Coal mine water prevention and control data processing method and system

Abstract

The present application provides a kind of coal mine water prevention and control data processing method and system, it is related to data processing technique, control inspection equipment real-time image acquisition is carried out to the top wall and side wall in coal mine tunnel, obtains the multiple inspection images corresponding to each inspection point in coal mine tunnel;Directly analyze the inspection image, generate analysis result, analysis result includes normal result, direct abnormal result and potential abnormal result, when determining that analysis result is direct abnormal result, generate early warning information;When determining that analysis result is potential abnormal result, water seepage analysis is carried out to the slot position image, obtains water seepage result and non-water seepage result, generates early warning information based on water seepage result;Coal mine tunnel space corresponding to coal mine tunnel is constructed, based on corresponding inspection point, inspection image and slot position image are updated to coal mine tunnel space, obtain coal mine verification space, send coal mine verification space and early warning information to management end, improve the accuracy of water seepage detection.

Description

TECHNICAL FIELD

[0001] The present application relates to data processing technology, in particular to a coal mine water prevention and control data processing method and system. BACKGROUND

[0002] In the process of coal mining, the stability of the tunnel wall and the top wall is crucial to the safety of the mine. Due to the penetration of underground water, water seepage often occurs on the inner wall of the tunnel. If it cannot be found and handled in time, it may lead to tunnel collapse, thereby endangering the safety of miners.

[0003] In the prior art, the coal mine wall water seepage detection method is relatively single, mostly adopting manual inspection mode, but the manual inspection mode has obvious defects in accuracy, efficiency, cost, etc. For example, when the wall appears a hanging bead phenomenon, it cannot be accurately determined that the hanging bead phenomenon is caused, thereby misjudging as a water seepage result, causing an increase in maintenance cost.

[0004] Therefore, how to automatically inspect the coal mine tunnel and improve the accuracy of water seepage detection has become a problem to be solved. SUMMARY

[0005] The present application provides a coal mine water prevention and control data processing method and system, which can automatically inspect the coal mine tunnel and improve the accuracy of water seepage detection.

[0006] In a first aspect of the present application, a coal mine water prevention and control data processing method is provided, comprising:

[0007] controlling the inspection equipment to collect images of the top wall and the side wall in the coal mine tunnel in real time, to obtain a plurality of inspection images corresponding to each inspection point in the coal mine tunnel;

[0008] directly analyzing the inspection images to generate an analysis result, the analysis result including a normal result, a direct abnormal result and a potential abnormal result, generating an early warning information when the analysis result is determined as a direct abnormal result;

[0009] when the analysis result is determined as a potential abnormal result, performing water seepage analysis on the slot image to obtain a water seepage result and a non-water seepage result, and generating an early warning information based on the water seepage result;

[0010] constructing a coal mine tunnel space corresponding to the coal mine tunnel, updating the inspection images and the slot images to the coal mine tunnel space based on the corresponding inspection points, obtaining a coal mine verification space, and sending the coal mine verification space and the early warning information to a management end.

[0011] Optionally, in a possible implementation manner of the first aspect, the direct analysis is performed on the inspection image to generate an analysis result, the analysis result includes a normal result, a direct abnormal result and a potential abnormal result, when the analysis result is determined as the direct abnormal result, an early warning information is generated, including:

[0012] The direct analysis is performed on the inspection image based on OpenCV to generate an analysis result corresponding to the inspection image, the analysis result includes a normal result, a water penetration result, a red hanging result and a bead hanging result;

[0013] The direct abnormal result is obtained according to the water penetration result and the red hanging result, and the bead hanging result is taken as the potential abnormal result;

[0014] When the analysis result is determined as the direct abnormal result, an early warning information is generated.

[0015] Optionally, in a possible implementation manner of the first aspect, when the analysis result is determined as the potential abnormal result, water penetration analysis is performed on a slot position image to obtain a water penetration result and a non-water penetration result, and the early warning information is generated based on the water penetration result, including:

[0016] When the analysis result is determined as the potential abnormal result, the corresponding inspection image is taken as a bead hanging image, and a bead hanging area of the bead hanging image is obtained;

[0017] The number of slots is obtained based on a ratio of the bead hanging area to a reference area, and the rotation positioning angle is determined based on the number of slots;

[0018] The center point of the bead hanging image is taken as a coordinate origin, and a bead hanging coordinate system corresponding to the bead hanging image is constructed based on the coordinate origin;

[0019] The region center point of the bead hanging area in the bead hanging image is obtained, and the slot position in the bead hanging area is determined according to the region center point and the rotation positioning angle;

[0020] When the slot position is determined as a top wall, the inspection device is controlled to randomly spray slot marks on the slot position;

[0021] The slot mark of the slot position is subjected to slotting processing by a verification device, and an image after slotting is collected to obtain a slot position image;

[0022] When the slot position is determined as a side wall, the longitudinal coordinates of each slot position in the bead hanging coordinate system are taken as slot sequence coordinates;

[0023] The slot positions are sorted in descending order based on the slot sequence coordinates to obtain a slot sequence, and the inspection device is controlled to spray slot marks on the slot positions in the slot sequence in sequence.

[0024] The control verification device sequentially performs slotting processing on slotting identifiers corresponding to slotting positions in the slotting sequence, and collects images after the slotting to obtain slot position images;

[0025] The gray value of the slot position region in the slot position image is obtained as a region gray value, and when the region gray value is greater than a preset gray value, a non-water penetration result is generated;

[0026] When the region gray value is less than or equal to the preset gray value, a water penetration result is generated, and warning information is generated based on the water penetration result.

[0027] Optionally, in a possible implementation manner of the first aspect, the obtaining of the region center point of the hanging bead region in the hanging bead image and the determination of the slotting position in the hanging bead region according to the region center point and the rotation positioning angle include:

[0028] The maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, and the minimum vertical coordinate of the hanging bead region are determined in the hanging bead coordinate system;

[0029] The region horizontal coordinate corresponding to the hanging bead region is obtained according to the mean value of the maximum horizontal coordinate and the minimum horizontal coordinate;

[0030] The region vertical coordinate corresponding to the hanging bead region is obtained based on the mean value of the maximum vertical coordinate and the minimum vertical coordinate;

[0031] The region center point corresponding to the hanging bead region is obtained according to the region horizontal coordinate and the region vertical coordinate;

[0032] A plurality of positioning rays are generated in the hanging bead image based on the rotation positioning angle and taking the region center point as the center, and the intersection point of the positioning rays and the region line of the hanging bead region is taken as a positioning intersection point;

[0033] The slotting distribution line is determined according to the line connecting the positioning intersection point and the center, the distance of each slotting distribution line is obtained as a slotting distribution distance, and the slotting distance is obtained based on the product of the preset slotting proportion and the slotting distribution distance.

