Method, device, equipment and medium for identifying state of underground coal mine drilling machine and counting drill rods

Abstract

The invention discloses a coal mine underground drilling machine state recognition and drill rod counting method, device and equipment and a medium, and relates to the technical field of image recognition, and the method comprises the steps: recognizing a coal mine underground drilling video based on a rotating target detection algorithm, and determining a drill rod, a drilling machine head, a drilling machine tail and a whole drilling machine according to a recognition result; according to the drilling machine head, the drilling machine tail and the whole drilling machine, target drilling rods participating in counting are determined; identifying the current length of the target drill rod in different video frames through a target tracking algorithm, and determining the state of the drilling machine according to the length change of the target drill rod; and according to the state of the drilling machine and the size relation between the current length of the target drilling rod and the length of the tail of the drilling machine, corresponding drilling rod counting is conducted. According to the invention, the drilling state of the drilling machine and the drilling withdrawal state of the drilling machine can be automatically identified, and automatic counting is accurately carried out.

Description

Technical Field

[0001] The present invention relates to the field of image recognition technology, and in particular to a method, device, equipment and medium for identifying the state of a coal mine underground drill and counting drill rods. Background Art

[0002] Existing methods for counting drill rods in coal mines based on image recognition require manual specification of the drill rig's drilling status (e.g., forward or backward drilling) before invoking the AI model for recognition. The AI model then identifies and counts the drill rods. This process presents a problem: the existing model cannot determine the drill rig's status, requiring manual determination. Furthermore, if a worker withdraws the drill or moves the drill back and forth to clean it during the drilling process, the AI model cannot determine the drill rig's status or whether the drill rod has actually been driven in or out, resulting in multiple counts. However, this may be a case of only reciprocating drilling and not actually driving the rod in or out, leading to inaccurate counts. Therefore, how to automatically identify the drill rig's status and accurately count the drill rods is a pressing issue. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for identifying the status of underground coal mine drill rigs and counting drill rods, which can automatically identify the status of the drill rig and solve the problem of accurate automatic counting even when abnormal conditions occur during the drilling process. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a method for identifying the state of a coal mine underground drilling rig and counting drill rods, comprising:

[0005] Based on the rotating target detection algorithm, the drilling video of the coal mine is identified, and the drill rod, drill head, drill tail and the entire drill are determined according to the recognition results.

[0006] Determine the target drill rods involved in the counting based on the drill rig head, the drill rig tail, and the drill rig as a whole;

[0007] Identifying the current length of the target drill rod in different video frames through a target tracking algorithm, and determining the drilling rig status based on the change in the length of the target drill rod;

[0008] The corresponding drill rod counting is performed according to the state of the drilling rig and the size relationship between the current length of the target drill rod and the length of the tail of the drilling rig.

[0009] Optionally, before identifying the underground coal mine drilling video based on the rotating target detection algorithm, the method further includes:

[0010] A video acquisition device is installed on the side of the drilling rig, and the underground drilling video of the coal mine is obtained through the video acquisition device; wherein the video acquisition device is perpendicular to the side of the drilling rig, and the video picture of the video acquisition device includes the complete drilling rig body and drill rod.

[0011] Optionally, the method of identifying the underground coal mine drilling video based on the rotating target detection algorithm and determining the drill rod, the drill head, the drill tail, and the entire drill according to the identification result includes:

[0012] Recognize the underground coal mine drilling video based on the rotating target detection algorithm to identify the object category in the underground coal mine drilling video;

[0013] Each object is labeled with a different bounding box according to the object category, so as to determine the drill rod, the drill rig head, the drill rig tail and the entire drill rig according to the corresponding labels.

[0014] Optionally, determining the target drill rods involved in the counting based on the drill rig head, the drill rig tail, and the drill rig as a whole includes:

[0015] The drilling direction is determined according to the positional relationship between the drill head and the drill tail; if the drill head is located on the right side of the drill tail, the drilling direction is from left to right; if the drill head is located on the left side of the drill tail, the drilling direction is from right to left;

[0016] A target drill rod to be counted is determined from among the drill rods within a bounding box corresponding to the entire drilling rig based on the drilling direction.

