An anti-interference transmission method and system for underground coal mine data

Abstract

The present application relates to the technical field of image communication, and proposes a kind of underground coal mine data anti-interference transmission method and system, comprising: acquisition underground coal mine video, obtain underground coal mine gray scale chart;Obtain the gray difference and gray difference sequence of pixel, update according to gray difference sequence to all gray difference;According to gray difference sequence and gray difference, obtain gray difference value parameter, gray fluctuation degree and gray difference fluctuation degree, obtain the foreground degree of pixel;Determine the adjacent window of pixel, obtain the number of prominent foreground degree of pixel, gray mean difference, and then obtain foreground correlation degree, determine foreground area and background area according to foreground correlation degree, obtain foreground video and background video according to foreground area and background area respectively, determine channel stability for foreground video and background video and respectively transmission, realize underground coal mine data anti-interference transmission.The present application is to solve the problem of low efficiency of underground coal mine data transmission caused by high channel load.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image communication, in particular to a downhole coal mine data anti-interference transmission method and system. BACKGROUND

[0002] In the downhole coal mine environment, the video monitoring system faces severe challenges from electromagnetic interference. Due to the particularity of the downhole coal mine environment, the monitoring system plays a key role in ensuring worker safety, responding to emergency situations, equipment failure detection, and accident investigation. Frequent interference may cause equipment failure, resulting in work interruption, thus reducing overall production efficiency and increasing the risk of accidents. At the same time, electromagnetic interference may make the video monitoring data incomplete, reducing the reliability of the video monitoring data. In order to ensure the reliability and stability of the video monitoring system in the downhole coal mine environment, anti-interference technology has become an indispensable means to ensure work safety and improve production efficiency.

[0003] In order to achieve the purpose of anti-interference of the video monitoring of the downhole coal mine and ensure the availability and accuracy of the video data, the method of continuous retransmission is usually used. However, the data volume of the video data of the downhole coal mine is too large, and under the frequent retransmission mechanism, it may cause data transmission congestion and high latency, thus making other real-time signals unable to be sent in time, affecting the operation of the entire video monitoring system. Therefore, it is necessary to reduce channel occupation and save channel load in the process of anti-interference of the video monitoring of the downhole coal mine, and to improve the anti-interference ability of video transmission. SUMMARY

[0004] The present application provides a downhole coal mine data anti-interference transmission method and system to solve the problem of low video transmission efficiency caused by high channel load in the process of downhole coal mine data anti-interference transmission. The technical solution adopted is as follows:

[0005] In the first aspect, an embodiment of the present application provides a downhole coal mine data anti-interference transmission method, which comprises the following steps:

[0006] Collecting downhole coal mine video and obtaining downhole coal mine grayscale image according to the downhole coal mine video;

[0007] According to the grayscale images of adjacent frames, the grayscale difference of the pixel points is obtained, the grayscale difference sequence of the pixel points at the same position is obtained according to the grayscale difference, the credible grayscale difference and the non-credible grayscale difference are divided according to the grayscale difference sequence, and the grayscale difference of all pixel points is updated according to the non-credible grayscale difference;

[0008] According to the gray difference sequence, the feature window of the pixel point is obtained, the gray difference value parameter, the gray fluctuation degree and the gray difference fluctuation degree of the pixel point are obtained according to the gray difference contained in the feature window of the pixel point, and the foreground degree of the pixel point is obtained according to the gray fluctuation degree, the gray difference value parameter and the gray difference fluctuation degree of the pixel point.

[0009] The adjacent window of the pixel point is determined, the number of prominent foreground degrees of the pixel point is obtained according to the adjacent window of the pixel point, the gray mean difference of the pixel point is obtained according to the adjacent window of the pixel point, the foreground correlation degree of the pixel point is obtained according to the number of prominent foreground degrees and the gray mean difference of the pixel point, the foreground region and the background region are determined according to the foreground correlation degree, the foreground video and the background video are obtained according to the foreground region and the background region respectively, the channel stability of the foreground video and the background video is determined and transmitted respectively, and the anti-interference transmission of the underground coal mine data is realized.