[0034] The slotting position is determined based on the slotting distance and the position of the center pointed by the positioning ray along the positioning ray from the starting point of the positioning intersection point.

[0035] Optionally, in a possible implementation manner of the first aspect, the obtaining of the gray value of the slot position region in the slot position image as a region gray value includes:

[0036] acquire pixel values of each slot pixel point in the slot region in the slot image, and perform average value processing on the pixel values of the slot pixel points to obtain a pixel point grayscale value corresponding to the slot pixel points;

[0037] count the pixel point grayscale values of the slot pixel points in the slot region to obtain a region total grayscale value, and count the number of pixel points in the slot region to obtain a region total number;

[0038] obtain a region grayscale value according to a ratio of the region total grayscale value to the region total number.

[0039] Optionally, in a possible implementation manner of the first aspect, the method further includes:

[0040] control the verification device to perform image acquisition on the bead hanging region to obtain a pre-excavation image corresponding to the bead hanging region, and acquire a number of slot marks in the pre-excavation image;

[0041] determine that the number of slot marks is less than the number of slots and the number of slot marks is greater than or equal to 2, take the slot marks in the pre-excavation image as retained marks, and select any two retained marks as reference marks;

[0042] update the slot positions to the corresponding bead hanging image to obtain a standard slot image, determine slot positions corresponding to the retained marks in the standard slot image as retained positions, and take the remaining slot positions as filled positions;

[0043] determine slot positions corresponding to the reference marks as reference positions, connect the reference positions to each other, and connect the reference positions to the filled positions to obtain a filled triangle;

[0044] acquire an angle of a vertex corresponding to a reference position in the filled triangle as a filled angle, determine a connection line of the reference position in the filled triangle as a reference connection line, and acquire a relative direction of the filled position to the reference connection line as a filled direction;

[0045] acquire a center point of the reference mark as a reference midpoint, connect the reference midpoint to obtain a reference filled line, generate a filled straight line at the reference filled line based on the filled direction and the filled angle, and acquire an intersection point of the filled straight line as a filled mark point.

[0046] Optionally, in a possible implementation manner of the first aspect, the method further includes: constructing a coal mine tunnel space corresponding to the coal mine tunnel, updating the inspection image and the slot image to the coal mine tunnel space based on the corresponding inspection point, obtaining a coal mine verification space, and sending the coal mine verification space and the early warning information to a management end.

[0047] constructing a coal mine tunnel space corresponding to the coal mine tunnel, and when the analysis result of the inspection image corresponding to the inspection point is a direct abnormal result, regarding the inspection point as a first review point;

[0048] constructing a first trigger identifier corresponding to the first review point in the coal mine tunnel space, and binding the inspection image and the first trigger identifier;

[0049] when the analysis result of the inspection image corresponding to the inspection point is a potential abnormal result, regarding the inspection point as a second review point;

[0050] constructing a second trigger identifier corresponding to the second review point in the coal mine tunnel space, calling a preset indication template, and the preset indication template includes a left side inspection filling area and a right side slot filling area;

[0051] filling the inspection image into the inspection filling area, filling the slot image into the slot filling area, generating a pointing identifier pointing from the inspection filling area to the slot filling area, and obtaining a slot combination template;

[0052] binding the slot combination template and the second trigger identifier to obtain a coal mine verification space, and sending the coal mine verification space and the early warning information to a management end.

[0053] Optionally, in a possible implementation manner of the first aspect, the method further includes:

[0054] obtaining a region line coordinate point in a region line corresponding to the region of the hanging bead based on a hanging bead coordinate system, and obtaining a region line coordinate point farthest from the region center point as a calculation coordinate point;

[0055] calculating based on the calculation coordinate point and the region center point to obtain a construction radius, generating a grouting circular region based on the region center point as a center and the construction radius;

[0056] obtaining a pixel point gray value of a slot pixel point in a slot region corresponding to the slot image as an initial gray value, and regarding the slot pixel point as a first water infiltration pixel point when the initial gray value is less than or equal to a preset gray value;

[0057] acquiring an image after excavation based on a preset interval time length to obtain an interval image;

[0058] obtaining a pixel point gray value of a slot pixel point in a slot region corresponding to the interval image as an interval gray value, and regarding the slot pixel point as a second water infiltration pixel point when the interval gray value is less than or equal to a preset gray value;

[0059] The number of change rate pixels is obtained based on the difference between the number of second seepage pixels and the number of first seepage pixels within the groove area.

[0060] Based on the ratio of the number of pixels with the rate of change to the preset interval duration, the water permeability change rate corresponding to the slot area is obtained;

[0061] The change coefficient is obtained based on the ratio of the permeability change rate to the preset change rate. The actual number of grouting holes corresponding to the trench area is obtained by multiplying the change coefficient and the preset number of grouting holes.

[0062] The positioning ray where the slot area is located is determined as the reference ray. The reference ray is rotated to both sides based on a preset grouting angle to obtain the grouting ray corresponding to the slot area.

[0063] Based on the grouting ray, the grouting circular area is cut off to obtain a grouting fan-shaped area corresponding to the groove area;

[0064] The arc-shaped boundary line in the grouting sector is evenly divided according to the actual number of grouting holes to obtain multiple grouting hole positions corresponding to the grouting sector.

[0065] Alternatively, in one possible implementation of the first aspect,

[0066] The step of obtaining a change coefficient based on the ratio of the permeability change rate to a preset change rate, and obtaining the actual number of grouting holes corresponding to the trench area based on the product of the change coefficient and the preset number of grouting holes, includes:

[0067] The actual number of grouting holes can be obtained using the following formula.

[0068]

[0069] in, This represents the actual number of grouting holes. This refers to the number of pixels in the second water seepage area. This represents the number of pixels in the first water seepage area. For the preset interval duration, It is a constant value. For the preset rate of change, To preset the number of grouting holes, Weighted by the number of grouting holes.