[0017] Optionally, determining the target drill rod to be counted from the drill rods within a bounding box corresponding to the entire drilling rig based on the drilling direction includes:

[0018] If drilling is done from left to right, the drill rod connected to the left side of the rear end of the drilling rig among the drill rods within the boundary box corresponding to the entire drilling rig is determined as the target drill rod to be counted;

[0019] If drilling is performed from right to left, the drill rod connected to the right side of the rear end of the drilling rig among the drill rods within the boundary box corresponding to the entire drilling rig is determined as the target drill rod for counting.

[0020] Optionally, identifying the current length of the target drill rod in different video frames by using a target tracking algorithm, and determining the drilling rig status according to the change in the length of the target drill rod, includes:

[0021] identifying the current length of the target drill pipe in different video frames through a target tracking algorithm;

[0022] If the current length of the target drill rod is less than the initial length, and the current length of the target drill rod in each video frame of the current time period is less than the length of the target drill rod in each video frame of the previous time period, then the drilling rig is determined to be in the drilling state; the initial length is the original length of the target drill rod before drilling;

[0023] If the current length of the target drill rod in each video frame of the current time period is greater than the length of the target drill rod in each video frame of the previous time period, it is determined that the drilling rig is in the retracted state.

[0024] Optionally, counting drill rods according to the drilling rig status and the relationship between the current length of the target drill rod and the length of the drilling rig tail includes:

[0025] If the drilling rig is in a drilling state and the current length of the target drill rod is less than a first multiple of the length of the tail of the drilling rig, the corresponding drilling count is increased by one;

[0026] If the drilling rig is in the drill-out state and the current length of the target drill rod is greater than or equal to the second multiple of the length of the drilling rig tail, the corresponding drill-out count is increased by one;

[0027] The first multiple is 0.25 times, and the second multiple is 1.5 times.

[0028] In a second aspect, the present application discloses a device for identifying the state of a coal mine underground drilling rig and counting drill rods, comprising:

[0029] The recognition module is used to identify the drilling video in the coal mine based on the rotating target detection algorithm, and to determine the drill rod, drill head, drill tail and the entire drill according to the recognition results;

[0030] a target drill rod determination module, configured to determine target drill rods involved in counting based on the drill rig head, the drill rig tail, and the drill rig as a whole;

[0031] a drilling rig status determination module, configured to identify the current length of the target drill rod in different video frames using a target tracking algorithm, and determine the drilling rig status according to the change in the length of the target drill rod;

[0032] The drill rod counting module is used to count the drill rods according to the state of the drilling rig and the relationship between the current length of the target drill rod and the length of the tail of the drilling rig.

[0033] In a third aspect, the present application discloses an electronic device, comprising:

[0034] memory for storing computer programs;

[0035] The processor is used to execute the computer program to implement the steps of the above-mentioned method for identifying the state of the underground coal mine drill and counting the drill rods.

[0036] In a fourth aspect, the present application discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the aforementioned method for identifying the state of an underground coal mine drill and counting drill rods are implemented.

[0037] This application first identifies the underground drilling video of the coal mine based on the rotating target detection algorithm, and determines the drill rod, drill rig head, drill rig tail and the drill rig as a whole according to the recognition results; then determines the target drill rod involved in the counting based on the drill rig head, the drill rig tail and the drill rig as a whole; then identifies the current length of the target drill rod in different video frames through the target tracking algorithm, and determines the drill rig status according to the change in the length of the target drill rod; finally, counts the drill rods according to the drill rig status and the size relationship between the current length of the target drill rod and the length of the drill rig tail. It can be seen that this application combines the rotating target detection algorithm with the target tracking algorithm to identify the coal mine drilling video and track the motion state of the identified object, determines the drill rig status and counts the drill rods based on the results of recognition and tracking, realizes the automation of the entire process, and ensures the accuracy of the results, solving the problem of accurate and automatic counting even when abnormal situations occur during the drilling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 This is a flow chart of a method for identifying the state of a coal mine underground drill rig and counting drill rods disclosed in this application;

[0040] Figure 2 A schematic diagram of the video acquisition device and drilling rig position disclosed in this application;

[0041] Figure 3 This is a schematic diagram of an object category label disclosed in this application;

[0042] Figure 4 This is an overall schematic diagram of a drilling rig disclosed in this application;