[0010] Further, the method for obtaining the gray difference sequence according to the gray difference sequence is:

[0011] The gray difference greater than or equal to the first preset threshold and greater than the second preset threshold in the gray difference sequence of the pixel point is recorded as the trusted gray difference, the gray difference that is not the trusted gray difference is recorded as the untrusted gray difference, and the untrusted gray difference is assigned a value of the second preset threshold.

[0012] Further, the method for obtaining the gray difference value parameter is:

[0013] When the proportion of the gray difference greater than 0 in the feature window of the pixel point is greater than or equal to the motion threshold, the gray difference value parameter of the pixel point is assigned a value of 1, otherwise, a value of 0 is assigned.

[0014] Further, the method for obtaining the gray fluctuation degree is:

[0015] The standard deviation of the gray values of the pixel points corresponding to all the gray differences contained in the feature window is recorded as the gray fluctuation degree of the center pixel point of the feature window.

[0016] Further, the method for obtaining the gray difference fluctuation degree is:

[0017] The absolute value of the third preset threshold power root of the product of all the gray differences contained in the feature window is recorded as the gray difference fluctuation degree of the center pixel point of the feature window.

[0018] Further, the method for obtaining the foreground degree is:

[0019] Wherein, Indicates the coordinate of the i-th underground coal mine gray image Indicates the coordinate of the i-th underground coal mine gray image a foreground degree of a pixel point; a gray difference value parameter of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a gray difference value parameter of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a gray fluctuation degree of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a gray difference fluctuation degree of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a gray difference fluctuation degree of a pixel point with coordinates a natural constant.

[0020] Further, the method for obtaining the number of the outstanding foreground degrees of the pixel point is:

[0021] The adjacent foreground degree of other pixel points in the adjacent window of the pixel point greater than or equal to the fourth preset threshold is recorded as the outstanding foreground degree of the pixel point, and the number of the outstanding foreground degrees of the pixel point is counted.

[0022] Further, the method for obtaining the foreground correlation degree is:

[0023] wherein, a foreground correlation degree of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a foreground correlation degree of a pixel point with coordinates a number of outstanding foreground degrees of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a gray mean difference of a pixel point with coordinates in the kth underground coal mine gray scale diagram; a natural constant; a linear normalization function. Further, the method for realizing the anti-interference transmission of the underground coal mine data is:

[0024] The pixel point with the foreground correlation degree greater than or equal to the comparison threshold is recorded as a foreground feature pixel point, the region composed of the foreground feature pixel points is recorded as a foreground region, and the region composed of the pixel points which are not the foreground feature pixel points is recorded as a background region;

[0025] The pixel point with the foreground correlation degree greater than or equal to the comparison threshold is recorded as a foreground feature pixel point, the region composed of the foreground feature pixel points is recorded as a foreground region, and the region composed of the pixel points which are not the foreground feature pixel points is recorded as a background region;

[0026] ​The grayscale values ​​of pixels in the background area of ​​the underground coal mine grayscale image are set to 0 to obtain the foreground image. The foreground images are arranged according to the acquisition time order of the corresponding underground coal mine grayscale images to obtain the foreground video. The background video is obtained by following the method for obtaining the foreground video.

[0027] The stability of the channel is determined by lossy compression of the background video and repeated transmission. When the channel is stable, the foreground video is transmitted through the channel, thus achieving anti-interference transmission of data in underground coal mines.

