Underground coal mine data anti-interference transmission method and system

Abstract

The invention relates to the technical field of image communication, and provides an underground coal mine data anti-interference transmission method and system, and the method comprises the steps: collecting an underground coal mine video, and obtaining an underground coal mine gray-scale map; obtaining gray differences and a gray difference sequence of the pixel points, and updating all the gray differences according to the gray difference sequence; according to the gray difference sequence and the gray difference, obtaining a gray difference value parameter, a gray fluctuation degree and a gray difference fluctuation degree, and obtaining the foreground degree of the pixel point; the method comprises the following steps: determining an adjacent window of a pixel point, obtaining the number of highlighted foreground degrees and gray average difference of the pixel point, further obtaining a foreground correlation degree, determining a foreground region and a background region according to the foreground correlation degree, and respectively obtaining a foreground video and a background video according to the foreground region and the background region. And channel stability is determined for the foreground video and the background video, and the foreground video and the background video are transmitted respectively, thereby realizing anti-interference transmission of underground coal mine data. The problem that the underground coal mine data transmission efficiency is too low due to the fact that the channel load is too high is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of image communication, and in particular to an anti-interference transmission method and system for underground coal mine data. Background Art

[0002] In underground coal mines, video surveillance systems face severe challenges from electromagnetic interference. Due to the unique nature of underground coal mines, monitoring systems play a critical role in ensuring worker safety, responding to emergencies, detecting equipment failures, and investigating incidents. Frequent interference can cause equipment failures, disrupting operations, reducing overall production efficiency, and increasing the risk of accidents. Furthermore, electromagnetic interference can incomplete and reduce the reliability of video surveillance data. To ensure the reliability and stability of video surveillance systems in underground coal mines, anti-interference technology has become an indispensable tool for ensuring work safety and improving production efficiency.

[0003] To achieve anti-interference protection for underground coal mine video surveillance and ensure the accessibility and accuracy of video data, a continuous retransmission method is typically used. However, the volume of video data in underground coal mines is too large, and frequent retransmissions can lead to data congestion and high latency. This can prevent other real-time signals from being sent in a timely manner, impacting the operation of the entire video surveillance system. Therefore, in the process of implementing anti-interference protection for underground coal mine video surveillance, it is necessary to reduce channel occupancy, save channel load, and improve the anti-interference capability of video transmission. Summary of the Invention

[0004] The present invention provides an anti-interference transmission method and system for underground coal mine data to solve the problem of low video transmission efficiency caused by excessive channel load during the anti-interference transmission of underground coal mine data. The technical solutions adopted are as follows: In a first aspect, an embodiment of the present invention provides an anti-interference transmission method for underground coal mine data, the method comprising the following steps: Collect underground coal mine videos and obtain underground coal mine grayscale images based on the underground coal mine videos; According to the grayscale images of the underground coal mine in adjacent frames, the grayscale differences of the pixels are obtained. Based on the grayscale differences, a grayscale difference sequence of the pixels at the same position is obtained. According to the grayscale difference sequence, the grayscale differences are divided into credible grayscale differences and uncredible grayscale differences. The grayscale differences of all pixels are updated based on the uncredible grayscale differences. According to the grayscale difference sequence, a feature window of the pixel is obtained; according to the grayscale difference contained in the feature window of the pixel, the grayscale difference parameter, grayscale fluctuation, and grayscale difference fluctuation of the pixel are obtained; according to the grayscale fluctuation, grayscale difference parameter, and grayscale difference fluctuation of the pixel, the foreground degree of the pixel is obtained; Determine the proximity window of the pixel point, obtain the number of pixel prominences according to the proximity window of the pixel point, obtain the grayscale mean difference of the pixel point according to the proximity window of the pixel point, obtain the foreground correlation of the pixel point according to the number of pixel prominences and the grayscale mean difference, determine the foreground area and background area according to the foreground correlation, obtain the foreground video and background video respectively according to the foreground area and background area, determine the channel stability of the foreground video and background video and transmit them respectively, so as to realize the anti-interference transmission of underground coal mine data.