[0043] FIG5 (a) is a schematic diagram of selecting a target drill rod disclosed in this application;

[0044] FIG5( b ) is a schematic diagram of another target drill rod selection method disclosed in this application;

[0045] Figure 6 This is a schematic diagram of the drill rod length and the drilling rig tail length disclosed in this application;

[0046] Figure 7 This is a schematic diagram of identifying the forward and backward drilling status disclosed in this application;

[0047] Figure 8 This is a schematic diagram of drill back status identification disclosed in this application;

[0048] Figure 9 This is a schematic structural diagram of a device for identifying the state of a coal mine underground drill and counting drill rods disclosed in this application;

[0049] Figure 10 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] Existing models cannot determine the status of the drill rig, requiring manual determination. During the drilling process, if a worker withdraws the drill or the drill needs to be cleaned and moved back and forth, the artificial intelligence model cannot determine the status of the drill rig or whether the drill rod has actually been driven in or out, and thus performs multiple counts. However, in this case, the drill may only be moving back and forth, and the drill rod has not actually been driven in or out, resulting in counting errors. To address the above technical issues, the present application discloses a method, device, equipment, and medium for identifying the status of underground coal mine drill rigs and counting drill rods. These methods can automatically identify the status of the drill rig, solving the problem of accurate and automatic counting even when abnormal conditions occur during the drilling process.

[0052] See also Figure 1 As shown, the embodiment of the present invention discloses a method for identifying the state of a coal mine underground drill rig and counting drill rods, comprising:

[0053] Step S11: Identify the underground coal mine drilling video based on the rotating target detection algorithm, and determine the drill rod, drill head, drill tail and the entire drill according to the identification result.

[0054] In this embodiment, it is necessary to first install a video capture device (including but not limited to a camera) on the side of the drilling rig, and obtain the underground coal mine drilling video through the video capture device; wherein the video capture device is perpendicular to the side of the drilling rig, and the video image of the video capture device includes the complete drilling rig body and drill rod. Specifically, Figure 2 As shown in the figure, angle: the camera is perpendicular to the side of the drilling rig; distance: the distance between the camera and the drilling rig is moderate, about 2 to 3 meters; size: the entire drilling rig body and the complete drill rod can be seen in the video screen, avoiding only partial visibility of the drilling rig or the drilling rig is too small or the drill rod exceeds the video screen.

[0055] After acquiring the underground drilling video of the coal mine, this application identifies the underground drilling video of the coal mine based on the rotating target detection algorithm (such as Yolov11_obb) to identify the object category in the underground drilling video of the coal mine; and marks each object with different bounding boxes according to the object category, so as to determine the drill rod, drill head, drill tail and the entire drill according to the corresponding marking. Figure 3 As shown, there are four object categories: Drill_pipe in the light green box: drill pipe; Drill_head in the dark green box: drill head; Drill_tail in the red box: drill tail; Drill_body in the blue box: drill body (specific shape as shown in the figure). Figure 4 (as shown in the figure). Drill_pipe and Drill_tail are used to automatically identify drilling in and out, and assist in drill rod counting. Drill_head and Drill_tail automatically identify drilling direction and select drill rods for counting. Drill_body distinguishes drill rods inside and outside the Drill_body frame; drill rods outside the Drill_body frame are not counted. Ultimately, this process accurately identifies the drill rod, drill head, drill tail, and entire drill rig in underground coal mine drilling videos.

[0056] Step S12: determining target drill rods to be counted based on the drill rig head, the drill rig tail, and the entire drill rig.

[0057] In this embodiment, the present application first determines the drilling direction based on the positional relationship between the drill rig head and the drill rig tail; wherein, if the drill rig head is located on the right side of the drill rig tail, the drilling direction is drilling from left to right; if the drill rig head is located on the left side of the drill rig tail, the drilling direction is drilling from right to left; then, based on the drilling direction, the target drill rod to be counted is determined from each drill rod within the bounding box corresponding to the drill rig as a whole. Since multiple drill rods Drill_pipe may be identified in an image, but only one of them participates in the subsequent counting, it is necessary to determine which drill rod to select for counting based on the position of the identified object. After determining the drilling direction, the bounding box of Drill_body is used to distinguish between the drill rods inside and outside the Drill_body box, wherein the drill rods outside the Drill_body box are not counted. If drilling is from left to right, the drill rods within the bounding box corresponding to the entire drill rig, connected to the left side of the drill rig tail, are selected as target drill rods for counting. If drilling is from right to left, the drill rods within the bounding box corresponding to the entire drill rig, connected to the right side of the drill rig tail, are selected as target drill rods for counting. As shown in Figures 5(a) and 5(b), when the drill head is to the right of the drill tail, pipe is selected as the drill rod for counting; when the drill head is to the left of the drill tail, pipe is selected as the drill rod for counting.