[0028] Secondly, embodiments of the present invention also provide 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, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0029] The beneficial effects of this invention are:

[0030] This invention addresses the problem that frequent retransmission mechanisms can easily lead to data transmission congestion and high latency in underground coal mines, preventing other real-time signals from being transmitted in a timely manner and affecting the operation of the entire video surveillance system. It divides the main motion area and background area in underground coal mine data. First, based on the differences in the grayscale images of adjacent frames in the underground coal mine data, the grayscale differences of pixels are determined, eliminating the influence of noise points and random falling objects in the underground coal mine grayscale image on the division of the main motion area, improving the accuracy of the divided main motion area and reducing the impact of the underground coal mine environment on image quality. Then, based on the characteristic that the foreground subject in underground coal mine videos is generally in continuous motion, the foreground intensity of pixels in the underground coal mine grayscale image is determined, and further, combined with the simple underground coal mine environment... The underground coal mine video is characterized by high similarity between the two, including the uniform work clothes worn by the workers, and significant differences between the underground coal mine environment and the workers. The foreground correlation of pixels is obtained, and the video is divided into foreground and background videos based on this correlation. Channel stability is determined based on the foreground and background videos, and they are transmitted separately to achieve anti-interference transmission of underground coal mine data. This addresses the problem of low video transmission efficiency caused by excessive channel load during anti-interference transmission of underground coal mine data. Specifically, lossy compressed background video is used for channel transmission detection, and the main video is transmitted when the channel is stable. This saves channel load while effectively transmitting underground coal mine monitoring video, improving the anti-interference capability of underground coal mine video transmission. Attached Figure Description

[0031] In order to make the technical solutions of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only aim to some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0032] Figure 1 A flowchart of a downhole coal mine data anti-interference transmission method provided by an embodiment of the present application is shown in the figure.

[0033] Figure 2 A foreground degree acquisition flowchart is shown in the figure. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0035] Please refer to Figure 1 which shows a downhole coal mine data anti-interference transmission method flowchart provided by an embodiment of the present application. The method comprises the following steps:

[0036] Step S001: Collecting downhole coal mine video, and acquiring downhole coal mine grayscale image according to the downhole coal mine video.

[0037] According to the downhole coal mine video shot by the downhole coal mine monitoring camera, the downhole coal mine video is divided into frame images by using video frame division technology. In this embodiment, 30 frames of video are sampled per second.

[0038] In the downhole coal mine environment, in order to avoid the explosion risk of coal dust, the downhole coal mine camera usually uses explosion-proof light compensation and special camera shooting. The relative brightness is relatively low, so the downhole coal mine video and frame images are relatively dark. Therefore, first, the frame image is subjected to image enhancement by using a local contrast self-adaptive histogram equalization algorithm, and the enhanced image is converted into a grayscale image to obtain the downhole coal mine grayscale image.

[0039] At this point, the downhole coal mine grayscale image is obtained.

[0040] Step S002: According to the downhole coal mine grayscale images of adjacent frames, the grayscale difference of the pixel points is obtained. According to the grayscale difference, the grayscale difference sequence of the pixel points at the same position is obtained. According to the grayscale difference sequence, the credible grayscale difference and the non-credible grayscale difference are divided. According to the non-credible grayscale difference, the grayscale difference of all pixel points is updated.

[0041] The adjacent frame difference method is used to process the adjacent frames of the underground coal mine gray scale diagram, and the absolute value of the difference operation corresponding to each pixel point in the underground coal mine gray scale diagram is obtained. The absolute value of the difference operation corresponding to the pixel point is referred to as the gray scale difference of the pixel point.

[0042] When the gray scale difference of the pixel point is greater than 0, the object at the position corresponding to the pixel point has changed; when the gray scale difference of the pixel point is equal to 0, the object at the position corresponding to the pixel point has not changed, and the object corresponding to the pixel point is less likely to be the moving object that needs to be extracted.

[0043] Since the lighting conditions are relatively dim when the underground coal mine monitoring camera obtains the video, there will be a large number of noise points in the underground coal mine gray scale diagram, and in the underground mine, there may be objects such as naturally falling stones, which may cause the object corresponding to the pixel point to be misjudged as a moving object that needs to be extracted. Therefore, in the process of extracting the moving object according to the gray scale difference of the pixel point, the above situation needs to be avoided.

