A coal mine underground coal transfer point coal stacking monitoring method, system and device

Abstract

The embodiment of the specification discloses a coal mine underground coal transfer point coal stacking monitoring method, device and equipment. The monitoring method can comprise: acquiring first data collected by a multi-modal data acquisition system installed at the coal transfer point for the first coal material; filtering the first data to obtain second data; determining whether the vertical distance between the top highest point of the first coal material and the unloading edge position of the conveyor is less than a first preset distance according to the image information collected by the first camera in the second data, if less than, determining whether the vertical distance between the slope of the first coal material and the unloading edge position of the conveyor is less than a second preset distance according to the distance detected by the first laser ranging sensor, if less than, generating an alarm information. In the embodiment of the specification, based on the hierarchical detection mechanism, through data preprocessing, double verification and progressive judgment, the early warning accuracy and timeliness of the coal transfer point coal stacking risk can be significantly improved.

Description

Technical Field

[0001] This application relates to the field of belt conveyors, specifically to a method, system, and equipment for monitoring coal stockpiles at underground coal transfer points in coal mines. Background Technology

[0002] In coal mine production, transfer points are critical nodes in coal transportation, and their operational status directly affects the stability and efficiency of the entire production system. Due to various complex factors during coal transportation, such as changes in coal flow velocity, differences in coal quality, and equipment failures, transfer points are highly susceptible to coal accumulation and blockage. Coal accumulation and blockage not only disrupt coal transportation and affect production progress but can also trigger a series of safety problems, such as belt wear, fires, and dust explosions, causing significant economic losses and safety hazards to coal mining enterprises.

[0003] Traditional methods for monitoring coal pile blockages mainly rely on manual inspections and simple sensor monitoring, which have drawbacks such as untimely monitoring and low accuracy.

[0004] Therefore, how to provide a method for monitoring coal pile-up at underground coal transfer points has become an urgent technical problem to be solved. Summary of the Invention

[0005] This specification provides a method, apparatus, and equipment for monitoring coal stockpiles at underground coal transfer points in coal mines, in order to solve the problem of inaccurate routes in existing methods for planning safe routes in underground mines.

[0006] To address the aforementioned technical problems, this specification provides an embodiment of a method for monitoring coal stockpiles at underground coal transfer points in coal mines, comprising:

[0007] The system acquires first data for the first coal material from a multimodal data acquisition system installed at the coal transfer point; the multimodal data acquisition system includes a camera and a laser rangefinder; the first data includes data acquired by each sensor in the multimodal data acquisition system; the camera includes a first camera mounted on a bracket on the side of the conveyor belt, and the laser rangefinder includes a first laser rangefinder mounted on a bracket directly above the unloading edge of the conveyor belt;

[0008] The first data is filtered to obtain the second data;

[0009] Based on the image information captured by the first camera in the second data, determine whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and obtain a first judgment result;

[0010] If the first judgment result indicates that the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance, then based on the distance detected by the first laser ranging sensor, it is determined whether the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, and a second judgment result is obtained.

[0011] If the second judgment result indicates that the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, an alarm message is generated to indicate that the first coal material and the conveyor belt are about to rub against each other.

[0012] This specification also provides an embodiment of a coal pile monitoring device at an underground coal transfer point, comprising:

[0013] The data acquisition module is used to acquire first data collected by a multimodal data acquisition system installed at the coal transfer point for the first coal material; the multimodal data acquisition system includes a camera and a laser rangefinder; the first data includes data collected by each sensor in the multimodal data acquisition system; the camera includes a first camera mounted on a bracket on the side of the conveyor belt, and the laser rangefinder includes a first laser rangefinder mounted on a bracket directly above the unloading edge of the conveyor belt;

[0014] The data cleaning module is used to filter the first data to obtain the second data.

[0015] The first judgment module is used to determine, based on the image information captured by the first camera in the second data, whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and to obtain a first judgment result.

[0016] The second judgment module is used to determine whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance based on the distance detected by the first laser ranging sensor if the first judgment result indicates that the vertical distance between the top of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, and obtain the second judgment result.

[0017] The first decision module is used to generate an alarm message to indicate that friction is about to occur between the first coal and the conveyor belt if the second judgment result indicates that the vertical distance between the slope of the first coal and the discharge edge of the conveyor belt is less than a second preset distance.

[0018] This specification also provides an embodiment of a coal pile monitoring device at an underground coal transfer point, comprising:

[0019] At least one processor; and,

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0022] The system acquires first data for the first coal material from a multimodal data acquisition system installed at the coal transfer point; the multimodal data acquisition system includes a camera and a laser rangefinder; the first data includes data acquired by each sensor in the multimodal data acquisition system; the camera includes a first camera mounted on a bracket on the side of the conveyor belt, and the laser rangefinder includes a first laser rangefinder mounted on a bracket directly above the unloading edge of the conveyor belt;

[0023] The first data is filtered to obtain the second data;

[0024] Based on the image information captured by the first camera in the second data, determine whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and obtain a first judgment result;

[0025] If the first judgment result indicates that the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance, then based on the distance detected by the first laser ranging sensor, it is determined whether the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, and a second judgment result is obtained.

[0026] If the second judgment result indicates that the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, an alarm message is generated to indicate that the first coal material and the conveyor belt are about to rub against each other.