[0058] Step S13: Identify the current length of the target drill rod in different video frames through a target tracking algorithm, and determine the drilling rig status according to the change in the length of the target drill rod.

[0059] In this embodiment, after determining the target drill rods involved in the counting, the present application can then use a target tracking algorithm (such as ByteTrack) to identify the current length of the target drill rods in different video frames. Specifically, the target tracking algorithm identifies the current length of the target drill rods in different video frames. If the current length of the target drill rod is less than the initial length, and the current length of the target drill rod in each video frame of the current time period is less than the length of the target drill rod in each video frame of the previous time period, the drill rig is determined to be in the drilling state. The initial length is the original length of the target drill rod before drilling. If the current length of the target drill rod in each video frame of the current time period is greater than the length of the target drill rod in each video frame of the previous time period, the drill rig is determined to be in the retracting state. In the video, the length of the drill rod changes as it moves. For example, if the drill rod penetrates a wall, the visible length of the drill rod becomes shorter. This length is calculated in real time in the AI model and stored in an array, storing the length of the drill rod in each frame. This allows for automatic identification of the drilling rig's motion status based on changes in the length of the drill pipe (Drill_pipe).

[0060] Step S14: Count the drill rods according to the state of the drill rig and the relationship between the current length of the target drill rod and the length of the tail of the drill rig.

[0061] In this embodiment, if the drill rig is in the drilling state and the current length of the target drill pipe is less than the first multiple of the length of the drill rig tail, the corresponding drilling count is increased by one; if the drill rig is in the drilling retraction state and the current length of the target drill pipe is greater than or equal to the second multiple of the length of the drill rig tail, the corresponding drilling retraction count is increased by one; wherein the first multiple is 0.25 times and the second multiple is 1.5 times. In other words, it is necessary to determine whether the drill rig is in the drilling state or the drilling retraction state based on the relative length relationship between Drill_pipe and Drill_tail, as well as the change in the length of Drill_pipe; at the same time, based on the proportional relationship between the length of Drill_pipe and the length of Drill_tail, it is determined whether the drill pipe has completed the count, including the drilling count and the drilling retraction count. In the drilling count and the drilling retraction count, it is ensured that the drill pipe is completely entered or the drill pipe is completely withdrawn. If the drill pipe is retracted during the drill pipe length change, but the current length of the drill pipe is less than 1.5 times the length of the drill tail, it indicates that the drill pipe has not been fully retracted. In this case, the drill pipe is in reciprocating motion and is not counted. This allows the system to automatically determine whether the drill rig has completed drilling or retraction based on the relative length relationship between the drill pipe Drill_pipe and the drill tail Drill_tail.

[0062] In summary, the present application first identifies the underground drilling video of the coal mine based on the rotating target detection algorithm, and determines the drill rod, drill rig head, drill rig tail and the drill rig as a whole according to the identification results; then determines the target drill rod involved in the counting based on the drill rig head, the drill rig tail and the drill rig as a whole; then identifies the current length of the target drill rod in different video frames through the target tracking algorithm, and determines the drill rig status according to the change in the length of the target drill rod; finally, counts the drill rods according to the drill rig status and the size relationship between the current length of the target drill rod and the length of the drill rig tail. It can be seen that the present application combines the rotating target detection algorithm with the target tracking algorithm to identify the coal mine drilling video and track the motion state of the identified object, determines the drill rig status and counts the drill rods based on the results of identification and tracking, realizes the automation of the entire process, and ensures the accuracy of the results, solving the problem of accurate and automatic counting even when abnormal situations occur during the drilling process.