[0044] The noise points in the underground coal mine gray scale diagram are randomly generated, so the gray scale difference corresponding to the pixel point that is actually a noise point will not appear continuously large. At the same time, the natural falling object will only cause the gray scale difference of the pixel point corresponding to the falling time period to be large, but the number of frames that change is very small, and the gray scale difference corresponding to the pixel point that is actually a natural falling object will also not appear continuously large.

[0045] The gray scale differences corresponding to the pixel points at the same position in all underground coal mine gray scale diagrams are arranged in the order of the collection time of the underground coal mine gray scale diagram, and the gray scale difference sequence of the pixel point at the position is obtained.

[0046] In the gray scale difference sequence of the pixel point, the gray scale differences that are continuously greater than or equal to are greater than are referred to as credible gray scale differences. The gray scale differences that are not credible gray scale differences are referred to as non-credible gray scale differences, and the non-credible gray scale differences are assigned a value of , so as to update the gray scale differences of all pixel points.

[0047] The pixel points in the underground coal mine gray scale diagram corresponding to the non-credible gray scale differences are noise points and falling objects, and the non-credible gray scale differences are assigned a value of , so as to avoid the influence of noise points and falling objects on the extraction of moving objects. Among them, is a first preset threshold, and the value of the embodiment is 5, is a second preset threshold, and the value of the embodiment is 0.

[0048] Thus, the gray scale difference of the pixel point is obtained.

[0049] In step S003, the feature window of the pixel point is obtained according to the gray difference sequence, the gray difference value parameter, the gray fluctuation degree and the gray difference fluctuation degree of the pixel point are obtained according to the gray difference contained in the feature window of the pixel point, and the foreground degree of the pixel point is obtained according to the gray fluctuation degree, the gray difference value parameter and the gray difference fluctuation degree of the pixel point. Due to the danger of underground coal mine operation, the person working underground is generally in a state of continuous motion and will not remain stationary for a long time. Therefore, the foreground subject in the underground coal mine video is generally in a state of continuous motion. Therefore, the motion threshold is used as the threshold for screening whether the pixel point corresponds to the foreground subject. In this embodiment, the motion threshold is 75%.

[0050] In the gray difference sequence of the pixel point, a window with a length of a third preset threshold is established with each pixel point in the underground coal mine gray image as the center, and the established window is recorded as the feature window of the pixel point in the underground coal mine gray image. In this embodiment, the third preset threshold is 9.

[0051] The gray difference value parameter of the pixel point is determined according to the gray difference contained in the feature window of the pixel point.

[0052]

[0053] In the formula, Δx represents the gray difference value parameter of the pixel point; Δ represents the motion threshold; and P represents the proportion of the gray difference greater than 0 in the gray difference contained in the feature window of the pixel point. In the formula, Δx represents the gray difference value parameter of the pixel point; Δ represents the motion threshold; and P represents the proportion of the gray difference greater than 0 in the gray difference contained in the feature window of the pixel point. In the formula, Δx represents the gray difference value parameter of the pixel point; Δ represents the motion threshold; and P represents the proportion of the gray difference greater than 0 in the gray difference contained in the feature window of the pixel point. In the formula, Δx represents the gray difference value parameter of the pixel point; Δ represents the motion threshold; and P represents the proportion of the gray difference greater than 0 in the gray difference contained in the feature window of the pixel point.

[0054] In the gray difference contained in the feature window of the pixel point, when the proportion of the gray difference greater than 0 is greater than or equal to the motion threshold, the gray difference value parameter of the pixel point is assigned as 1, and when the proportion of the gray difference greater than 0 is less than the motion threshold, the gray difference value parameter of the pixel point is assigned as 0.

[0055] When the pixel point corresponds to the foreground subject, with the movement of the subject, the gray values of the pixel points at the same position in different frames will have a large difference, so the gray value fluctuation of the pixel point corresponding to the foreground subject is large.

[0056] The standard deviation of the gray values of the pixel points corresponding to all the gray differences contained in the feature window of the pixel point is recorded as the gray fluctuation degree of the center pixel point of the feature window.