[0027] At least one embodiment in this specification achieves the following beneficial effects: First data is acquired by a multimodal data acquisition system installed at a coal transfer point for the first coal material; the first data is filtered to obtain second data; based on the image information acquired by the first camera in the second data, it is determined whether the vertical distance between the highest point of the first coal material and the unloading edge of the conveyor belt is less than a first preset distance; if so, based on the distance detected by the first laser ranging sensor, it is determined whether the vertical distance between the slope of the first coal material and the unloading edge of the conveyor belt is less than a second preset distance; if so, an alarm message is generated to indicate that friction is about to occur between the first coal material and the conveyor belt. In this embodiment, based on a graded detection mechanism, through data preprocessing, dual verification, and progressive judgment, the accuracy and timeliness of early warning of coal accumulation risk at coal transfer points can be significantly improved. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the accompanying drawings used in the description of the embodiments or prior art are briefly introduced below. Obviously, the drawings described below are merely some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic flowchart of a method for monitoring coal stockpiles at underground coal transfer points provided in the embodiments of this specification;

[0030] Figure 2 This is a schematic diagram of the structure of a coal pile monitoring device at an underground coal transfer point provided in the embodiments of this specification;

[0031] Figure 3 This is a structural schematic diagram of a coal pile monitoring device at an underground coal transfer point provided in the embodiments of this specification. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0033] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0034] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0035] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0036] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0037] Figure 1 This is a flowchart illustrating a method for monitoring coal stockpiles at underground coal transfer points in a coal mine, as provided in an embodiment of this specification. From a programming perspective, the entity executing the process can be an application server or application platform carrying the program.

[0038] like Figure 1 As shown, the method may include the following steps.

[0039] Step 102: Obtain the first data collected by the multimodal data acquisition system installed at the coal transfer point for the first coal material; the multimodal data acquisition system includes a camera and a laser rangefinder sensor; the first data includes data collected by each sensor in the multimodal data acquisition system; the camera includes a first camera mounted on a bracket on the side of the conveyor belt, and the laser rangefinder sensor includes a first laser rangefinder sensor mounted on a bracket directly above the unloading edge of the conveyor belt.

[0040] In the embodiments of this specification, the transfer point refers to the handover location where coal is transferred from one transport device (such as a conveyor belt, scraper conveyor, etc.) to another transport device; the first coal material can be the coal material at the transfer point.

[0041] A multimodal data acquisition system can be used to collect data on the first coal sample. This system can include various types of sensors, such as cameras and laser rangefinders. The camera can be a high-definition camera equipped with an anti-fog and dustproof lens to effectively overcome the interference of the dusty and humid environment in underground coal mines and ensure clear imaging.

[0042] The sensors in the multimodal data acquisition system can be installed around the transfer point to collect data on the first coal material accumulated at the transfer point. The first data can be the raw data acquired using the multimodal data acquisition system; the first data can include data collected by the various sensors in the multimodal data acquisition system; specifically, the first data can include image or video information collected by the first camera on the first coal material, and can also include distance information collected by the first laser ranging sensor on the first coal material.

[0043] In this embodiment, a camera mounting bracket can be installed near the transfer point, perpendicular to the direction of the conveyor belt's movement. An adjustable-angle cantilever structure can be installed on the top of the mounting bracket to mount the camera at the end of the cantilever. By adjusting the angle and height of the cantilever structure, the camera's field of view can completely cover the transfer point area, clearly capturing image data of the first coal material, thereby achieving effective monitoring of coal accumulation risk at the coal transfer point.

[0044] Alternatively, a laser ranging mounting bracket can be installed directly above the material discharge edge of the conveyor belt to collect the slope height of the first coal material using the first laser ranging sensor, thereby determining the positional relationship between the slope of the first coal material and the material discharge edge of the conveyor belt.

[0045] Step 104: Filter the first data to obtain the second data;

[0046] In practical applications, noise is often present in the first data acquired by a multimodal data acquisition system due to factors such as coal dust, changes in light, and conveyor belt vibration. In the embodiments described in this specification, the second data is obtained by cleaning the original data, i.e., the first data.

[0047] In practical applications, filters can be used to filter data collected by each sensor in a multimodal data acquisition system. Specifically, for image data collected by the first camera, median filtering can be used to remove salt-and-pepper noise. For example, the pixel values ​​within a 3×3 or 5×5 pixel window surrounding each pixel can be sorted, and the median value can be used to replace the original value of that pixel, thereby eliminating isolated noise. Next, Gaussian filtering can be used to process randomly distributed Gaussian noise. For data collected by the first laser ranging sensor, a Kalman filter can be used for filtering.

[0048] After filtering the data from each sensor individually, the data acquired by each sensor can be aligned using timestamps to provide a reliable basis for subsequent coal pile monitoring and analysis.

[0049] Step 106: Based on the image information captured by the first camera in the second data, determine whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and obtain the first judgment result.

[0050] In this embodiment of the specification, since the first camera is set on the side of the conveyor belt and near the transfer point, the image information collected by the first camera can be used to analyze the height relationship between the first coal and the conveyor belt.

[0051] As one implementation method, an image processing algorithm can be used to process the image information captured by the first camera to obtain the height information of the highest point of the first coal material; then, based on the height information of the highest point of the first coal material and the height information of the discharge edge of the conveyor belt, it can be determined whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance.

[0052] As one implementation method, a deep learning model can also be used to identify the image information collected by the first camera to determine whether the vertical distance between the highest point of the top of the first coal material and the edge of the conveyor belt is less than a first preset distance.

[0053] Step 108: If the first judgment result indicates that the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance, then based on the distance detected by the first laser ranging sensor, determine whether the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, and obtain the second judgment result.

[0054] In the embodiments of this specification, if the vertical distance between the highest point of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance, it can be preliminarily indicated that the stacking height of the first coal material has approached or exceeded the safety boundary, and a coal pile-up risk is about to occur, which may lead to subsequent risks.

[0055] If the vertical distance between the highest point of the first coal material and the edge of the conveyor belt is greater than the first preset distance, it indicates that there is no risk of coal piling up temporarily, and coal piling up monitoring can continue at the transfer point.

[0056] In the embodiments of this specification, the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt can be the distance between the slope position of the first coal material closest to the discharge edge and the discharge edge; the first laser ranging sensor can be set directly above the discharge edge of the conveyor belt to detect the distance between the slope position of the first coal material closest to the discharge edge and the discharge edge.

[0057] Step 110: If the second judgment result indicates that the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, an alarm message is generated to indicate that the first coal material and the conveyor belt are about to rub against each other.