[0070] A second aspect of the present invention provides a coal mine water control data processing system, comprising:

[0071] The collection module is used for controlling the inspection equipment to collect images of the top wall and the side wall in the coal mine tunnel in real time, so as to obtain a plurality of inspection images corresponding to each inspection point in the coal mine tunnel;

[0072] The analysis module is used for directly analyzing the inspection images to generate an analysis result, wherein the analysis result includes a normal result, a direct abnormal result and a potential abnormal result, and when the analysis result is determined as the direct abnormal result, an early warning information is generated.

[0073] The generation module is used for, when the analysis result is determined as the potential abnormal result, performing water seepage analysis on the inspection images to obtain a water seepage result and a non-water seepage result, and generating an early warning information based on the water seepage result.

[0074] The update module is used for constructing a coal mine tunnel space corresponding to the coal mine tunnel, updating the inspection images and the slot images to the coal mine tunnel space based on the corresponding inspection points, obtaining a coal mine verification space, and sending the coal mine verification space and the early warning information to a management end.

[0075] In a third aspect, the present application provides an electronic device, comprising a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor executes the computer program to implement the method of the first aspect and various possible aspects related to the first aspect.

[0076] In a fourth aspect, the present application provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the method of the first aspect and various possible aspects related to the first aspect.

[0077] The present application has the following advantages:

[0078] 1、The present application can automatically inspect the coal mine tunnel and improve the accuracy of water seepage detection. Firstly, the present application can collect images of the top wall and the side wall of the coal mine tunnel in real time through the inspection equipment with multiple cameras, obtain the inspection images, and automatically identify the inspection images to improve the detection speed. Through the analysis of the images, the normal, water seepage, red hanging and bead hanging and other analysis results are automatically generated. This kind of multi-angle and comprehensive coverage monitoring method greatly improves the real-time performance of water seepage detection, ensures that the system can quickly respond when water seepage occurs at any position in the tunnel, and effectively reduces the risk of manual misjudgment through intelligent analysis algorithm, and improves the accuracy of water seepage detection.

[0079] 2. This invention can determine corresponding processing strategies based on different analysis results to improve the accuracy of seepage detection. Specifically, when direct anomalies such as water permeability and red stains are detected, this invention can immediately generate early warning information. For potential anomalies such as bead-like stains, this invention provides a secondary analysis mechanism, using a trenching verification strategy to further probe suspected areas. This method not only ensures the timeliness of early warnings but also significantly improves the reliability of early warning information through secondary analysis. By analyzing the grayscale values ​​of the excavated area, the system can accurately determine whether seepage exists, thereby reducing false alarms and improving the efficiency of tunnel maintenance.

[0080] 3. This invention can construct a virtual twin space corresponding to the actual tunnel, update inspection and trenching images into this space, forming a coal mine verification space. This allows managers to intuitively view tunnel anomalies and quickly understand the specific conditions of each inspection point through the virtual space, improving the visibility of inspection results and management efficiency. At the same time, combined with seepage rate analysis, the system can scientifically plan the location and quantity of grouting reinforcement, optimize the reinforcement scheme, and ensure the stability and safety of the tunnel. This comprehensive management scheme based on virtual space and intelligent analysis effectively improves the level of coal mine safety management. Attached Figure Description

[0081] Figure 1 A flowchart of a coal mine water control data processing method provided by the present invention;

[0082] Figure 2 This is a schematic diagram of a standard slot layout provided by the present invention;

[0083] Figure 3 This is a schematic diagram of the structure of a coal mine water control data processing system provided by the present invention;

[0084] Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided by the present invention. Detailed Implementation

[0085] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0086] like Figure 1 The diagram shows a flowchart of a coal mine water control data processing method provided by the present invention. This coal mine water control data processing method includes:

[0087] S1, control the inspection equipment to collect images of the top and side walls of the coal mine tunnel in real time, and obtain multiple inspection images corresponding to each inspection point in the coal mine tunnel.

[0088] It should be noted that when the coal mine is mined, the tunnel will have water seepage, if not repaired in time, it will cause the coal mine to collapse, affect the safety of personnel, therefore, the coal mine tunnel needs to be checked in time, and since the top wall and side wall of the coal mine tunnel have the risk of water leakage, the inspection equipment can be used to collect images of the top wall and side wall in the coal mine tunnel, so as to obtain the corresponding inspection image, which is convenient for subsequent identification and analysis of the inspection image, so that the abnormal situation can be found in time for early warning.

[0089] It can be understood that the inspection equipment is a robot with three cameras facing the left side, the top side and the right side, so that the wall images in three directions can be quickly collected in the coal mine tunnel, and the inspection point is the position point of the image collection of the inspection equipment, and the inspection image is the coal mine tunnel wall image collected by the inspection equipment during the inspection.

[0090] Through the above embodiment, the present application can obtain a plurality of inspection images corresponding to each inspection point, so as to analyze the corresponding inspection image subsequently, so that the corresponding abnormal situation in the coal mine tunnel can be quickly determined, so as to timely perform abnormal early warning.

[0091] S2, directly analyzing the inspection image to generate an analysis result, the analysis result including a normal result, a direct abnormal result and a potential abnormal result, determining the analysis result as the direct abnormal result to generate a warning information.

[0092] It can be understood that the inspection image is directly analyzed to obtain the analysis result, and when it is directly determined that the corresponding analysis result is the direct abnormal result, i.e. the coal mine tunnel seepage, the warning information needs to be generated according to the direct abnormal result, so as to be sent to the management end subsequently, realizing timely reminding.

[0093] The analysis result is the result of image analysis of the inspection image, including a normal result, a direct abnormal result and a potential abnormal result, the normal result is the result of analyzing the inspection image indicating that there is no water seepage, the direct abnormal result is the abnormal result of directly determining that the coal mine tunnel has water leakage through the inspection image, and the potential abnormal result is the result of being unable to directly determine the water seepage at the corresponding position, but having the risk of water seepage, for example, water droplets hanging on the wall in the inspection image, which may be water droplets caused by water seepage in the tunnel, or water droplets hanging on the wall caused by high humidity in the tunnel after cold and hot alternation, therefore, the analysis result is the potential abnormal result, which needs to be analyzed twice subsequently.

[0094] It is not difficult to understand that through the above embodiment, the analysis result of the corresponding inspection image can be obtained, so as to perform early warning or subsequent secondary analysis according to the analysis result, so as to obtain an accurate determination result, thereby improving the safety of the coal mine tunnel.