[0057] The absolute value of the third preset threshold root of the product of all grayscale differences contained within the feature window of a pixel is denoted as the grayscale difference fluctuation of the center pixel of the feature window. Here, the third preset threshold is a manually set parameter, representing the length of the feature window of the pixel; in this embodiment, the third preset threshold is set to 9.

[0058] 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 the foreground subject.

[0059] The foreground quality of a pixel is obtained based on its grayscale fluctuation, grayscale difference parameter, and grayscale difference fluctuation.

[0060]

[0061] in, Indicates the first The coordinates in the grayscale map of an underground coal mine are: Foreground detail of pixels; Indicates the first The coordinates in the grayscale map of an underground coal mine are: The grayscale difference parameter of the pixels; Indicates the first The coordinates in the grayscale map of an underground coal mine are: The grayscale fluctuation of the pixels; Indicates the first The coordinates in the grayscale map of an underground coal mine are: The grayscale variation of pixels; Represents the natural constant.

[0062] The greater the grayscale fluctuation, grayscale difference parameter, and grayscale difference fluctuation of a pixel, the greater the foreground intensity of the pixel. In this case, the pixel is more likely to be located in the moving foreground position in the grayscale image of the underground coal mine.

[0063] At this point, the foreground intensity of each pixel in each underground coal mine grayscale image has been obtained. The flowchart for obtaining the foreground intensity is as follows: Figure 2 As shown.

[0064] Step S004: Determine the neighboring windows of the pixels, obtain the number of prominent foreground values ​​of the pixels based on the neighboring windows, obtain the average grayscale difference of the pixels based on the neighboring windows, obtain the foreground correlation of the pixels based on the number of prominent foreground values ​​and the average grayscale difference, determine the foreground region and background region based on the foreground correlation, obtain the foreground video and background video based on the foreground region and background region respectively, determine the channel stability based on the foreground video and background video and transmit them respectively, so as to realize the anti-interference transmission of underground coal mine data.

[0065] The underground coal mine environment is single and has high similarity. The personnel working in the underground coal mine wear the same work clothes to reduce the harm of possible risks in the underground coal mine to the personnel, so the pixel points in the foreground region in the underground coal mine grayscale image also have high similarity. Meanwhile, the personnel working in the underground coal mine and the mine background have large difference. Therefore, the pixel points corresponding to the foreground object in the underground coal mine grayscale image can be further determined according to the correlation degree between different pixel points, and the accuracy of foreground extraction is improved.

[0066] Each pixel point in the underground coal mine grayscale image is selected as a center pixel point, and a neighboring window with a side length of 3 is established. The foreground degree of all the pixel points in the neighboring window of the pixel point except the center pixel point is recorded as the neighboring foreground degree of the center pixel point, and the neighboring foreground degree greater than or equal to the fourth preset threshold in the neighboring foreground degree of the center pixel point is recorded as the prominent foreground degree of the center pixel point. The number of the prominent foreground degrees of each pixel point is obtained. In this embodiment, the value of the fourth preset threshold is 9.

[0067] When the number of the prominent foreground degrees of the pixel point is more, the correlation degree and the similarity between the pixel point and the foreground region are greater, and the possibility of the pixel point being in the foreground region is greater.

[0068] The mean value of the absolute values of the gray value difference between all the pixel points in the neighboring window of the center pixel point and the center pixel point is recorded as the gray mean difference of the center pixel point.

[0069] When the gray mean difference of the pixel point is smaller, the gray values of the pixel point and the surrounding other pixel points are closer, the correlation of the pixel point and the surrounding pixel points is stronger, the colors of the pixel point and the surrounding pixel points are closer, and the possibility of the pixel point and the surrounding pixel points corresponding to the same object is greater.

[0070] The foreground correlation degree of the pixel point is obtained according to the number of the prominent foreground degrees of the pixel point and the gray mean difference.