[0058] In the embodiments of this specification, if the vertical distance between the slope of the first coal material detected by the first laser ranging sensor and the discharge edge of the conveyor belt is less than the second preset distance, it can be indicated that the slope of the first coal material will come into contact with the discharge of the conveyor belt, which may cause wear on the conveyor belt. At this time, the audible and visual alarm can be controlled to sound an alarm, the conveyor belt upstream of the transfer point can be stopped, and the coal stacking device can be controlled to process the first coal material to avoid the first coal material damaging the first conveyor belt.

[0059] As one implementation method, an alarm message can also be generated when the vertical distance between the highest point of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance. Specifically, when the vertical distance between the highest point of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance, a level one alarm message can be generated, and the coal stockpiling device can be controlled to process the first coal material to avoid further coal accumulation and more serious operating conditions.

[0060] A secondary alarm can be generated when the vertical distance between the slope of the first coal material and the edge of the conveyor belt is less than a second preset distance. The primary and secondary alarms differ in form; for example, a primary alarm might be a flashing yellow warning light near the transfer point, accompanied by a low-frequency buzzer (500Hz); a secondary alarm might be a constantly lit red warning light, accompanied by a high-frequency buzzer (1000Hz), and a voice prompt "Danger of coal pile!"

[0061] In this embodiment of the specification, a first-level alarm is generated when the vertical distance between the highest point of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and a second-level alarm is generated when the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than a second preset distance. This can improve the timeliness of early warning of coal accumulation risk at coal transfer points, and can also avoid frequent start-stop control of the conveyor belt, thereby avoiding the service life of the invisible conveyor belt motor.

[0062] Figure 1 The method described herein involves acquiring first data collected by a multimodal data acquisition system installed at a coal transfer point for a first coal material; filtering the first data to obtain second data; and, based on the image information captured by the first camera in the second data, determining whether the vertical distance between the highest point of the first coal material and the unloading edge of the conveyor belt is less than a first preset distance. If so, based on the distance detected by the first laser ranging sensor, determining whether the vertical distance between the slope of the first coal material and the unloading edge of the conveyor belt is less than a second preset distance. If so, generating an alarm message to indicate that friction is about to occur between the first coal material and the conveyor belt. In this embodiment, based on a graded detection mechanism, through data preprocessing, dual verification, and progressive judgment, the accuracy and timeliness of early warning of coal accumulation risk at coal transfer points can be significantly improved.

[0063] In practical applications, when the dust concentration in coal mines is high, dust scattering may affect the quality of image data collected by cameras and data collected by laser rangefinders. This may lead to the miscalculation of the height of the first coal pile (e.g., the actual height of 1.2m is mistakenly judged as 0.8m), which in turn can damage the conveyor belt. Alternatively, it may cause the laser sensor to misjudge, resulting in frequent emergency stops of the conveyor belt and frequent start-stops of the conveyor belt motor, which can affect the motor's lifespan.

[0064] Therefore, in order to further improve the accuracy of coal pile monitoring and reduce damage to equipment, this specification provides another detection method when the dust concentration is high.

[0065] Optionally, the multimodal data acquisition system further includes a dust concentration sensor and a weight sensor; before determining whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance based on the image information acquired by the first camera in the second data, it may further include:

[0066] The third judgment result is obtained by determining whether the dust concentration value collected by the dust concentration sensor in the second data is greater than the dust concentration threshold.

[0067] If the third judgment result indicates that the dust concentration value in the second data is greater than the dust concentration threshold, then based on the weight data of the first coal material collected by the weight sensor in the second data, it is determined whether a coal piling condition has occurred, and a fourth judgment result is obtained.

[0068] If the fourth judgment result indicates that a coal piling-up condition has occurred, then the alarm information is generated.

[0069] In the embodiments described in this specification, the dust concentration sensor can be placed near the transfer point; the specific location and method of placement are not limited here. If the dust concentration value collected by the dust concentration sensor is greater than the dust concentration threshold, it can be determined that the dust concentration near the coal transfer point in the underground coal mine is high, which may affect the clarity of the data collected by the first camera and the laser sensor.

[0070] In this embodiment of the specification, the weight sensor can be installed on the conveyor belt idler bracket, crossbeam, or support frame below the transfer point to detect the weight of the first coal material. In this embodiment, a strain gauge weight sensor can be used to adapt to the dusty and vibration-prone underground environment of coal mines. Specifically, strain gauge sensors can be embedded in the support seats at both ends of the conveyor belt idler. When coal accumulates, the pressure on the idler increases, and the sensor output signal changes. In practical applications, a reference weight can be determined based on the pre-recorded weight of the conveyor belt under no-load or standard load conditions below the transfer point. If the weight data of the first coal material collected by the weight sensor is greater than the reference weight, it can be preliminarily determined that coal stockpiling has occurred. Additionally, the weight of the coal material at the time of stockpiling can also be used to determine whether a coal stockpiling condition has occurred.

[0071] To facilitate the distinction between the first coal material and the coal material during the coal stockpiling condition, the coal material during the coal stockpiling condition will be referred to as the second coal material below.

[0072] In practical applications, multi-level alarm information can also be generated based on the weight of the first coal material; for example, if the weight of the first coal material is greater than a first preset value, a first-level alarm information can be generated; if the weight of the first coal material is greater than a second preset value, a second alarm information can be generated.

[0073] In the embodiments described in this specification, since the weight of the coal is much greater than the weight of the dust, the adhesion or stirring of dust has minimal impact on the measurement values ​​of the weight sensor. Therefore, the weight sensor can effectively identify the risk of coal stockpiling even when the dust concentration is extremely high. When the dust concentration is low, the risk of coal stockpiling can be monitored based on image data.

[0074] The step of determining whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance based on the image information captured by the first camera in the second data can specifically include:

[0075] If the third judgment result indicates that the dust concentration value collected by the dust concentration sensor in the second data is less than the dust concentration threshold, then based on the image information collected by the first camera in the second data, it is determined whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance.