[0005] Furthermore, the method for dividing the grayscale differences into credible grayscale differences and uncredible grayscale differences according to the grayscale difference sequence and updating the grayscale differences of all pixels according to the uncredible grayscale differences is as follows: In the grayscale difference sequence of pixel points, the grayscale differences that are continuously greater than or equal to the first preset threshold and greater than the second preset threshold are recorded as credible grayscale differences, and the grayscale differences that are not credible grayscale differences are recorded as uncredible grayscale differences, and the uncredible grayscale differences are assigned to the second preset threshold.

[0006] Furthermore, the grayscale difference parameter is obtained by: When the proportion of grayscale differences greater than 0 in the feature window of a pixel is greater than or equal to the motion threshold, the grayscale difference parameter of the pixel is assigned a value of 1; otherwise, it is assigned a value of 0.

[0007] Furthermore, the grayscale fluctuation degree is obtained by: The standard deviation of the grayscale values ​​of the pixels corresponding to all grayscale differences contained in the feature window is recorded as the grayscale fluctuation of the central pixel of the feature window.

[0008] Furthermore, the grayscale difference fluctuation degree is obtained by: The absolute value of the third preset threshold power root of the product of all grayscale differences contained in the feature window is recorded as the grayscale difference fluctuation degree of the central pixel of the feature window.

[0009] Furthermore, the method for obtaining the foreground degree is:

[0010] in, Indicates the The coordinates in the grayscale image of an underground coal mine are The foreground degree of the pixel point; Indicates the The coordinates in the grayscale image of an underground coal mine are The grayscale difference parameter of the pixel point; Indicates the The coordinates in the grayscale image of an underground coal mine are Grayscale fluctuation of pixel points; Indicates the The coordinates in the grayscale image of an underground coal mine are Grayscale difference fluctuation of pixel points; Represents a natural constant.

[0011] Furthermore, the method for obtaining the number of foreground prominence degrees of the pixel point is: The neighboring foreground degrees of other pixels in the neighboring window of the pixel that are greater than or equal to a fourth preset threshold are recorded as the prominent foreground degrees of the pixel, and the number of the prominent foreground degrees of the pixels is counted.

[0012] Furthermore, the method for obtaining the foreground relevance is:

[0013] in, Indicates the The coordinates in the grayscale image of an underground coal mine are The foreground correlation of the pixel points; Indicates the The coordinates in the grayscale image of an underground coal mine are The number of pixels with prominent foreground; Indicates the The coordinates in the grayscale image of an underground coal mine are The grayscale mean difference of the pixels; represents a natural constant; represents the linear normalization function.

[0014] Furthermore, the method for determining the foreground area and the background area according to the foreground correlation, obtaining the foreground video and the background video respectively according to the foreground area and the background area, determining the channel stability of the foreground video and the background video and transmitting them respectively, and realizing the anti-interference transmission of underground coal mine data is as follows: The pixels whose foreground correlation degree is greater than or equal to the comparison threshold are recorded as foreground feature pixels, the area composed of foreground feature pixels is recorded as foreground area, and the area composed of pixels that are not foreground feature pixels is recorded as background area; Assigning the grayscale values ​​of the pixels in the background area of ​​the underground coal mine grayscale image to 0 to obtain a foreground image, arranging the foreground images in the order of the acquisition time of the underground coal mine grayscale images corresponding to the foreground images to obtain a foreground video, and obtaining a background video according to the method for obtaining the foreground video; The background video is lossily compressed and sent repeatedly to determine the stability of the channel. When the channel is stable, the channel is used to transmit the foreground video, realizing anti-interference transmission of underground coal mine data.