[0071]

[0072] wherein, the foreground correlation degree of the pixel point with the coordinates of in the mth underground coal mine grayscale image is represented as the number of the prominent foreground degrees of the pixel point with the coordinates of in the mth underground coal mine grayscale image is represented as the gray mean difference of the pixel point with the coordinates of in the mth underground coal mine grayscale image is represented as a natural constant is represented as a linear normalization function is represented as, which takes the linear normalized value in the parentheses. ​​​​​​

[0073] The greater the number of pixel points with the prominent foreground degree, and the smaller the gray mean difference, the greater the foreground correlation degree of the pixel points. At this time, the pixel points are more likely to be located in the foreground region, and the pixel points are more likely to correspond to the same object as the surrounding pixel points.

[0074] In the underground coal mine gray-scale image, pixel points with a foreground correlation degree greater than or equal to a comparison threshold value are recorded as foreground feature pixel points. The experience value of the comparison threshold value is 0.65.

[0075] All foreground feature pixel points in the underground coal mine gray-scale image are subjected to connected domain analysis. The obtained connected domain is recorded as a foreground region, and a region composed of pixel points not in the connected domain is recorded as a background region.

[0076] In the underground coal mine gray-scale image, the gray-scale values of pixel points in the background region are assigned as 0, and the gray-scale values of pixel points in the foreground region remain unchanged to obtain a foreground image. The foreground images are arranged in the order of the collection time of the underground coal mine gray-scale image corresponding to the foreground image to obtain a foreground video.

[0077] In the underground coal mine gray-scale image, the gray-scale values of pixel points in the foreground region are assigned as 0, and the gray-scale values of pixel points in the background region remain unchanged to obtain a background image. The background images are arranged in the order of the collection time of the underground coal mine gray-scale image corresponding to the background image to obtain a background video.

[0078] The background region does not need to be paid more attention to. Therefore, the background video is compressed using H.264 video compression encoding, and repeated sending of the compressed background video is used to determine whether the current channel is stable. When the receiving end can timely receive the compressed background video, it is considered that the channel is stable. Using H.264 video compression encoding to perform lossy compression on the video is a known technology, and will not be described in detail.

[0079] When the channel is stable, the foreground video is transmitted using the channel. When the receiving end receives the foreground video and the background video corresponding to the same time period, the two videos are replaced and combined, so that the original underground coal mine video can be obtained, and the anti-interference transmission of the underground coal mine data is realized.

[0080] Based on the same inventive concept as the above method, the embodiments of the present application also provide an underground coal mine data anti-interference transmission system, which comprises 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 underground coal mine data anti-interference transmission methods are realized.

[0081] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the principles of the present application.

Claims

1. A method for anti-interference transmission of data in an underground coal mine, characterized in that, The method comprises the following steps: Collecting underground coal mine video, and obtaining underground coal mine grayscale images according to the underground coal mine video; According to the grayscale images of adjacent frames, the grayscale difference of the pixel points is obtained, the grayscale difference sequence of the pixel points at the same position is obtained according to the grayscale difference, and the reliable grayscale difference and the non-reliable grayscale difference are divided according to the grayscale difference sequence; the grayscale difference of all pixel points is updated according to the non-reliable grayscale difference; According to the grayscale difference sequence, the feature window of the pixel point is obtained, the grayscale difference value parameter, the grayscale fluctuation degree and the grayscale difference fluctuation degree of the pixel point are obtained according to the grayscale difference contained in the feature window of the pixel point, and the foreground degree of the pixel point is obtained according to the grayscale fluctuation degree, the grayscale difference value parameter and the grayscale difference fluctuation degree of the pixel point; The adjacent window of the pixel point is determined, the number of prominent foreground degrees of the pixel point is obtained according to the adjacent window of the pixel point, the grayscale average difference of the pixel point is obtained according to the adjacent window of the pixel point, the foreground correlation degree of the pixel point is obtained according to the number of prominent foreground degrees and the grayscale average difference, the foreground region and the background region are determined according to the foreground correlation degree, the foreground video and the background video are obtained according to the foreground region and the background region respectively, the channel stability is determined according to the foreground video and the background video and is transmitted respectively, and the anti-interference transmission of underground coal mine data is realized; The method for determining the foreground region and the background region according to the foreground correlation degree, obtaining the foreground video and the background video according to the foreground region and the background region respectively, 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 pixel points with the foreground correlation degree greater than or equal to the comparison threshold value are recorded as foreground feature pixel points, the region composed of the foreground feature pixel points is recorded as the foreground region, and the region composed of the pixel points which are not foreground feature pixel points is recorded as the background region; The grayscale value of the pixel points in the background region in the underground coal mine grayscale image is assigned as 0, the foreground image is obtained, the foreground images are arranged in the order of the collection time of the underground coal mine grayscale image corresponding to the foreground image, the foreground video is obtained, and the background video is obtained according to the method of obtaining the foreground video; The background video is lossy compressed and repeatedly sent to determine the stability of the channel, when the channel is stable, the channel is used for the transmission of the foreground video, and the anti-interference transmission of underground coal mine data is realized.