[0076] In the embodiments of this specification, coal pile monitoring is performed based on weight data when the dust concentration is high, and based on image data when the dust concentration is low, which can further improve the accuracy of coal pile monitoring.

[0077] In practical applications, conveyor belts can typically transport coal at different operating speeds. The different operating speeds of the conveyor belts result in different shapes and volumes of the second coal material when a coal pile-up occurs, which in turn results in different weights of the second coal material. In order to further improve the accuracy of coal pile-up monitoring, this specification also provides specific methods for determining whether a coal pile-up has occurred based on the weight data of the first coal material collected by the weight sensor described in the second data.

[0078] Optionally, the multimodal data acquisition system further includes a speed sensor for detecting the speed of the conveyor belt; the determination of whether a coal stockpiling condition has occurred based on the weight data of the first coal material collected by the weight sensor in the second data may specifically include:

[0079] If the speed data collected by the speed sensor is a first preset speed, then it is determined whether the weight data of the first coal is greater than the first preset weight data.

[0080] If the speed data collected by the speed sensor is the second preset speed, then it is determined whether the weight data of the first coal is greater than the second preset weight data.

[0081] Optionally, the first preset weight data is the weight data of the second coal material when a coal stockpiling condition occurs at the transfer point during the operation of the conveyor belt at the first preset speed.

[0082] Optionally, the second preset weight data is the weight data of the second coal material when a coal stockpiling condition occurs at the transfer point during the operation of the conveyor belt at the second preset speed.

[0083] In the embodiments of this specification, the speed sensor can be a sensor used to measure the running speed of the conveyor belt. In practical applications, the speed sensor can be contact-type or non-contact-type. In the embodiments of this specification, magnetoelectric speed sensors, Hall effect speed sensors, or microwave radar speed sensors can be used to measure the speed of the conveyor belt to adapt to the harsh environment of underground coal mines.

[0084] In the embodiments described in this specification, in order to facilitate the distinction from the first coal material, the second coal material is the coal material that occurs during the coal pile-up process.

[0085] The first and second preset speeds can be the fixed operating speeds of the conveyor belt transporting coal. In practical applications, the conveyor belt can operate at different speeds. Different conveyor belt speeds result in different shapes and volumes of the second coal material during coal stockpiling. For example, at high speeds, due to inertia, the second coal material extends longitudinally and has a gentler slope during stockpiling; that is, it will be "flat and elongated." At low speeds, the coal accumulates at transfer points, resulting in a more concentrated stockpiling, but with increased height and a steeper slope. The different shapes of the second coal material may have different volumes, leading to different weights.

[0086] In the embodiments described in this specification, the first preset weight data and the second preset weight data can be standard weight data corresponding to the conveyor's operating speed. Specifically, the first preset weight data can be the weight data of the second coal material when a coal stockpiling condition occurs or is about to occur at the transfer point during the conveyor belt's operation at the first preset speed; the second preset weight data can be the weight data of the second coal material when a coal stockpiling condition occurs or is about to occur at the transfer point during the conveyor belt's operation at the second preset speed. In practical applications, the conveyor belt can also operate at other fixed speeds, and the weight of the second coal material corresponding to different operating speeds can be different.

[0087] In the embodiments of this specification, by comparing and analyzing the real-time collected weight data of the first coal material with the standard weight data of the second coal material corresponding to the current conveyor belt running speed, the influence of different speeds on the coal pile shape and weight is fully considered, thereby more accurately determining whether a coal pile condition has occurred and significantly improving the accuracy of coal pile monitoring.

[0088] For ease of understanding, the embodiments of this specification also provide a specific method for determining the first preset weight data.

[0089] Optionally, the camera may also include a second camera mounted on a bracket on the other side of the conveyor belt and a third camera mounted on a bracket opposite the unloading edge of the conveyor belt.

[0090] Before determining whether a coal stockpiling condition has occurred based on the weight data of the first coal material collected by the weight sensor in the second data, the process may further include:

[0091] The speed of the conveyor belt is set to the first preset speed, and the first camera, the second camera, the third camera and the weight sensor are used to synchronously collect n coal pile condition data to obtain the first coal pile sample data.

[0092] Based on the third image data collected by the first camera, the second camera, and the third camera in the first coal pile sample data, abnormal data in the first coal pile sample data is removed.

[0093] The first preset weight data is estimated based on the weight data of the first pile of coal collected by the weight sensor in the first pile of coal sample data after removing abnormal data.

[0094] In the embodiments described in this specification, the first preset speed is a fixed operating speed of the conveyor belt. The second and third cameras can be high-definition cameras equipped with anti-fog and anti-dust lenses.

[0095] The coal stockpiling condition data refers to the relevant data of the second coal material when the coal stockpiling condition occurs; the n-times coal stockpiling condition data can be the data of the second coal material collected during n coal stockpiling conditions. It can be understood that the first coal stockpiling sample data includes n sets of second coal material data; each set of data includes image data of the second coal material collected by the first, second, and third cameras, as well as weight data of the second coal material collected by the weight sensor.

[0096] As one implementation method, n image data collected by at least one of the first, second, and third cameras can be compared to eliminate abnormal data with large image differences. For example, abnormal data with large image differences can be eliminated based on the n image data acquired by the first camera, the n image data acquired by the second camera, or the n image data acquired by the third camera.

[0097] Of course, the n image data acquired by the first camera can be compared, as can the n image data acquired by the second camera, and the n image data acquired by the second camera; thereby eliminating abnormal data based on the comparison results.

[0098] As another implementation method, the image data collected by the first camera, the second camera, and the third camera in each set of data can be fused to determine the morphological information of the second coal material; abnormal data can be removed based on the morphological information of each of the n second coal materials.

[0099] In the embodiments of this specification, the first preset weight data can be determined by the expected value and standard deviation of the normal weight data after removing abnormal data.