[0063] As can be seen from the previous embodiment, this application determines whether the drill rig is in the forward or reverse drilling state based on the relative length relationship between Drill_pipe and Drill_tail, as well as changes in Drill_pipe length. Furthermore, the ratio between Drill_pipe length and Drill_tail length determines whether the drill pipe has completed both forward and reverse drilling counts. The following describes the specific forward and reverse drilling logic and counting methods.

[0064] First, if Figure 6 As shown, assume that the total length of the drill pipe (not drilling) is L, the length of the drill tail is t, and L>=1.5t. It should be noted that L>=1.5t is calculated from all drilling videos. The specific drilling process is:

[0065] 1. Initially, L >= 1.5t. During drilling, L gradually decreases. When L < 1 / 4t (i.e., 0.25t), drilling is considered successful, and the drilling count is increased by 1. The 1.5t and 1 / 4t settings were learned from 50,000 drilling images using a clustering algorithm and fine-tuned by human experience.

[0066] 2. When the drill rod reciprocates (there are empty drills or drill washes): When the drill rod that has entered is withdrawn, as long as L<1.5t, the drill rod has not been completely withdrawn and is not counted. It can be regarded as the reciprocating movement of the drill rod.

[0067] 3. The continuous change process of the drill rod length L is used as the basis for judging the drilling process, such as Figure 7 As shown. In the real-time recognition process, when the length of L becomes smaller, it is drilling in, and when the length of L becomes longer, it is drilling back in a short period of time. The overall process is drilling in, but it may back off a little in a short period of time, and then drill in again. That is, in a small range of floating, the drilling in and drilling back states change in real time. The horizontal axis in the figure is the number of frames of the video, and the vertical axis is the visible length of the drill rod during the drilling process. It should be noted that the 50 frames, 100 frames, and 150 frames in Figure 5 are only a specific embodiment, indicating that the video is constantly moving forward. It can also be 500 frames, 1000 frames, 1500 frames, and other situations.

[0068] like Figure 7As shown, when the video is at the 0th frame, the length L is L1 >= 1.5t. Between the 0th and 50th frames, the length of L changes, increasing or decreasing. Since it is the process of drilling in, the overall length of L is continuously decreasing; however, due to the accuracy of image recognition and the fact that the recognized length of the drill pipe sometimes fluctuates. The recognized length can be seen from the video frame. Because sometimes the two ends of the drill pipe are blocked or the materials of the two ends are different from that of the drill pipe, the recognition of the two ends is sometimes inaccurate, that is, part of one or both ends are not included in the drill pipe, so the recognized length of the drill pipe fluctuates. During this process, the length of L may increase slightly, so there appears Figure 7 the sawtooth situation of the ordinate in Figure 7 . When the video is at the 50th frame, the length of L is L2. At the 50th frame, compared with the 0th frame, the overall length of L continues to decrease, so this stage is the process of drilling in. When the video is at the 100th frame, the length of L is L3 or L4. Between the 50th and 100th frames, the length of L changes, increasing or decreasing. But at the 100th frame, if L3 > L2, the length of the drill pipe continues to decrease, and the drill rig is in the process of drilling in. Between the 50th and 100th frames, the length of L changes, increasing or decreasing. But at the 100th frame, if L2 < L4 < L1, the length of the drill pipe increases compared with the 50th frame, indicating that the drill pipe has a situation of withdrawing, that is, back drilling; at the same time, L4 is between 1 / 4t and 1.5t, indicating that the drill pipe is back drilling but not completely withdrawn. At this time, it is a reciprocating motion, and the drill pipe is not counted. When the video is at the 150th frame, the length of L is L5 or L6. Between the 100th and 150th frames, the length of L changes, increasing or decreasing. But at the 150th frame, if L5 < 1 / 4t, at this time the drilling in is completed, and the drilling in count +1. Between the 100th and 150th frames, the length of L changes, increasing or decreasing. But at the 150th frame, if L6 > L1 >= 1.5t, it indicates that during the reciprocating motion, the drill pipe is completely withdrawn, and at this time it is back drilling +1. Between the 100th and 150th frames, the situation between the 50th and 100th frames may exist, that is, the reciprocating motion continues.

[0069] The specific process of back drilling is as follows:

[0070] 1. Starting state, the recognized length of the drill pipe L < 1 / 4t; during back drilling, L gradually increases; when L > 1.5t, it is regarded as successful back drilling, and the back drilling count +1.

