offset is determined, and adjacent cameras are controlled to adjust their positions according to the second adjustment amount until the second offset is less than a second threshold.

3. The camera device adjustment method in the fully mechanized mining video splicing scene according to claim 1 is characterized in that: When determining that the offset is greater than a first threshold, determining a first adjustment amount in the offset direction of the first offset includes: Determining an adjustment strategy according to a correspondence between the offset and a preset offset and adjustment strategy; A first adjustment amount is determined based on the adjustment strategy.

4. The camera device adjustment method in the fully mechanized mining video splicing scene according to claim 1 is characterized in that: The method further comprises: The position of the calibration object is analyzed for the video images captured by each camera device. When it is determined that no calibration object exists, the camera device is controlled to adjust to a preset position and continue to capture video images.

5. The camera device adjustment method in the fully mechanized mining video splicing scene according to claim 4 is characterized in that: The method further comprises: The position of the calibration object is analyzed for the video image captured by each camera device. When it is determined that there are multiple calibration objects, the first position of the calibration object corresponding to the hydraulic support corresponding to the camera device in the video image is determined.

6. The camera device adjustment method in the fully mechanized mining video splicing scene according to claim 2 is characterized in that: Determining that the camera device has not completed position adjustment includes: Performing calibration object position analysis on the video images captured by each camera device, and when it is determined that no calibration object exists, controlling the camera device to adjust to a preset position so that no calibration object exists in the captured video images; After determining that the offset is greater than a first threshold, controlling the camera device to adjust its position according to the first adjustment amount, and not receiving feedback information on the position adjustment of the camera device; After determining that the offset is greater than a first threshold, the camera device is controlled to adjust its position according to the first adjustment amount, and it is determined that the first offset has not changed based on the first position of the calibration object in the re-captured video screen and the second position of the calibration object in the previous video screen captured by the same camera device.

7. A camera device adjustment device for a fully mechanized mining video splicing scene, characterized in that: Applicable to the process of autonomous tracking of a coal mining machine, a plurality of calibration objects are arranged at intervals on the coal mining machine body, and the camera device is configured on the hydraulic support on the fully mechanized mining working surface. After each movement of the coal mining machine is completed, the hydraulic support equipped with the camera device will correspond to a calibration object. The device includes: A screening module, configured to determine a video acquisition range based on the location information of the coal mining machine; An acquisition module, configured to acquire video images captured by multiple cameras around the coal mining machine based on the video acquisition range; A positioning module is used to analyze the position of the calibration object on the video image captured by each camera device and determine the first position of the calibration object in the video image; a calculation module, configured to determine a first offset based on the first position and a second position of the calibration object in a previous video image captured by the same camera device; The adjustment module is configured to determine a first adjustment amount in an offset direction of the first offset when determining that the offset is greater than a first threshold, and control the camera device to adjust its position according to the first adjustment amount until the first offset is less than a first threshold.

8. A camera device adjustment system for a fully mechanized mining video splicing scene, characterized in that: The system is suitable for setting a plurality of calibration objects at intervals on the coal shearer during the autonomous tracking process of the coal shearer. The system includes: A camera device is arranged on the hydraulic support on the fully mechanized mining working face to collect video images; wherein, after each movement of the coal mining machine is completed, the hydraulic support equipped with the camera device will correspond to a calibration object; Control unit for: Determining a video acquisition range based on the position information of the coal mining machine; Based on the video acquisition range, obtaining video images captured by multiple camera devices around the coal mining machine; Performing calibration object position analysis on the video images captured by each camera device to determine the first position of the calibration object in the video image; Determining a first offset according to the first position and a second position of the calibration object in a previous video image captured by the same camera device; When it is determined that the offset is greater than a first threshold, a first adjustment amount in the offset direction of the first offset is determined, and the camera device is controlled to adjust its position according to the first adjustment amount until the first offset is less than a first threshold.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, it implements the camera device adjustment method in the comprehensive mining video splicing scenario as described in any one of claims 1-6.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the camera device adjustment method in the comprehensive mining video splicing scenario as described in any one of claims 1 to 6 is implemented.

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