[0100] In practical applications, it is also possible to eliminate outlier data by using only n weight data points instead of the first, second, and third cameras to acquire image data. Specifically, the 3σ principle of normal distribution can be used to eliminate outlier data in the weight data.

[0101] For ease of understanding, this specification also provides specific methods for determining the second preset weight data in the embodiments.

[0102] Optionally, the camera may also include a second camera mounted on a bracket on the other side of the conveyor belt and a third camera mounted on a bracket opposite the unloading edge of the conveyor belt.

[0103] Before determining whether a coal stockpiling condition has occurred based on the weight data of the first coal material collected by the weight sensor in the second data, the process may further include:

[0104] The speed of the conveyor belt is set to the second preset speed, and the first camera, the second camera, the third camera and the weight sensor are used to synchronously collect m coal pile condition data to obtain the second coal pile sample data.

[0105] Based on the fourth image data collected by the first camera, the second camera, and the third camera in the second coal pile sample data, abnormal data in the second coal pile sample data is removed.

[0106] The second preset weight data is estimated based on the weight data of the first pile of coal collected by the weight sensor in the second pile of coal sample data after removing abnormal data.

[0107] In the embodiments of this specification, the second preset speed is another fixed operating speed for the conveyor operation. The coal stockpiling condition data refers to the relevant data of the second coal material when the coal stockpiling condition occurs; the m coal stockpiling condition data can be the data of the second coal material collected during m coal stockpiling conditions. It can be understood that the second coal stockpiling sample data includes m sets of second coal material data; each set of data includes image data of the second coal material collected by the first camera, the second camera, and the third camera, as well as weight data of the second coal material collected by the weight sensor. In practical applications, the number of times n of coal stockpiling condition data is collected at the first preset speed and the number of times m of condition data is collected at the second preset speed can be the same or different, and no specific limitation is made here.

[0108] In the embodiments described in this specification, the method for removing abnormal data from the second coal sample data is similar to the method for removing abnormal data from the first coal sample data, and will not be described again here.

[0109] In the embodiments described in this specification, the method for determining the second preset weight data is similar to the method for determining the first preset weight data described above, and will not be repeated here.

[0110] In the embodiments of this specification, it is also possible to determine whether a coal pile-up condition has occurred based on the morphological difference between the first coal material and the second coal material when a coal pile-up condition occurs.

[0111] Optionally, the multimodal data acquisition system further includes a second camera mounted on a bracket on the other side of the conveyor belt and a third camera mounted on a bracket opposite the unloading edge of the conveyor belt; the method may also include:

[0112] Acquire the first image data of the first coal material captured by the first camera, the second camera, and the third camera in the second data.

[0113] Using a preset model, based on the first image data and the second image data of the second coal material when the coal stacking condition occurs, the morphological differences between the first coal material and the second coal material are determined.

[0114] The morphological differences are used to determine whether a coal pile-up condition has occurred.

[0115] In the embodiments of this specification, the first image data includes image data collected in real time by the first camera on the first coal material, image data collected in real time by the second camera on the first coal material, and image data collected in real time by the third camera on the first coal material.

[0116] The second image data includes image data under various coal stacking conditions. The image data under each coal stacking condition includes image data collected by the first camera for the second coal material when the coal stacking condition occurs, image data collected by the second camera for the second coal material when the coal stacking condition occurs, and image data collected by the third camera for the second coal material when the coal stacking condition occurs.

[0117] The preset model can be a pre-trained neural network model or a deep learning model. In the embodiments of this specification, the preset model can be an image comparison model based on deep learning; specifically, the preset model can be a model that uses a Siamese neural network architecture and is trained with real coal pile sample data from underground coal mines to extract and compare feature vectors of image data of the first coal material.

[0118] In the embodiments of this specification, morphological differences can be the differences in contour morphology between the first coal material and the second coal material calculated by a preset model based on the third and fourth images. Morphological differences can include differences in one or more morphological features between the first coal material and the second coal material, such as differences in height features and / or differences in slope features.

[0119] In this embodiment of the specification, a preset model is used to determine the morphological differences between the first and second coal materials based on the first image data and the second image data of the second coal material when a coal stacking condition occurs. Specifically, this may include using the preset model to determine the morphological feature information of the first coal material based on the first image data; and determining the morphological differences between the first and second coal materials based on the morphological feature information of the first coal material and the morphological feature information of the second coal material reflected in the fourth image. In practical applications, the morphological differences between the first and second coal materials can be determined based on one morphological feature information (such as height feature information or slope feature information); or they can be determined based on multiple morphological feature information (such as height feature information and slope feature information).

[0120] In practical applications, a preset model can be used to determine whether a coal stockpiling condition has occurred, or other models such as a Support Vector Machine (SVM) classifier model can be used to determine whether a coal stockpiling condition has occurred. Understandably, when using a preset model to determine whether a coal stockpiling condition has occurred, the preset model may output the morphological differences between the first and second coal materials, or it may not output the morphological differences between the first and second coal materials.

[0121] Because the different operating speeds of the conveyor belt result in different shapes of the second coal material, the second image data can include image data of the second coal material at multiple different operating speeds. For example, the second image data can include image data of the second coal material running at a first preset speed, and also image data of the second coal material running at a second preset speed. In practical applications, the first image data carrying the conveyor belt speed indicator can be sent to a preset model so that the preset model can determine the second image data corresponding to the speed indicator. The speed indicator can be generated based on the conveyor belt speed obtained by a speed sensor.

[0122] As one implementation method, if the conveyor speed is high, the inertia during coal accumulation will cause the first coal to extend longitudinally, resulting in a gentler slope and a flatter, more elongated pile. Therefore, slope anomalies should be a primary focus. Specifically, the morphological differences between the first and second coal piles can be determined based on the slope characteristics of the first and second coal piles. Specifically, if the slope difference between the first and second coal piles is less than a preset slope difference value, it can be determined that the first coal pile will affect the conveyor belt operation. Alternatively, the morphological differences between the first and second coal piles can also be determined based on both the slope and height characteristics. The weight of the slope characteristic difference can be greater than the weight of the height characteristic difference.