[0015] In the second aspect, an embodiment of the present invention also provides an underground coal mine data anti-interference transmission system, including a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of any one of the above methods when executing the computer program.

[0016] The beneficial effects of the present invention are: The present invention starts from the problem that the frequent retransmission mechanism easily leads to data congestion and high delay in underground coal mine transmission, which in turn makes it impossible for other real-time signals to be sent out in time, affecting the operation of the entire video monitoring system. The present invention divides the subject motion area and the background area in the underground coal mine data. First, according to the difference in the underground coal mine grayscale map of adjacent frames in the underground coal mine data, the grayscale difference of the pixel points is determined, and the influence of noise points and random natural falling objects in the underground coal mine grayscale map on the division of the subject motion area is eliminated, thereby improving the accuracy of the divided subject motion area and reducing the influence of the underground coal mine environment on the image quality; then, according to the characteristic that the foreground subject in the underground coal mine video is generally in a state of continuous motion, the foreground degree of the pixel point in the underground coal mine grayscale map is determined, and then combined with the single underground coal mine environment, the foreground degree of the pixel point in the underground coal mine grayscale map is determined. , have a high similarity, the personnel working underground wear uniform work clothes, also have a high similarity, and the underground coal mine environment is too different from the personnel working underground. The foreground correlation of the pixel points is obtained, and the underground coal mine video is divided into foreground video and background video according to the foreground correlation. The channel stability is determined according to the foreground video and the background video and transmitted separately to realize the anti-interference transmission of underground coal mine data, and solve the problem of low video transmission efficiency caused by excessive channel load during the anti-interference transmission of underground coal mine data. Among them, the background video after lossy compression is used for channel transmission detection, and the main video is transmitted when the channel is stable. While saving the channel load, the monitoring video of the underground coal mine is effectively transmitted, and the anti-interference ability of the underground coal mine video transmission is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic flow chart of an anti-interference transmission method for underground coal mine data provided by one embodiment of the present invention; Figure 2 Get a flow chart for prospective degrees. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1 , which shows a flow chart of an anti-interference transmission method for underground coal mine data provided by one embodiment of the present invention, the method comprising the following steps: Step S001: Collect underground coal mine video and obtain the underground coal mine grayscale image based on the underground coal mine video.

[0021] The underground coal mine video is shot by underground coal mine monitoring cameras, and the video framing technology is used to decompose the underground coal mine video into frame images. In this embodiment, 30 frames are sampled for one second of video.

[0022] In underground coal mine environments, in order to avoid the risk of coal dust explosion, underground coal mine cameras usually use explosion-proof lighting and special cameras for shooting. The relative brightness is low, making the underground coal mine video and frame images relatively dim. Therefore, the frame image is first enhanced using the local contrast adaptive histogram equalization algorithm, and the enhanced image is converted into a grayscale image to obtain the underground coal mine grayscale image.

[0023] At this point, the grayscale image of the underground coal mine is obtained.

[0024] Step S002: Obtain the grayscale differences of pixels based on the grayscale images of the underground coal mine in adjacent frames, obtain a grayscale difference sequence of pixels at the same position based on the grayscale differences, divide the grayscale differences into credible grayscale differences and uncredible grayscale differences based on the grayscale difference sequence, and update the grayscale differences of all pixels based on the uncredible grayscale differences.

[0025] The grayscale images of the underground coal mine in adjacent frames are processed using the inter-frame difference method to obtain the absolute value of the difference operation corresponding to each pixel in the grayscale image of the underground coal mine. The absolute value of the difference operation corresponding to the pixel is recorded as the grayscale difference of the pixel.

[0026] When the grayscale difference of the pixel is greater than 0, the object at the corresponding position of the pixel has changed; when the grayscale difference of the pixel is equal to 0, the object at the corresponding position of the pixel has not changed, and the object corresponding to the pixel is less likely to be a moving object that needs to be extracted.