[0095] In some embodiments, step S2 (directly analyzing the inspection image, generating an analysis result including a normal result, a direct abnormal result and a potential abnormal result, determining that the analysis result is a direct abnormal result, and generating an early warning information) comprises:

[0096] S21, directly analyzing the inspection image based on OpenCV to generate an analysis result corresponding to the inspection image, the analysis result including a normal result, a water leakage result, a red hanging result and a water bead hanging result.

[0097] It can be understood that when there is no any abnormal phenomenon at the position corresponding to the inspection image, it means that there is no water leakage or seepage at the corresponding position, and the corresponding analysis result of the inspection image can be determined as a normal result without the need for early warning or secondary analysis. When there is obvious water leakage in the coal mine tunnel, the image at the corresponding position in the inspection image collected by the inspection device will have the pixel value and image corresponding to the flowing water, and thus the corresponding analysis result can be obtained as a water leakage result. In addition, since the coal mine soil contains iron oxide elements, when the coal mine seeps water for a long time, the water and iron oxide at the corresponding position will react to appear red. Therefore, when the OpenCV identifies that there is a red pixel value area in the inspection image, the analysis result can be determined as a red hanging result. In addition, when there are water beads hanging on the wall of the coal mine tunnel, the corresponding analysis result can be obtained as a water bead hanging result. Since there are many cases of water bead hanging, the water bead hanging result can be analyzed secondarily to obtain an accurate seepage analysis result.

[0098] The normal result is an analysis result without water leakage or seepage phenomenon, the water leakage result is a result of collecting obvious water flow phenomenon in the inspection image, the red hanging result is an analysis result of oxidation reaction caused by water seepage, and the water bead hanging result is an analysis result of identifying that there are water beads hanging on the wall of the tunnel in the corresponding inspection image.

[0099] S22, obtaining a direct abnormal result according to the water leakage result and the red hanging result, and taking the water bead hanging result as a potential abnormal result.

[0100] It can be understood that when the analysis result is a water leakage result and a red hanging result, it means that there is water leakage or seepage at the corresponding position in the coal mine tunnel. Therefore, the direct abnormal result includes the water leakage result and the red hanging result, which means that the abnormal condition of water seepage at the corresponding position can be directly determined. The water bead hanging result cannot be directly determined whether there is water seepage at the corresponding position, and thus the water bead hanging result is taken as a potential abnormal result.

[0101] S23, generating an early warning information when it is determined that the analysis result is a direct abnormal result.

[0102] It can be understood that when the analysis result is a direct abnormal result, the early warning information of the coal mine tunnel water seepage can be directly generated, so that when sent to the management end subsequently, the relevant personnel can be timely reminded to repair, so as to improve the safety of the coal mine tunnel.

[0103] The early warning information is prompt information for early warning of water seepage in the coal mine tunnel.

[0104] S3, when the analysis result is determined to be a potential abnormal result, water seepage analysis is performed on the slot image to obtain water seepage results and non-water seepage results, and early warning information is generated based on the water seepage results.

[0105] It can be understood that when the analysis result is determined to be a potential abnormal result, the area where the beads are hung can be excavated, and the slot image can be further photographed for secondary analysis, so as to determine the corresponding position as water seepage or non-water seepage according to the dry and wet conditions in the slot. When the water seepage result is determined, the early warning information needs to be generated according to the water seepage result, so that the subsequent personnel can timely repair according to the early warning information, so as to maintain the safety of the coal mine tunnel.

[0106] The slot image is an image collected by excavating the slot in the area where the beads are hung, the water seepage result is a result corresponding to the water seepage phenomenon in the tunnel, and the non-water seepage result is an analysis result without water seepage.

[0107] Through the above embodiments, the judgment result of the corresponding area where the beads are hung can be accurately determined to avoid false early warning.

[0108] In some embodiments, step S3 (when the analysis result is determined to be a potential abnormal result, water seepage analysis is performed on the slot image to obtain water seepage results and non-water seepage results, and early warning information is generated based on the water seepage results) includes:

[0109] S301, when the analysis result is determined to be a potential abnormal result, the corresponding inspection image is taken as a bead image, and the bead area of the bead area in the bead image is obtained.

[0110] It can be understood that when the analysis result is determined to be a potential abnormal result, the corresponding inspection image can be taken as a bead image, so that the region profile with water beads in the bead image is recognized using OpenCV, and then the bead area of the bead area is obtained, so that the corresponding slot quantity can be calculated subsequently according to the bead area.

[0111] The bead area is an area where water beads are hung on the wall of the coal mine tunnel in the bead image, and the bead area is the area of the bead area.

[0112] S302, obtaining the number of slots based on the ratio of the beading area and the reference area, and determining the rotation positioning angle based on the number of slots.

[0113] It should be noted that in order to accurately determine the real factors of the corresponding beading area generating beading phenomenon, so as to calculate the number of slots needed according to the ratio of the beading area and the reference area, in order to prevent the inaccuracy of the single slot caused by the water seepage or non-water seepage judgment, and at the same time, the corresponding rotation positioning angle can be determined according to the number of slots, so that the slots can be uniformly drilled in the beading area in the subsequent process, and the accuracy of the analysis result is improved.

[0114] It can be understood that the reference area is the reference calculation area for calculating the number of slots in the beading area, which can be artificially pre-set. The number of slots is the slot number for judging whether there is water seepage in the beading area, that is, the ratio of the beading area and the reference area. The rotation positioning angle is the rotation angle for positioning the slot position, that is, 360° divided by the number of slots to obtain the rotation positioning angle. For example, when the number of slots is 3, the rotation positioning angle can be obtained as 360°÷3=120°.

[0115] S303, obtaining the center point of the beading image as the coordinate origin, and constructing the beading coordinate system corresponding to the beading image based on the coordinate origin.

[0116] It can be understood that in order to determine the specific position of the slot in the subsequent process, the center point of the beading image can be obtained as the coordinate origin, and then the beading coordinate system corresponding to the beading image can be constructed according to the coordinate origin.

[0117] The beading coordinate system is a coordinate system in the beading image.

[0118] S304, obtaining the region center point of the beading region in the beading image, and determining the slot position in the beading region according to the region center point and the rotation positioning angle.

[0119] It can be understood that the region center point is the center point of the beading region, and the slot position is the position of the slot drilling in the beading region.