[0123] As one implementation method, if the conveyor speed is slow, coal will accumulate at the transfer point, with the first coal pile becoming more concentrated, increasing its height and steepening the slope, forming a tall coal pile. Therefore, height anomalies can be a key focus. Specifically, the morphological differences between the first and second coal piles can be determined based on the difference in slope between the first and second coal piles. Specifically, if the difference in slope between the first and second coal piles is less than a preset height difference value, it can be determined that the first coal pile will affect the conveyor belt operation. Alternatively, the morphological differences between the first and second coal piles can also be determined based on both the differences in slope and height characteristics. The weight of the height characteristic difference can be greater than the weight of the slope characteristic difference.

[0124] For ease of understanding, the embodiments of this specification also provide a specific method for determining whether a coal stockpiling condition has occurred based on the difference between the first coal material and the second coal material.

[0125] Optionally, determining whether a coal piling condition has occurred based on the morphological differences may specifically include:

[0126] Determine whether the morphological difference is less than a preset difference value to obtain the fifth determination result.

[0127] Determine whether the coal pile monitoring result represented by the second judgment result is consistent with the coal pile monitoring result represented by the fifth result.

[0128] If there is inconsistency and the number of inconsistencies exceeds a preset number, then the preset model is trained based on an adaptive learning algorithm; or adjustments are made to each sensor in the multimodal data acquisition system.

[0129] In the embodiments of this specification, if the fifth judgment result indicates that the morphological difference is less than the preset difference value, it can indicate that a coal pile abnormality will occur; if the fifth judgment result indicates that the morphological difference is not less than the preset difference value, it can indicate that there is no risk of a coal pile abnormality occurring for the time being.

[0130] In the embodiments of this specification, the fifth judgment result is the monitoring result obtained using a preset model based on image data collected by multiple cameras; the second judgment result is the monitoring result obtained based on cameras and laser rangefinders; under normal operating conditions, the second judgment result and the fifth judgment result should be the same; if the coal pile monitoring result represented by the second judgment result is inconsistent with the coal pile monitoring result represented by the fifth result multiple times consecutively, it may indicate that the multimodal data acquisition system has malfunctioned or that environmental factors have prevented accurate analysis of the image data collected by the preset model based on cameras. Therefore, the installation position or angle of each sensor in the multimodal data acquisition system can be adjusted based on the actual coal pile results, or the preset model can be further trained based on an adaptive learning algorithm.

[0131] In practical applications, to prevent the first coal material from rubbing against the conveyor belt and damaging it, the coal stockpile processing device can be controlled to clean the first coal material after an alarm is generated.

[0132] Among them, the coal pile processing device can be a coal cleaning robot or other cleaning device.

[0133] In practical applications, in addition to controlling the coal pile handling device to clean the first coal, the control system can also pause the upstream conveyor belt to avoid more coal accumulation, or reduce the operating speed of the conveyor belt to prevent the coal pile situation from deteriorating further, thus creating safe and stable conditions for the cleaning work.

[0134] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification may be interchanged according to actual needs, or some steps may be omitted or deleted.

[0135] Based on the same idea, embodiments of this specification also provide apparatus corresponding to the above methods. Figure 2 This is a structural schematic diagram of a coal pile monitoring device at an underground coal transfer point provided as an embodiment of this specification. Figure 2 As shown, the device may include:

[0136] The data acquisition module 202 is used to acquire first data collected by a multimodal data acquisition system installed at the coal transfer point for the first coal material; the multimodal data acquisition system includes a camera and a laser rangefinder; the first data includes data collected by each sensor in the multimodal data acquisition system; the camera includes a first camera mounted on a bracket on the side of the conveyor belt, and the laser rangefinder includes a first laser rangefinder mounted on a bracket directly above the unloading edge of the conveyor belt;

[0137] Data cleaning module 204 is used to filter the first data to obtain the second data;

[0138] The first judgment module 206 is used to determine, based on the image information captured by the first camera in the second data, whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and to obtain a first judgment result.

[0139] The second judgment module 208 is used to determine whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance based on the distance detected by the first laser ranging sensor if the first judgment result indicates that the vertical distance between the top of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, and obtain the second judgment result.

[0140] The first decision module 210 is used to generate an alarm message to indicate that the first coal material and the conveyor belt are about to rub against each other if the second judgment result indicates that the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than a second preset distance.

[0141] based on Figure 2 The embodiments of this specification also provide some specific implementation schemes of the method, which are described below.

[0142] Optionally, the multimodal data acquisition system may also include a dust concentration sensor and a weight sensor; Figure 2 The device may further include:

[0143] The third judgment module is used to determine whether the dust concentration value collected by the dust concentration sensor in the second data is greater than the dust concentration threshold, and to obtain the third judgment result.

[0144] The fourth judgment module is used to determine whether a coal piling condition has occurred based on the weight data of the first coal material collected by the weight sensor in the second data if the third judgment result indicates that the dust concentration value in the second data is greater than the dust concentration threshold, and to obtain the fourth judgment result.

[0145] The second decision module is used to generate the alarm information if the fourth judgment result indicates that a coal piling-up condition has occurred.

[0146] Optionally, the multimodal data acquisition system may also include a speed sensor for detecting the speed of the conveyor belt.

[0147] The fourth judgment module can be specifically used for:

[0148] If the speed data collected by the speed sensor is a first preset speed, then it is determined whether the weight data of the first coal is greater than the first preset weight data.

[0149] If the speed data collected by the speed sensor is the second preset speed, then it is determined whether the weight data of the first coal is greater than the second preset weight data.

[0150] Optionally, the first preset weight data is the weight data of the second coal material when a coal stockpiling condition occurs at the transfer point during the operation of the conveyor belt at the first preset speed.