[0071] 2. During the process of the drill pipe back drilling, there is no reciprocating motion of the drill pipe, so situations such as dry drilling and wash drilling are not considered.

[0072] 3. The continuous change process of the length L of the drill pipe is used as the basis for judging back drilling, as Figure 8 shown.

[0073] When the video is at the 0th frame, the length of L is L1 < 1 / 4t; between the 0th and 50th frames, the length of L increases and decreases. Since it is drill pipe withdrawal, the overall length of L continuously increases; however, due to the accuracy of image recognition and distance calculation, the length of L may slightly decrease during this process, so there appears Figure 8 the sawtooth situation of the ordinate in Figure 8 . When the video is at the 50th frame, the length of L is L2; at the 50th frame, compared with the 0th frame, the overall length of L continuously increases, and this stage is drill pipe withdrawal. When the video is at the 100th frame, the length of L is L3; at the 100th frame, compared with the 50th frame, the overall length of L continuously increases, and this stage is drill pipe withdrawal. When the video is at the 150th frame, the length of L is L4; at the 150th frame, compared with the 100th frame, the overall length of L continuously increases. If L4 > 1.5t, the drill pipe is completely withdrawn, and a drill pipe withdrawal process is completed. At this time, it is drill pipe withdrawal +1; if 1 / 4t < L4 < 1.5t, the drill pipe is not completely withdrawn, and the drill pipe withdrawal process in the intervals of 50 - 100 frames and 100 - 150 frames is still repeated until the drill pipe is completely withdrawn.

[0074] It can be seen that this application determines the drill rig state and counts the drill pipes based on the results of recognition and tracking, realizes the automation of the whole process, ensures the accuracy of the results, and solves the problem of accurate automatic counting even when abnormal situations occur during the drilling process.

[0075] See Figure 9 As shown in Figure 9 , an embodiment of the present invention discloses a device for recognizing the state of a coal mine underground drill rig and counting drill pipes, including:

[0076] An identification module 11, configured to recognize a coal mine underground drilling video based on a rotating target detection algorithm, and determine the drill pipe, the drill rig head, the drill rig tail, and the whole drill rig according to the recognition results;

[0077] A target drill pipe determination module 12, configured to determine the target drill pipe participating in the counting according to the drill rig head, the drill rig tail, and the whole drill rig;

[0078] A drill rig state determination module 13, configured to identify the current length of the target drill pipe in different video frames through a target tracking algorithm, and determine the drill rig state according to the length change of the target drill pipe;

[0079] A drill pipe counting module 14, configured to perform corresponding drill pipe counting according to the drill rig state and the magnitude relationship between the current length of the target drill pipe and the length of the drill rig tail.

[0080] In summary, the present application first identifies the underground drilling video of the coal mine based on the rotating target detection algorithm, and determines the drill rod, drill rig head, drill rig tail and the drill rig as a whole according to the identification results; then determines the target drill rod involved in the counting based on the drill rig head, the drill rig tail and the drill rig as a whole; then identifies the current length of the target drill rod in different video frames through the target tracking algorithm, and determines the drill rig status according to the change in the length of the target drill rod; finally, counts the drill rods according to the drill rig status and the size relationship between the current length of the target drill rod and the length of the drill rig tail. It can be seen that the present application combines the rotating target detection algorithm with the target tracking algorithm to identify the coal mine drilling video and track the motion state of the identified object, determines the drill rig status and counts the drill rods based on the results of identification and tracking, realizes the automation of the entire process, and ensures the accuracy of the results, solving the problem of accurate and automatic counting even when abnormal situations occur during the drilling process.

[0081] In some specific embodiments, the device may further include:

[0082] The drilling video acquisition module is used to install a video acquisition device on the side of the drilling rig, and acquire the underground drilling video of the coal mine through the video acquisition device; wherein the video acquisition device is perpendicular to the side of the drilling rig, and the video picture of the video acquisition device includes the complete drilling rig body and drill rod.

[0083] In some specific embodiments, the identification module 11 may specifically include:

[0084] An object category recognition unit is used to recognize the underground coal mine drilling video based on a rotating target detection algorithm to identify the object category in the underground coal mine drilling video;

[0085] The determining unit is used to mark each object with different bounding boxes according to the object category, so as to determine the drill rod, the drill head, the drill tail and the entire drill according to the corresponding markings.