[0120] It is not difficult to understand that the region center point corresponding to the beading region can be obtained, and the slot position in the corresponding beading region can be determined together with the rotation positioning angle, so that the slot drilling can be carried out at the slot position in the subsequent process, and then the dry and wet conditions of the beading region can be accurately analyzed, and the accurate reason of the beading phenomenon can be obtained.

[0121] In some embodiments, step S304 (obtaining the region center point of the beading region in the beading image, and determining the slot position in the beading region according to the region center point and the rotation positioning angle) comprises:

[0122] S3041, determine the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate of the beaded region in the beaded coordinate system.

[0123] It can be understood that the maximum horizontal coordinate is the maximum value of the horizontal coordinate corresponding to the beaded region, the minimum horizontal coordinate is the minimum value of the horizontal coordinate corresponding to the beaded region, the maximum vertical coordinate is the maximum value of the vertical coordinate corresponding to the beaded region, and the minimum vertical coordinate is the minimum value of the vertical coordinate corresponding to the beaded region.

[0124] It is not difficult to understand that the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate of the beaded region are determined so as to subsequently obtain the center point of the beaded region according to the corresponding maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate.

[0125] S3042, obtain the region horizontal coordinate corresponding to the beaded region according to the average of the maximum horizontal coordinate and the minimum horizontal coordinate.

[0126] It can be understood that the region horizontal coordinate is the horizontal coordinate of the region midpoint, that is, the average of the maximum horizontal coordinate and the minimum horizontal coordinate.

[0127] S3043, obtain the region vertical coordinate corresponding to the beaded region based on the average of the maximum vertical coordinate and the minimum vertical coordinate.

[0128] It can be understood that the region vertical coordinate is the vertical coordinate of the region midpoint, that is, the average of the maximum vertical coordinate and the minimum vertical coordinate.

[0129] S3044, obtain the region midpoint corresponding to the beaded region according to the region horizontal coordinate and the region vertical coordinate.

[0130] It can be understood that the position point corresponding to the coordinate is determined through the determined region horizontal coordinate and region vertical coordinate, so as to obtain the region midpoint corresponding to the beaded region, so as to subsequently obtain each slotting position according to the region midpoint and the rotation positioning angle, thereby facilitating the accuracy of the final analysis result.

[0131] S3045, generate a plurality of positioning rays in the beaded image based on the rotation positioning angle with the region midpoint as the center, and take the intersection point of the positioning rays and the region line of the beaded region as the positioning intersection point.

[0132] It can be understood that a plurality of positioning rays are generated in the beaded image based on the rotation positioning angle with the region midpoint as the center, wherein the direction of the positioning ray is random, and the angle between the two adjacent positioning rays is the rotation positioning angle.

[0133] The positioning ray is a ray for determining the slotting position, and the positioning intersection is an intersection for determining the slotting position, that is, an intersection of the positioning ray and the region line of the bead hanging region.

[0134] Through the above embodiment, the corresponding positioning intersection can be determined, so that the corresponding slotting position can be determined according to the positioning intersection.

[0135] S3046, determining a slotting distribution line according to a line connecting the positioning intersection and the center of the circle, obtaining a distance of each slotting distribution line as a slotting distribution distance, and obtaining a slotting distance based on a product of a preset slotting ratio and the slotting distribution distance.

[0136] It should be noted that, since the bead hanging region can be irregularly shaped, the slotting distribution distances corresponding to the slotting distribution lines can be inconsistent, and therefore, in order to determine the corresponding slotting position on the slotting distribution line, the determined plurality of slotting positions are distributed on the uniform slotting distribution line, so that the slotting distance corresponding to each slotting distribution line can be determined according to the slotting distribution distance and the preset slotting ratio.

[0137] It can be understood that the slotting distribution line is a distribution line for determining the slotting position in the bead hanging region, that is, a line connecting the positioning intersection and the center of the circle, the slotting distribution distance is the distance of the slotting distribution line, the preset slotting ratio is a distance ratio for determining the slotting position, and the slotting distance is the distance for determining the slotting position from the positioning intersection.

[0138] For example, when the slotting distribution distance corresponding to the slotting distribution line 1 is 2 CM, the slotting distribution distance corresponding to the slotting distribution line 2 is 4 CM, the slotting distribution distance corresponding to the slotting distribution line 3 is 1 CM, and the corresponding preset slotting ratio is 1 / 2, then the slotting distance corresponding to the slotting distribution line 1 is 1 CM, the slotting distance corresponding to the slotting distribution line 2 is 2 CM, and the slotting distance corresponding to the slotting distribution line 3 is 0.5 CM.

[0139] S3047, determining the slotting position based on the position of the center of the circle along the positioning ray from the positioning intersection as a starting point.

[0140] It can be understood that, when the positioning intersection and the slotting distance corresponding to each slotting distribution line are obtained, the slotting position corresponding to the position can be obtained by moving the slotting distance along the direction of the positioning ray from the positioning intersection as a starting point.

[0141] Through the above embodiment, the slotting position can be determined, so that subsequent slotting marking and spraying can be performed at the corresponding position, thereby facilitating the slotting of the equipment.

[0142] S305, when determining that the slotting position is at the top wall, controlling the inspection equipment to randomly spray slotting marks on the slotting position.

[0143] It should be noted that when the slotting position is determined, professional slotting equipment is needed for slotting, therefore, the inspection equipment needs to spray slotting marks at the determined slotting position in the coal mine tunnel, so that the subsequent slotting equipment can perform slotting by recognizing the slotting marks. Since the subsequent slotting of the top wall of the coal mine tunnel does not affect different slotting positions, it is not necessary to sort multiple slotting positions, and the slotting marks can be randomly sprayed on the slotting positions.

[0144] It can be understood that the slotting mark is a mark for slotting, for example, red paint can be sprayed on the first slotting position for slotting, and yellow paint can be sprayed on the second slotting position for slotting, that is, different paint colors correspond to slotting marks.

[0145] S306, controlling the verification equipment to perform slotting processing on the slotting marks of the slotting position, and collecting images after slotting to obtain slot images.

[0146] It can be understood that after the slotting marks are sprayed on the slotting position, the verification equipment can be controlled to recognize the slotting marks of the slotting position for slotting processing, and images of the region after slotting are collected to obtain slot images, so that subsequent analysis of the slot images can accurately determine whether the beaded area has water seepage.

[0147] The verification equipment is a device for verifying whether the beaded area has water seepage.