[0027] Because underground coal mine surveillance cameras capture video in dim lighting conditions, grayscale images of underground coal mines often contain a large amount of noise. Furthermore, naturally fallen objects, such as stones, can occur in underground mines. These noise points and dropped objects can cause pixels corresponding to these objects to be mistakenly identified as moving objects. Therefore, it is necessary to avoid these situations when extracting moving objects based on grayscale differences between pixels.

[0028] The noise points in the underground coal mine grayscale image appear randomly, so the grayscale differences corresponding to pixels that are actually noise points will not be continuously large. Furthermore, naturally dropped objects will only cause large grayscale differences in pixels corresponding to the time period of the drop, but the number of frames in which this change occurs is extremely small, so the grayscale differences corresponding to pixels that are actually naturally dropped objects will not be continuously large.

[0029] The grayscale differences corresponding to the pixels at the same position in all the underground coal mine grayscale images are arranged in the order of acquisition time of the underground coal mine grayscale images to obtain the grayscale difference sequence of the pixel points at the position.

[0030] In the grayscale difference sequence of pixels, the number of pixels that are continuously greater than or equal to greater than The grayscale difference of is recorded as a credible grayscale difference. The grayscale difference that is not a credible grayscale difference is recorded as an untrustworthy grayscale difference, and the untrustworthy grayscale difference is assigned to , to update the grayscale differences of all pixels.

[0031] The pixel points in the underground coal mine grayscale image corresponding to the untrustworthy grayscale difference are the corresponding noise points and dropped objects. The untrustworthy grayscale difference is assigned as That is to avoid the influence of noise points and falling objects on the extraction of moving objects. is the first preset threshold, which is 5 in this embodiment. is the second preset threshold, which is 0 in this embodiment.

[0032] At this point, the grayscale difference of the pixels is obtained.

[0033] Step S003: Based on the grayscale difference sequence, a feature window of the pixel is obtained. Based on the grayscale difference contained in the feature window of the pixel, the grayscale difference parameter, grayscale fluctuation, and grayscale difference fluctuation of the pixel are obtained. Based on the grayscale fluctuation, grayscale difference parameter, and grayscale difference fluctuation of the pixel, the foreground degree of the pixel is obtained. Due to the dangerous nature of underground coal mining operations, people working underground are generally in a state of continuous motion and do not remain still for long periods of time. After completing their work, they leave promptly. Therefore, the foreground subject in underground coal mine videos is generally in a state of continuous motion. Therefore, a motion threshold is used as the threshold for screening whether a pixel corresponds to a foreground subject. In this embodiment, the motion threshold is set to 75%.

[0034] In the grayscale difference sequence of pixels, a window with a length equal to a third preset threshold is established, centered around each pixel in the underground coal mine grayscale image. The established window is recorded as a feature window of the pixel in the underground coal mine grayscale image. In this embodiment, the third preset threshold is 9.

[0035] According to the grayscale difference contained in the feature window of the pixel point, the grayscale difference parameter of the pixel point is determined.

[0036]

[0037] Where, Represents the grayscale difference parameter of the pixel; represents the motor threshold; Indicates the proportion of grayscale differences greater than 0 in the grayscale differences contained in the feature window of the pixel point.

[0038] Among the grayscale differences contained in the feature window of the pixel point, when the proportion of grayscale differences greater than 0 is greater than or equal to the motion threshold, the grayscale difference parameter of the pixel point is assigned to 1; when the proportion of grayscale differences greater than 0 is less than the motion threshold, the grayscale difference parameter of the pixel point is assigned to 0.

[0039] When a pixel corresponds to a foreground subject, as the subject moves, the grayscale values ​​of the pixel at the same position in different frames will vary greatly. Therefore, the grayscale values ​​of the pixel corresponding to the foreground subject fluctuate greatly.

[0040] The standard deviation of the grayscale values ​​of the pixels corresponding to all grayscale differences contained in the feature window of the pixel point is recorded as the grayscale fluctuation of the central pixel of the feature window.