[0086] In some specific embodiments, the target drill rod determination module 12 may specifically include:

[0087] a drilling direction determining unit, configured to determine a drilling direction based on a positional relationship between the drill head and the drill tail; wherein, if the drill head is located to the right of the drill tail, the drilling direction is from left to right; and if the drill head is located to the left of the drill tail, the drilling direction is from right to left;

[0088] The target drill rod determining unit is configured to determine a target drill rod to be counted from among the drill rods within a boundary box corresponding to the entire drilling rig based on the drilling direction.

[0089] In some specific embodiments, the target drill rod determination unit may specifically include:

[0090] a first target drill rod determining subunit, configured to determine, if drilling is performed from left to right, the drill rod connected to the left side of the rear end of the drilling rig among the drill rods within the boundary box corresponding to the entire drilling rig as the target drill rod to be counted;

[0091] The second target drill rod determining subunit is used to determine the drill rod connected to the right side of the rear end of the drilling rig among the drill rods within the boundary box corresponding to the entire drilling rig as the target drill rod involved in counting if drilling is done from right to left.

[0092] In some specific embodiments, the drilling rig status determination module 13 may specifically include:

[0093] a drill rod length identification unit, configured to identify the current length of the target drill rod in different video frames by using a target tracking algorithm;

[0094] a first drilling rig state determination unit, configured to determine that the drilling rig is in a drilling state if the current length of the target drill rod is less than the initial length, and the current length of the target drill rod in each video frame of the current time period is less than the length of the target drill rod in each video frame of the previous time period; the initial length is the original length of the target drill rod before drilling;

[0095] The second drilling rig state determination unit is configured to determine that the drilling rig is in the retracting state if the current length of the target drill rod in each video frame of the current time period is greater than the length of the target drill rod in each video frame of the previous time period.

[0096] In some specific embodiments, the drill rod counting module 14 may specifically include:

[0097] a drilling counting unit, configured to increase a corresponding drilling count by one if the drilling rig is in a drilling state and the current length of the target drill rod is less than a first multiple of the length of the tail of the drilling rig;

[0098] a drill withdrawal counting unit, configured to increase a corresponding drill withdrawal count by one if the drilling rig is in a drill withdrawal state and the current length of the target drill rod is greater than or equal to a second multiple of the length of the drilling rig tail;

[0099] The first multiple is 0.25 times, and the second multiple is 1.5 times.

[0100] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 10 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.

[0101] Figure 10 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the method for identifying the status of an underground coal mine drill rig and counting drill rods disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0102] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0103] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0104] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, NetWare, Unix, Linux, etc. In addition to including a computer program capable of implementing the method for identifying the state of an underground coal mine drill rig and counting drill rods executed by the electronic device 20 as disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs capable of performing other specific tasks.

[0105] Furthermore, this application discloses a computer-readable storage medium for storing a computer program; wherein, when executed by a processor, the computer program implements the aforementioned method for identifying the state of an underground coal mine drill rig and counting drill rods. The specific steps of this method can be found in the corresponding contents disclosed in the aforementioned embodiments and will not be further described here.

[0106] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0107] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0109] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0110] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for identifying the state of a coal mine underground drilling rig and counting drill rods, characterized in that: include: Based on the rotating target detection algorithm, the drilling video of the coal mine is identified, and the drill rod, drill head, drill tail and the entire drill are determined according to the recognition results. Determine the target drill rods involved in the counting based on the drill rig head, the drill rig tail, and the drill rig as a whole; Identifying the current length of the target drill rod in different video frames through a target tracking algorithm, and determining the drilling rig status based on the change in the length of the target drill rod; The corresponding drill rod counting is performed according to the state of the drilling rig and the size relationship between the current length of the target drill rod and the length of the tail of the drilling rig.

2. The method for identifying the state of underground coal mine drilling rigs and counting drill rods according to claim 1, characterized in that: Before the recognition of the underground coal mine drilling video based on the rotating target detection algorithm is performed, the method further includes: A video acquisition device is installed on the side of the drilling rig, and the underground drilling video of the coal mine is obtained through the video acquisition device; wherein the video acquisition device is perpendicular to the side of the drilling rig, and the video picture of the video acquisition device includes the complete drilling rig body and drill rod.