[0148] S307, when determining that the slotting position is at the side wall, obtaining the longitudinal coordinates of each slotting position in the beaded coordinate system as slotting sequence coordinates.

[0149] It can be understood that when the slotting position on the side wall is slotting, if the slotting position that is relatively lower than the remaining slotting positions is preferentially slotting, and then the slotting position on the upper part is slotting, the dust falling from the upper slotting will fall into the lower slotting, thereby affecting the judgment of the corresponding lower slotting and reducing the accuracy of the judgment of whether there is water seepage. Therefore, in order to improve the accuracy of the analysis of the slot images, the slotting positions can be arranged according to the longitudinal coordinates in the beaded coordinate system, so that the subsequent slotting positions do not affect each other.

[0150] The slotting sequence coordinates are the longitudinal coordinates of the slotting position in the beaded coordinate system.

[0151] S308, sort the slot position in descending order based on the slot sequence coordinates to obtain a slot sequence, and control the inspection device to spray the slot mark on the slot position in the slot sequence in sequence.

[0152] It can be understood that, in order to prioritize the slot position located at a high position, the slot sequence can be obtained by arranging the slot sequence coordinates in descending order, and then the inspection device can be controlled to spray the slot mark according to the slot sequence.

[0153] The slot sequence is a sequence of slot positions sorted in descending order according to the slot sequence.

[0154] S309, control the verification device to sequentially open the slot mark corresponding to the slot position in the slot sequence, and collect the image after opening to obtain a slot image.

[0155] It can be understood that, after spraying is completed, the verification device can be controlled to sequentially open the slot mark corresponding to the slot position in the slot sequence, and then the slot image can be collected after opening, so that secondary analysis can be performed on the slot image to obtain an accurate analysis result.

[0156] S310, obtain the gray value of the slot region in the slot image as a region gray value, and determine that the region gray value is greater than a preset gray value to generate a non-water infiltration result.

[0157] It should be noted that, when the hanging bead region corresponds to water infiltration, the color of the internal soil will be dark after opening in the corresponding region. When the hanging bead region is non-water infiltration, i.e., the water bead is due to the alternating appearance of cold and hot in the coal mine tunnel, the color of the soil in the slot after opening is relatively bright without water infiltration. Therefore, the gray value of the slot region can be obtained to generate a corresponding result.

[0158] It can be understood that the preset gray value is a gray value set in advance according to actual conditions, and the region gray value is a gray value of a slot region in a slot image.

[0159] It can be understood that, when the region gray value is greater than the preset gray value, it can be indicated that there is no water infiltration phenomenon in the corresponding slot after opening, and a non-water infiltration result can be generated.

[0160] In some embodiments, step S3101 (obtaining the gray value of the slot region in the slot image as a region gray value) includes:

[0161] S31011, obtain the pixel value of each slot pixel point in the slot region in the slot image, and perform average value processing on the pixel value of the slot pixel point to obtain a pixel point gray value corresponding to the slot pixel point.

[0162] It can be understood that the slot position region is a region after the slot position in the slot position image is opened, and the slot pixel point is a corresponding pixel point in the slot position region, and the pixel point gray value is a gray value corresponding to the slot pixel point.

[0163] It is not difficult to understand that the pixel value of each slot pixel point can be obtained by the existing technology OpenCV, and then the pixel value (RGB) of the slot pixel point is processed by the average value, so as to obtain the corresponding pixel point gray value, so that the region gray value of the corresponding region can be determined according to the pixel point gray value.

[0164] S31012, the pixel point gray value of the slot pixel point in the slot position region is counted to obtain the total region gray value, and the number of pixel points in the slot position region is counted to obtain the total region number.

[0165] It can be understood that the total region gray value is the sum of the pixel point gray values of all slot pixel points in the slot position region, and the total region number is the number of pixel points in the slot position region.

[0166] Through the above embodiment, the total region gray value and the total region number can be obtained, so that the corresponding region gray value can be calculated subsequently.

[0167] S31013, the region gray value is obtained according to the ratio of the total region gray value and the total region number.

[0168] It can be understood that the total region gray value and the total region number are compared to obtain the region gray value.

[0169] S311, when the region gray value is less than or equal to the preset gray value, a water seepage result is generated, and warning information is generated based on the water seepage result.

[0170] It can be understood that when the region gray value is less than or equal to the preset gray value, it can be indicated that the water seepage phenomenon occurs in the corresponding slot position region, and the water seepage result can be generated, and the corresponding warning information can be generated according to the water seepage result, so that it can be sent to the management end, and personnel can be dispatched to repair the coal mine tunnel in time.

[0171] It should be noted that since the water droplets are suspended on the wall of the coal mine tunnel in the hanging bead region, the slot mark sprayed before opening is easy to be damaged by the water droplets, and then the opening of the verification device is affected, so the position of the missing slot mark can be determined according to the remaining slot mark, and then the verification device can be accurately opened, so the method further comprises:

[0172] A1, the control verification device acquires an image of the bead hanging area to obtain a pre-drilling image corresponding to the bead hanging area, and acquires the number of slot marks in the pre-drilling image.

[0173] It can be understood that, in order to determine the position of the actual slot mark in the bead hanging area, the verification device can acquire an image of the bead hanging area before drilling, thereby obtaining a pre-drilling image, and determining the number of slot marks according to the pre-drilling image.

[0174] The pre-drilling image is an image of the bead hanging area before drilling, and the number of marks is the number of slot marks in the pre-drilling image.

[0175] It is not difficult to understand that the pre-drilling image is acquired so as to be compared with the standard slot position image in the future, and the position of the actual slot mark is determined.

[0176] A2, when the number of marks is less than the number of slots and the number of marks is greater than or equal to 2, the slot marks in the pre-drilling image are taken as retained marks, and any two retained marks are selected as reference marks.

[0177] It can be understood that when the number of marks is less than the number of slots, it can be indicated that the corresponding bead hanging area is missing slot marks, and when the number of marks is greater than or equal to 2, the specific position of the missing slot mark can be determined according to the existing slot mark, thereby facilitating the drilling of the verification device.

[0178] The retained mark is a slot mark in the pre-drilling image, and the reference mark is two selected retained marks, which are used to determine the position of the missing slot mark.

[0179] A3, the slot position is updated to the corresponding bead image to obtain a standard slot position image, the slot position corresponding to the retained mark in the standard slot position image is determined as a retained position, and the remaining slot position is determined as a filled position.