[0151] Optionally, the second preset weight data is the weight data of the second coal material when a coal stockpiling condition occurs at the transfer point during the operation of the conveyor belt at the second preset speed.

[0152] like Figure 2 The apparatus shown may further include:

[0153] The first image data acquisition module is used to acquire the first image data of the first coal material collected by the first camera, the second camera and the third camera in the second data;

[0154] The morphological difference determination module is used to determine the morphological difference between the first coal material and the second coal material based on the first image data and the second image data of the second coal material when the coal stacking condition occurs, using a preset model.

[0155] The third decision module is used to determine whether a coal piling condition has occurred based on the morphological differences.

[0156] Optionally, the third decision module can be specifically used for:

[0157] Determine whether the morphological difference is less than a preset difference value to obtain a fifth determination result;

[0158] Determine whether the coal piling result represented by the second determination result is consistent with the coal piling result represented by the fifth result;

[0159] If there is inconsistency and the number of inconsistencies exceeds a preset number, then the preset model is trained based on an adaptive learning algorithm; or adjustments are made to each sensor in the multimodal data acquisition system.

[0160] Optional, such as Figure 2 The apparatus shown may further include:

[0161] The control module is used to control the coal processing device to clean the first coal material.

[0162] Based on the same idea, this specification also provides devices corresponding to the above methods in its embodiments.

[0163] Figure 3 This is a structural schematic diagram of a coal pile monitoring device at an underground coal transfer point provided as an embodiment of this specification. Figure 3 As shown, device 300 may include:

[0164] At least one processor 310; and,

[0165] Memory 330 communicatively connected to the at least one processor; wherein,

[0166] The memory 330 stores instructions 320 that can be executed by the at least one processor 310, the instructions being executed by the at least one processor 310 to enable the at least one processor 310 to:

[0167] The system acquires first data for the first coal material from a multimodal data acquisition system installed at the coal transfer point; the multimodal data acquisition system includes a camera and a laser rangefinder; the first data includes data acquired by each sensor in the multimodal data acquisition system; the camera includes a first camera mounted on a bracket on the side of the conveyor belt, and the laser rangefinder includes a first laser rangefinder mounted on a bracket directly above the unloading edge of the conveyor belt.

[0168] The first data is filtered to obtain the second data.

[0169] Based on the image information captured by the first camera in the second data, it is determined whether the vertical distance between the highest point of the top of the first coal material and the discharge edge of the conveyor belt is less than a first preset distance, and a first judgment result is obtained.

[0170] If the first judgment result indicates that the vertical distance between the highest point of the first coal material and the discharge edge of the conveyor belt is less than the first preset distance, then based on the distance detected by the first laser ranging sensor, it is determined whether the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, and a second judgment result is obtained.

[0171] If the second judgment result indicates that the vertical distance between the slope of the first coal material and the discharge edge of the conveyor belt is less than the second preset distance, an alarm message is generated to indicate that the first coal material and the conveyor belt are about to rub against each other.

[0172] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for... Figure 3 As the device shown is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0173] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0174] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0175] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0176] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0177] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0178] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0179] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0180] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0181] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0182] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0183] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0184] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0185] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0186] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0187] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A coal mine underground coal transfer point coal stacking monitoring method, characterized in that, The method comprises: acquiring first data collected by a multi-modal data collection system installed at a coal transfer point for first coal; the multi-modal data collection system comprises a camera and a laser ranging sensor; the first data comprises data collected by each sensor in the multi-modal data collection system; the camera comprises a first camera arranged on a support at the side of a conveyor belt, and the laser ranging sensor comprises a first laser ranging sensor arranged on a support directly above the discharge edge of the conveyor belt; filtering the first data to obtain second data; if the dust concentration value in the second data is greater than a dust concentration threshold value and the speed data of the conveyor belt in the second data is a first preset speed, determining whether the weight data of the first coal is greater than a first preset weight data; the first preset weight data is the weight data of the second coal when the coal stacking condition occurs at the transfer point during the operation of the conveyor belt at the first preset speed if the dust concentration value in the second data is greater than the dust concentration threshold value and the speed data of the conveyor belt in the second data is a second preset speed, determining whether the weight data of the first coal is greater than a second preset weight data; the second preset weight data is the weight data of the second coal when the coal stacking condition occurs at the transfer point during the operation of the conveyor belt at the second preset speed if the dust concentration value in the second data is less than the dust concentration threshold value, determining whether the vertical distance between the highest point of the top of the first coal and the discharge edge position of the conveyor belt is less than a first preset distance according to the image information collected by the first camera in the second data, to obtain a first determination result; if the first determination result indicates that the vertical distance between the highest point of the top of the first coal and the discharge edge position of the conveyor belt is less than the first preset distance, determining whether the vertical distance between the slope of the first coal and the discharge edge position of the conveyor belt is less than a second preset distance according to the distance detected by the first laser ranging sensor, to obtain a second determination result; if the second determination result indicates that the vertical distance between the slope of the first coal and the discharge edge position of the conveyor belt is less than the second preset distance, generating alarm information for prompting that the first coal and the conveyor belt will soon rub against each other.

2. The coal pile monitoring method according to claim 1, characterized in that, The multi-modal data collection system further comprises a dust concentration sensor and a weight sensor; before determining whether the vertical distance between the highest point of the top of the first coal and the discharge edge position of the conveyor belt is less than a first preset distance according to the image information collected by the first camera in the second data, the method further comprises: determining whether the dust concentration value collected by the dust concentration sensor in the second data is greater than a dust concentration threshold value, to obtain a third determination result; if the third determination result indicates that the dust concentration value in the second data is greater than the dust concentration threshold value, determining whether the coal stacking condition occurs based on the weight data of the first coal collected by the weight sensor in the second data, to obtain a fourth determination result; If the fourth determination result indicates that the coal stacking condition occurs, the alarm information is generated.