[0041] The absolute value of the third preset threshold power root of the product of all grayscale differences within the pixel's feature window is recorded as the grayscale difference fluctuation of the center pixel of the feature window. The third preset threshold is a manually set parameter, representing the length of the pixel's feature window. In this embodiment, the third preset threshold is set to 9.

[0042] When the grayscale fluctuation and grayscale difference fluctuation of a pixel are large, the grayscale value of the pixel fluctuates greatly, and the pixel is more likely to correspond to a foreground subject.

[0043] The foreground degree of the pixel is obtained according to the grayscale fluctuation, grayscale difference parameter and grayscale difference fluctuation of the pixel.

[0044]

[0045] in, Indicates the The coordinates in the grayscale image of an underground coal mine are The foreground degree of the pixel point; Indicates the The coordinates in the grayscale image of an underground coal mine are The grayscale difference parameter of the pixel point; Indicates the The coordinates in the grayscale image of an underground coal mine are Grayscale fluctuation of pixel points; Indicates the The coordinates in the grayscale image of an underground coal mine are Grayscale difference fluctuation of pixel points; Represents a natural constant.

[0046] When the grayscale fluctuation, grayscale difference parameter and grayscale difference fluctuation of a pixel point are greater, the foreground degree of the pixel point is greater. At this time, the pixel point is more likely to be at the position of the motion foreground in the grayscale image of the underground coal mine.

[0047] At this point, the foreground degree of each pixel in each underground coal mine grayscale image is obtained. The foreground degree acquisition flow chart is as follows: Figure 2 shown.

[0048] Step S004, determine the neighboring window of the pixel point, obtain the number of prominent foreground degrees of the pixel point according to the neighboring window of the pixel point, obtain the grayscale mean difference of the pixel point according to the neighboring window of the pixel point, obtain the foreground correlation of the pixel point according to the number of prominent foreground degrees and the grayscale mean difference of the pixel point, determine the foreground area and the background area according to the foreground correlation, obtain the foreground video and background video respectively according to the foreground area and the background area, determine the channel stability according to the foreground video and the background video and transmit them respectively, so as to realize the anti-interference transmission of underground coal mine data.

[0049] Underground coal mines have a homogeneous environment and exhibit a high degree of similarity. Workers working underground wear uniform uniforms to minimize potential hazards. Therefore, the pixels within the foreground region of an underground coal mine grayscale image also exhibit a high degree of similarity. Furthermore, the underground workers differ significantly from the mine background. Therefore, the correlation between different pixels can be used to further identify the pixels corresponding to foreground objects in the underground coal mine grayscale image, improving the accuracy of foreground extraction.

[0050] Each pixel in the underground coal mine grayscale image is selected as the center pixel, and a proximity window with a side length of 3 is established. The foreground degrees of all pixels within the proximity window, excluding the center pixel, are recorded as the proximity foreground degrees of the center pixel. Among the proximity foreground degrees of the center pixel, the proximity foreground degrees that are greater than or equal to a fourth preset threshold are recorded as the prominent foreground degrees of the center pixel. The prominent foreground degree value of each pixel is obtained. In this embodiment, the fourth preset threshold value is 9.

[0051] When the number of prominent foreground degrees of a pixel point is greater, the correlation and similarity between the pixel point and the foreground area are greater, and the possibility that the pixel point is located in the foreground area is greater.

[0052] The average of the absolute values ​​of the grayscale value differences between the central pixel and all pixels in the adjacent window of the central pixel is recorded as the grayscale mean difference of the central pixel.

[0053] The smaller the mean grayscale difference of a pixel is, the closer the grayscale value of the pixel is to that of other surrounding pixels, the stronger the correlation between the pixel and the surrounding pixels, the closer the color is, and the greater the possibility that the pixel and the surrounding pixels correspond to the same object.