[0180] It can be understood that, in order to determine the position of the damaged slot mark in the coal mine tunnel, all slot positions corresponding to the bead hanging area are updated in the bead image to obtain a standard slot position image, and then the retained position and the filled position are determined according to the standard slot position image, thereby facilitating the drilling of the verification device.

[0181] The standard slot position image is an image in which the slot position is updated in the bead image, the retained position is the slot position corresponding to the retained mark in the standard slot position image, and the filled position is the remaining slot position in the standard slot position image except the retained position.

[0182] A4. Determine the slotted position corresponding to the reference mark as the reference position, connect the reference positions to each other, and connect the reference positions to the filling positions to obtain the filling triangle.

[0183] Understandably, in order to determine the corresponding missing slotting locations in a coal mine tunnel, the slotting locations corresponding to the reference markers can be used as reference locations. These reference locations are then connected to each other, and the reference locations are also connected to the missing slotting locations to form a filling triangle. This triangle is then used to determine the corresponding filling angle and direction, which can then be applied to verification equipment to determine the location of the missing slotting markers in the coal mine tunnel.

[0184] Among them, such as Figure 2 As shown, the completed triangle is obtained by connecting the reference position and the completed position in sequence.

[0185] It is worth mentioning that, since the collected images before excavation may have a different acquisition angle than the standard trench images, the two images may not be completely corresponding. Therefore, the markings in the images are used to determine the completion triangles so as to obtain the accurate position of the completion markings in the coal mine tunnel, which is convenient for verifying the excavation of the equipment.

[0186] A5, obtain the angle of the vertex corresponding to the reference position in the completed triangle as the completed angle, determine the connecting line of the reference position in the completed triangle as the reference connecting line, and obtain the relative direction between the completed position and the reference connecting line as the completed direction.

[0187] It is understandable that the fill angle is the angle of the vertex corresponding to the reference position in the fill triangle, the reference connection line is the connection line between the reference positions in the fill triangle, and the fill direction is the relative direction between the fill position and the reference connection line.

[0188] It is not difficult to understand that, as Figure 2 As shown, this invention obtains the corresponding filling angle, reference connection line, and filling direction based on the standard slot image, which facilitates the subsequent acquisition of the corresponding reference filling line and thus determines the position of the filling marker point, so as to verify the equipment to carry out the excavation.

[0189] A6. Obtain the center point of the reference identifier as the reference midpoint, and connect the reference midpoints to obtain the reference completion line.

[0190] It should be noted that the reference marker occupies a certain area, so the center point of the reference marker can be obtained as the reference midpoint. Then, the reference midpoints are connected to obtain the reference completion line. In order to generate the corresponding completion line based on the reference completion line and the reference connection line, and to determine the corresponding completion marker point based on the completion direction and completion angle.

[0191] It can be understood that the reference midpoint is the center point of the reference mark, and the reference filling line is the connecting line between the reference midpoints.

[0192] A7, generating a filling straight line at the reference filling line based on the filling direction and the filling angle, and obtaining the intersection point of the filling straight line as a filling mark point.

[0193] It can be understood that the filling straight line is generated at the reference filling line according to the filling direction and the filling angle, and the point where the two filling straight lines intersect is the center point of the missing slot mark. Therefore, the filling mark point can be obtained, and then the verification device can dig the position corresponding to the filling mark point to improve the accuracy of the secondary analysis of the hanging bead area.

[0194] S4, constructing a coal mine tunnel space corresponding to the coal mine tunnel, updating the inspection image and the slot image corresponding to the corresponding inspection point to the coal mine tunnel space based on the corresponding inspection point, obtaining a coal mine verification space, and sending the coal mine verification space and the early warning information to the management end.

[0195] It can be understood that in order to facilitate personnel to quickly and intuitively view the abnormal conditions determined in the inspection process, a coal mine tunnel space corresponding to the coal mine tunnel can be constructed, and the inspection image and the slot image corresponding to the corresponding inspection point can be updated in the coal mine tunnel space to obtain a coal mine verification space. Therefore, personnel can view the corresponding inspection image and slot image by triggering the corresponding inspection point in the coal mine verification space, and then can actively judge whether the tunnel has water leakage or seepage.

[0196] The coal mine tunnel space is a virtual twin space corresponding to the coal mine tunnel, the coal mine verification space is a virtual space with an inspection image and a slot image corresponding to an inspection point, and the management end is an information terminal of a management personnel.

[0197] Through the above embodiments, the coal mine verification space can be obtained, so that when sent to the management end later, personnel can intuitively view and actively judge abnormal conditions to improve the accuracy of the analysis result.

[0198] In some embodiments, the specific implementation of step S4 (constructing a coal mine tunnel space corresponding to the coal mine tunnel, updating the inspection image and the slot image corresponding to the corresponding inspection point to the coal mine tunnel space based on the corresponding inspection point, obtaining a coal mine verification space, and sending the coal mine verification space and the early warning information to the management end) includes:

[0199] S41, constructing a coal mine tunnel space corresponding to the coal mine tunnel, and determining that the analysis result of the inspection image corresponding to the inspection point is a direct abnormal result, and taking the corresponding inspection point as a first review point.

[0200] It can be understood that the inspection point corresponding to the inspection image with the direct abnormal result is taken as the first review point, so that the corresponding image can be called and bound according to the point type subsequently, ensuring the accuracy of the information and facilitating the viewing of the personnel.

[0201] S42, a first trigger identifier corresponding to the first review point is constructed in the coal mine tunnel space, and the corresponding inspection image is bound with the first trigger identifier.

[0202] It can be understood that the first trigger identifier is a trigger identifier corresponding to the first review point, so that the corresponding inspection image can be bound with the first trigger identifier, so that the bound inspection image can be called and displayed when the first trigger identifier is triggered by the subsequent management personnel, facilitating the quick viewing of the personnel.

[0203] S43, when the analysis result of the inspection point corresponding inspection image is a potential abnormal result, the corresponding inspection point is taken as a second review point.

[0204] It can be understood that the number of images corresponding to the potential abnormal result and the direct abnormal result is different, so that the corresponding inspection point can be taken as the second review point according to the potential abnormal result, so that the corresponding image can be bound and associated according to the second review point subsequently, facilitating the viewing of the personnel.

[0205] The second review point is the inspection point of the inspection image corresponding to the potential abnormal result.