3. The coal pile monitoring method according to claim 2, characterized in that, The multi-modal data acquisition system further comprises a speed sensor for detecting the speed of the conveyor belt; and the determination of whether the coal stacking condition occurs is based on the weight data of the first coal collected by the weight sensor in the second data, and specifically includes: If the speed data collected by the speed sensor is a first preset speed, it is determined whether the weight data of the first coal is greater than a first preset weight data; If the speed data collected by the speed sensor is a second preset speed, it is determined whether the weight data of the first coal is greater than a second preset weight data.

4. The coal pile monitoring method according to claim 1, characterized in that, The multi-modal data acquisition system further comprises a second camera arranged on a support on the other side of the conveyor belt and a third camera arranged on a support opposite the discharge edge of the conveyor belt; and the method further comprises: obtaining first image data of the first coal collected by the first camera, the second camera and the third camera in the second data; determining the morphological difference between the first coal and the second coal based on the first image data and second image data of the second coal when the coal stacking condition occurs by using a preset model; determining whether the coal stacking condition occurs based on the morphological difference.

5. A method of monitoring a coal pile according to claim 4, characterised in that, The determination of whether the coal stacking condition occurs based on the morphological difference specifically includes: determining whether the morphological difference is less than a preset difference value to obtain a fifth determination result; determining whether the coal stacking result indicated by the second determination result is consistent with the coal stacking result indicated by the fifth result; if the results are inconsistent and the number of inconsistent results exceeds a preset number, training the preset model based on an adaptive learning algorithm; or adjusting each sensor in the multi-modal data acquisition system.

6. The coal pile monitoring method according to claim 1, characterized in that, After the alarm information prompting that the first coal is about to rub against the conveyor belt is generated, the method further comprises: controlling the coal stacking processing device to clean the first coal.

7. A coal mine underground coal transfer point coal stacking monitoring device, characterized in that, The device comprises: a data acquisition module for acquiring first data collected by a multi-modal data acquisition system installed at a coal transfer point for first coal; the multi-modal data acquisition system comprises a camera and a laser ranging sensor; the first data comprises data collected by each sensor in the multi-modal data acquisition system; the camera comprises a first camera arranged on a support on the side of the conveyor belt, and the laser ranging sensor comprises a first laser ranging sensor arranged on a support directly above the discharge edge of the conveyor belt; a data cleaning module for filtering the first data to obtain second data; a fourth determination module for determining whether the weight data of the first coal is greater than a first preset weight data if the dust concentration value in the second data is greater than a dust concentration threshold value and the speed data of the conveyor belt in the second data is a first preset speed; the first preset weight data is the weight data of the second coal when the coal stacking condition occurs at the transfer point during the operation of the conveyor belt at the first preset speed; If the dust concentration value in the second data is greater than the dust concentration threshold value, and the speed data of the conveying belt in the second data is a second preset speed, it is judged whether the weight data of the first coal material is greater than second preset weight data; the second preset weight data is the weight data of the second coal material when the coal stacking condition occurs at the transfer point during the operation of the conveying belt at the second preset speed; The first judgment module is configured to, if the dust concentration value in the second data is less than the dust concentration threshold value, judge, according to the image information collected by the first camera in the second data, whether the vertical distance between the top highest point of the first coal material and the unloading edge position of the conveying belt is less than a first preset distance, to obtain a first judgment result; The second judgment module is configured to, if the first judgment result indicates that the vertical distance between the top highest point of the first coal material and the unloading edge position of the conveying belt is less than the first preset distance, judge, according to the distance detected by the first laser ranging sensor, whether the vertical distance between the slope surface of the first coal material and the unloading edge position of the conveying belt is less than a second preset distance, to obtain a second judgment result; The first decision module is configured to, if the second judgment result indicates that the vertical distance between the slope surface of the first coal material and the unloading edge position of the conveying belt is less than the second preset distance, generate alarm information for prompting that the first coal material and the conveying belt are about to rub.

8. A coal mine underground coal transfer point coal pile monitoring apparatus, characterised in that, Comprise: At least one processor; And The memory is in communication connection with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: Obtain first data collected by a multi-modal data acquisition system installed at a coal transfer point for a first coal material; the multi-modal data acquisition system comprises a camera and a laser ranging sensor; the first data comprises data collected by each sensor in the multi-modal data acquisition system; the camera comprises a first camera arranged on a support at the side of the conveying belt, and the laser ranging sensor comprises a first laser ranging sensor arranged on a support directly above the unloading edge of the conveying belt; Filter the first data to obtain second data; If the dust concentration value in the second data is greater than the dust concentration threshold value, and the speed data of the conveying belt in the second data is a first preset speed, it is judged whether the weight data of the first coal material is greater than first preset weight data; the first preset weight data is the weight data of the second coal material when the coal stacking condition occurs at the transfer point during the operation of the conveying belt at the first preset speed If the dust concentration value in the second data is greater than the dust concentration threshold value, and the speed data of the conveying belt in the second data is a second preset speed, it is determined whether the weight data of the first coal material is greater than second preset weight data; the second preset weight data is weight data of the second coal material when the coal stacking condition occurs at the transfer point during operation of the conveying belt at the second preset speed; If the dust concentration value in the second data is less than the dust concentration threshold value, it is determined, according to image information collected by the first camera in the second data, whether a vertical distance between a top highest point of the first coal material and a discharging edge position of the conveying belt is less than a first preset distance, to obtain a first determination result; If the first determination result indicates that the vertical distance between the top highest point of the first coal material and the discharging edge position of the conveying belt is less than the first preset distance, it is determined, according to the distance detected by the first laser ranging sensor, whether a vertical distance between a slope surface of the first coal material and the discharging edge position of the conveying belt is less than a second preset distance, to obtain a second determination result; If the second determination result indicates that the vertical distance between the slope surface of the first coal material and the discharging edge position of the conveying belt is less than the second preset distance, alarm information for prompting that the first coal material and the conveying belt are about to rub is generated.

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