3. The method for identifying the state of underground coal mine drilling rigs and counting drill rods according to claim 1, characterized in that: The method of identifying the drilling video in a coal mine based on the rotating target detection algorithm and determining the drill rod, the drill head, the drill tail and the entire drill according to the identification results includes: Recognize the underground coal mine drilling video based on the rotating target detection algorithm to identify the object category in the underground coal mine drilling video; Each object is labeled with a different bounding box according to the object category, so as to determine the drill rod, the drill rig head, the drill rig tail and the entire drill rig according to the corresponding labels.

4. The method for identifying the state of underground coal mine drilling rigs and counting drill rods according to claim 3, characterized in that: The step of determining target drill rods involved in the counting based on the drill rig head, the drill rig tail, and the drill rig as a whole includes: The drilling direction is determined according to the positional relationship between the drill head and the drill tail; if the drill head is located on the right side of the drill tail, the drilling direction is from left to right; if the drill head is located on the left side of the drill tail, the drilling direction is from right to left; A target drill rod to be counted is determined from among the drill rods within a bounding box corresponding to the entire drilling rig based on the drilling direction.

5. The method for identifying the state of underground coal mine drilling rigs and counting drill rods according to claim 4, characterized in that: The step of determining a target drill rod to be counted from among the drill rods within a bounding box corresponding to the entire drilling rig based on the drilling direction includes: If drilling is done from left to right, the drill rod connected to the left side of the rear end of the drilling rig among the drill rods within the boundary box corresponding to the entire drilling rig is determined as the target drill rod to be counted; If drilling is performed from right to left, the drill rod connected to the right side of the rear end of the drilling rig among the drill rods within the boundary box corresponding to the entire drilling rig is determined as the target drill rod for counting.

6. The method for identifying the state of underground coal mine drilling rigs and counting drill rods according to claim 1, characterized in that: The method of identifying the current length of the target drill rod in different video frames by using a target tracking algorithm and determining the drilling rig status according to the change in the length of the target drill rod includes: identifying the current length of the target drill pipe in different video frames through a target tracking algorithm; If the current length of the target drill rod is less than the initial length, and the current length of the target drill rod in each video frame of the current time period is less than the length of the target drill rod in each video frame of the previous time period, then the drilling rig is determined to be in the drilling state; the initial length is the original length of the target drill rod before drilling; If the current length of the target drill rod in each video frame of the current time period is greater than the length of the target drill rod in each video frame of the previous time period, it is determined that the drilling rig is in the retracted state.

7. The method for identifying the state of an underground coal mine drill and counting drill rods according to any one of claims 1 to 6, characterized in that: The corresponding drill rod counting according to the state of the drilling rig and the relationship between the current length of the target drill rod and the length of the tail of the drilling rig includes: If the drilling rig is in a drilling state and the current length of the target drill rod is less than a first multiple of the length of the tail of the drilling rig, the corresponding drilling count is increased by one; If the drilling rig is in the drill-out state and the current length of the target drill rod is greater than or equal to the second multiple of the length of the drilling rig tail, the corresponding drill-out count is increased by one; The first multiple is 0.25 times, and the second multiple is 1.5 times.

8. A device for identifying the state of a coal mine drilling rig and counting drill rods, characterized in that: include: The recognition module is used to identify the drilling video in the coal mine based on the rotating target detection algorithm, and to determine the drill rod, drill head, drill tail and the entire drill according to the recognition results; a target drill rod determination module, configured to determine target drill rods involved in counting based on the drill rig head, the drill rig tail, and the drill rig as a whole; a drilling rig status determination module, configured to identify the current length of the target drill rod in different video frames using a target tracking algorithm, and determine the drilling rig status according to the change in the length of the target drill rod; The drill rod counting module is used to count the drill rods according to the state of the drilling rig and the relationship between the current length of the target drill rod and the length of the tail of the drilling rig.

9. An electronic device, characterized in that: include: memory for storing computer programs; A processor is used to execute a computer program to implement the steps of the method for identifying the state of an underground coal mine drill rig and counting drill rods as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for identifying the state of an underground coal mine drill and counting drill rods as described in any one of claims 1 to 7 are implemented.

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