[0054] The foreground relevance of the pixel is obtained according to the number of prominent foreground degrees and the grayscale mean difference of the pixel.

[0055]

[0056] in, Indicates the The coordinates in the grayscale image of an underground coal mine are The foreground correlation of the pixel points; Indicates the The coordinates in the grayscale image of an underground coal mine are The number of pixels with prominent foreground; Indicates the The coordinates in the grayscale image of an underground coal mine are The grayscale mean difference of the pixels; represents a natural constant; Represents a linear normalization function, which takes the linear normalization value in the brackets.

[0057] When the number of prominent foreground degrees of a pixel point is larger and the grayscale mean difference is smaller, the foreground correlation degree of the pixel point is greater. At this time, the possibility that the pixel point is located in the foreground area is greater, and the possibility that the pixel point and the surrounding pixels correspond to the same object is also greater.

[0058] In the underground coal mine grayscale image, pixels with a foreground correlation greater than or equal to a comparison threshold are recorded as foreground feature pixels. The empirical value of the comparison threshold is 0.65.

[0059] A connected domain analysis is performed on all foreground feature pixels in the grayscale image of an underground coal mine. The obtained connected domain is recorded as the foreground area, and the area composed of pixels not in the connected domain is recorded as the background area.

[0060] The grayscale values ​​of the pixels in the background area of ​​the underground coal mine grayscale image are assigned to 0, and the grayscale values ​​of the pixels in the foreground area remain unchanged to obtain a foreground image. The foreground images are arranged in the order of the acquisition time of the corresponding underground coal mine grayscale images to obtain a foreground video.

[0061] The grayscale values ​​of the pixels in the background area of ​​the underground coal mine grayscale image remain unchanged, and the grayscale values ​​of the pixels in the foreground area are assigned to 0 to obtain the background image. The background images are arranged in the order of the acquisition time of the corresponding underground coal mine grayscale images to obtain the background video.

[0062] The background area requires less attention, so the background video is compressed using H.264 video compression. Repeated transmission of the compressed background video is used to determine whether the current channel is stable. If the receiving end can receive the compressed background video in a timely manner, the channel is considered stable. Lossy compression of video using H.264 video compression is a well-known technique and will not be further described.

[0063] When the channel is stable, the foreground video is transmitted over the channel. When the receiving end receives the foreground and background videos corresponding to the same time period, the two videos are replaced and merged to obtain the original underground coal mine video, achieving interference-resistant transmission of underground coal mine data.

[0064] Based on the same inventive concept as the above method, an embodiment of the present invention also provides an underground coal mine data anti-interference transmission system, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned underground coal mine data anti-interference transmission methods are implemented.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for transmitting data in an underground coal mine with anti-interference, characterized in that: The method comprises the following steps: Collect underground coal mine videos and obtain underground coal mine grayscale images based on the underground coal mine videos; According to the grayscale images of the underground coal mine in adjacent frames, the grayscale differences of the pixels are obtained. Based on the grayscale differences, a grayscale difference sequence of the pixels at the same position is obtained. According to the grayscale difference sequence, the grayscale differences are divided into credible grayscale differences and uncredible grayscale differences. The grayscale differences of all pixels are updated based on the uncredible grayscale differences. According to the grayscale difference sequence, a feature window of the pixel is obtained; according to the grayscale difference contained in the feature window of the pixel, the grayscale difference parameter, grayscale fluctuation, and grayscale difference fluctuation of the pixel are obtained; according to the grayscale fluctuation, grayscale difference parameter, and grayscale difference fluctuation of the pixel, the foreground degree of the pixel is obtained; Determine the proximity window of the pixel point, obtain the number of pixel prominences according to the proximity window of the pixel point, obtain the grayscale mean difference of the pixel point according to the proximity window of the pixel point, obtain the foreground correlation of the pixel point based on the number of pixel prominences and the grayscale mean difference, determine the foreground area and background area according to the foreground correlation, obtain the foreground video and background video respectively according to the foreground area and background area, determine the channel stability according to the foreground video and background video and transmit them respectively, so as to realize the anti-interference transmission of underground coal mine data.

2. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for dividing the credible grayscale differences and the uncredible grayscale differences according to the grayscale difference sequence and updating the grayscale differences of all pixels according to the uncredible grayscale differences is as follows: In the grayscale difference sequence of pixel points, the grayscale differences that are continuously greater than or equal to the first preset threshold and greater than the second preset threshold are recorded as credible grayscale differences, and the grayscale differences that are not credible grayscale differences are recorded as uncredible grayscale differences, and the uncredible grayscale differences are assigned to the second preset threshold.

3. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for obtaining the grayscale difference parameter is: When the proportion of grayscale differences greater than 0 in the feature window of a pixel is greater than or equal to the motion threshold, the grayscale difference parameter of the pixel is assigned a value of 1; otherwise, it is assigned a value of 0.

4. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for obtaining the grayscale fluctuation is: The standard deviation of the grayscale values ​​of the pixels corresponding to all grayscale differences contained in the feature window is recorded as the grayscale fluctuation of the central pixel of the feature window.

5. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for obtaining the grayscale difference fluctuation is: The absolute value of the third preset threshold power root of the product of all grayscale differences contained in the feature window is recorded as the grayscale difference fluctuation degree of the central pixel of the feature window.

6. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for obtaining the foreground degree is: in, Indicates the The coordinates in the grayscale image of an underground coal mine are The foreground degree of the pixel point; Indicates the The coordinates in the grayscale image of an underground coal mine are The grayscale difference parameter of the pixel point; Indicates the The coordinates in the grayscale image of an underground coal mine are Grayscale fluctuation of pixel points; Indicates the The coordinates in the grayscale image of an underground coal mine are Grayscale difference fluctuation of pixel points; Represents a natural constant.

7. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for obtaining the number of prominent foreground degrees of the pixel point is: The neighboring foreground degrees of other pixels in the neighboring window of the pixel that are greater than or equal to a fourth preset threshold are recorded as the prominent foreground degrees of the pixel, and the number of the prominent foreground degrees of the pixels is counted.

8. The anti-interference transmission method for underground coal mine data according to claim 1, characterized in that: The method for obtaining the foreground relevance is: in, Indicates the The coordinates in the grayscale image of an underground coal mine are The foreground correlation of the pixel points; Indicates the The coordinates in the grayscale image of an underground coal mine are The number of pixels with prominent foreground; Indicates the The coordinates in the grayscale image of an underground coal mine are The grayscale mean difference of the pixels; represents a natural constant; represents the linear normalization function.

9. The method for transmitting underground coal mine data with anti-interference according to claim 1, characterized in that: The method for determining the foreground area and the background area according to the foreground correlation, obtaining the foreground video and the background video respectively according to the foreground area and the background area, determining the channel stability according to the foreground video and the background video and transmitting them respectively, and realizing the anti-interference transmission of underground coal mine data is as follows: The pixels whose foreground correlation degree is greater than or equal to the comparison threshold are recorded as foreground feature pixels, the area composed of foreground feature pixels is recorded as foreground area, and the area composed of pixels that are not foreground feature pixels is recorded as background area; Assigning the grayscale values ​​of the pixels in the background area of ​​the underground coal mine grayscale image to 0 to obtain a foreground image, arranging the foreground images in the order of the acquisition time of the underground coal mine grayscale images corresponding to the foreground images to obtain a foreground video, and obtaining a background video according to the method for obtaining the foreground video; The background video is lossily compressed and sent repeatedly to determine the stability of the channel. When the channel is stable, the channel is used to transmit the foreground video, realizing anti-interference transmission of underground coal mine data.

10. An underground coal mine data anti-interference transmission system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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