2. The downhole coal mine data anti-interference transmission method according to claim 1, characterized in that, The method for dividing the reliable grayscale difference and the non-reliable grayscale difference according to the grayscale difference sequence and updating the grayscale difference of all pixel points according to the non-reliable grayscale difference is as follows: The grayscale difference in the grayscale difference sequence of the pixel points which is greater than or equal to the first preset threshold value and greater than the second preset threshold value is recorded as the reliable grayscale difference, the grayscale difference which is not the reliable grayscale difference is recorded as the non-reliable grayscale difference, and the non-reliable grayscale difference is assigned as the second preset threshold value.

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

4. The downhole coal mine data anti-interference transmission method according to claim 1, characterized in that, The method for obtaining the grayscale fluctuation degree is as follows: The standard deviation of the gray scale values of all the pixel points corresponding to the gray scale difference contained in the feature window is denoted as the gray scale fluctuation degree of the center pixel point of the feature window.

5. The downhole coal mine data anti-interference transmission method according to claim 1, characterized in that, The method for obtaining the gray scale difference fluctuation degree comprises the following steps: The absolute value of the third preset threshold root times the product of all the gray scale differences contained in the feature window is denoted as the gray scale difference fluctuation degree of the center pixel point of the feature window.

6. The downhole coal mine data anti-interference transmission method according to claim 1, characterized in that, The foreground degree acquisition method is: Wherein, Indicates the foreground degree of a pixel point with coordinates in the first underground coal mine gray scale diagram; Indicates the gray scale difference parameter of a pixel point with coordinates in the second underground coal mine gray scale diagram; Indicates the gray scale fluctuation degree of a pixel point with coordinates in the third underground coal mine gray scale diagram; Indicates the gray scale difference fluctuation degree of a pixel point with coordinates in the fourth underground coal mine gray scale diagram; Indicates a natural constant.​​​​ 7. The downhole coal mine data anti-interference transmission method according to claim 1, characterized in that, The method for obtaining the number of the outstanding foreground degrees of the pixel points comprises the following steps: The adjacent foreground degrees of other pixel points in the adjacent window of the pixel point which are greater than or equal to a fourth preset threshold are denoted as the outstanding foreground degrees of the pixel point, and the number of the outstanding foreground degrees of the pixel point is counted.

8. The downhole coal mine data anti-interference transmission method according to claim 1, characterized in that, The foreground correlation degree is obtained by: Wherein, represents the foreground correlation degree of a pixel point with coordinates in the first underground coal mine gray scale diagram; represents the number of the prominent foreground degrees of a pixel point with coordinates in the first underground coal mine gray scale diagram; represents the gray scale average difference of a pixel point with coordinates in the first underground coal mine gray scale diagram; represents a natural constant; represents a linear normalization function.​​​ 9. An anti-jamming transmission system of data in an underground coal mine, comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that, The processor executes the computer program to realize the steps of the method in any one of claims 1-8.

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