[0206] S44, a second trigger identifier corresponding to the second review point is constructed in the coal mine tunnel space, and a preset indication template is called, the preset indication template including a left patrol filling area and a right slot filling area.

[0207] It can be understood that the second trigger identifier is a trigger identifier corresponding to the second review point, and the preset indication template is a template set by a person in advance, so that the corresponding inspection image and slot image can be intuitively displayed subsequently.

[0208] The preset indication template includes a left patrol filling area and a right slot filling area, the patrol filling area is a filling area corresponding to the inspection image, and the slot filling area is a filling area corresponding to the slot image.

[0209] S45, the corresponding inspection image is filled into the patrol filling area, the corresponding slot image is filled into the slot filling area, and a pointing identifier pointing from the patrol filling area to the slot filling area is generated, to obtain a slot combination template.

[0210] It can be understood that the inspection image is filled into the inspection filling area, the slot image is filled into the slot filling area, and a pointing mark pointing from the inspection filling area to the slot filling area is generated, which is used to guide the personnel to view the slot image corresponding to the inspection image, and the accuracy of the secondary analysis result can be confirmed.

[0211] The pointing mark is an identification for guiding personnel to view the analysis, and can be a one-way arrow. The slot combination template is an image template for slotting, that is, the corresponding inspection image and slot image are displayed.

[0212] S46, binding the slot combination template with the second trigger mark to obtain a coal mine verification space, and sending the coal mine verification space and the early warning information to the management end.

[0213] It can be understood that the slot combination template is bound with the second trigger mark to obtain the binding of the image of the inspection point corresponding to the abnormal result, so as to generate the coal mine verification space, and send it to the management end together with the early warning information. The personnel can timely repair according to the early warning information, and also can quickly view the image information collected at different points through the coal mine verification space to verify the result and improve the accuracy of the analysis result.

[0214] It should be noted that when the coal mine tunnel water seepage is detected, the tunnel can be punched to inject mud, so as to reinforce and repair the coal mine tunnel. Therefore, the punching position and quantity corresponding to the water seepage area can be determined according to the water seepage direction and rate, so as to further include:

[0215] B01, obtaining a region line coordinate point in a region line corresponding to the hanging bead region based on the hanging bead coordinate system, and obtaining a region line coordinate point farthest from the region center point as a calculation coordinate point.

[0216] It can be understood that the region line is the region boundary contour line corresponding to the hanging region, the region line coordinate point is the corresponding coordinate point on the region line, and the calculation coordinate point is the region line coordinate point farthest from the region center point.

[0217] It is not difficult to understand that the hanging bead region can be irregular, so the farthest region line coordinate point can be selected as the calculation coordinate point, so as to obtain the corresponding distance as the radius, so that the generated circle can completely surround the hanging bead region, so that the corresponding water seepage rate can be accurately analyzed subsequently.

[0218] B02, calculating based on the calculation coordinate point and the region center point to obtain a construction radius, and generating a grouting circular region based on the region center point as the center and the construction radius.

[0219] It can be understood that the construction radius is the radius of the construction grouting circular region, that is, the distance length between the coordinate point and the region midpoint is calculated, and the grouting circular region is a circular region for determining the grouting position.

[0220] It can be understood that the grouting circular region is obtained according to the construction radius with the region midpoint as the center, the bead hanging region can be completely surrounded, so that the corresponding punching position can be determined subsequently, and grouting reinforcement is facilitated.

[0221] B03, obtaining a pixel point gray value of a slot pixel point in a slot region corresponding to the slot image as an initial gray value, and determining that the initial gray value is less than or equal to a preset gray value, and regarding the corresponding slot pixel point as a first water seepage pixel point.

[0222] It can be understood that the slot pixel point is a pixel point in the slot region, the pixel point gray value is a pixel gray value corresponding to the pixel point, and the initial gray value is a pixel point gray value of a slot pixel point in a slot region corresponding to the slot image.

[0223] The first water seepage pixel point is a slot pixel point corresponding to an initial gray value less than or equal to a preset gray value.

[0224] It can be understood that when the gray value of the corresponding pixel point in the slot is less than or equal to the preset gray value, it can be indicated that the corresponding position has seeped water, so that the gray value of the corresponding pixel point is less than or equal to the preset gray value, and the first water seepage pixel point is obtained, so that the water seepage rate can be judged according to the number of pixel points corresponding to the gray value subsequently, and the accurate punching number and position can be determined.

[0225] B04, acquiring an image after excavation based on a preset interval time length to obtain an interval image.

[0226] It can be understood that the image after excavation is acquired based on the preset interval time to obtain the interval image, so that the interval image obtained can be analyzed in terms of gray value, so that the corresponding second water seepage pixel point and the first water seepage pixel point can be compared subsequently to obtain the water permeability change rate.

[0227] The preset interval time length is a preset interval time length of image acquisition, for example, it can be 10 minutes, and the interval image is an image acquired after an interval of the preset interval market.

[0228] B05, obtaining a pixel point gray value of a slot pixel point in a slot region corresponding to the slot image as an initial gray value, and determining that the initial gray value is less than or equal to a preset gray value, and regarding the corresponding slot pixel point as a first water seepage pixel point.

[0229] It can be understood that the interval gray value is the pixel gray value of the slot pixel point in the slot region corresponding to the interval image, and the second water seepage pixel point is the slot pixel point corresponding to the interval gray value less than or equal to the preset gray value.

[0230] B06, obtaining the change rate pixel point quantity according to the difference between the quantity of the second water seepage pixel point in the slot region and the quantity of the first water seepage pixel point.

[0231] It can be understood that the change rate pixel point quantity is the difference between the quantity of the second water seepage pixel point and the quantity of the first water seepage pixel point in the slot region.

[0232] Through the above embodiment, the change rate pixel point quantity can be obtained, so as to determine the water permeation change rate by subsequent preset interval duration, so as to obtain the corresponding grouting hole quantity.

[0233] B07, obtaining the water permeation change rate corresponding to the slot region based on the ratio of the change rate pixel point quantity and the preset interval duration.

[0234] It can be understood that the water permeation change rate is the change rate of water seepage, that is, the ratio of the change rate pixel point quantity and the preset interval duration.

[0235] B08, obtaining the change coefficient according to the ratio of the water permeation change rate and the preset change rate, and obtaining the actual grouting hole quantity corresponding to the slot region according to the product of the change coefficient and the preset grouting hole quantity.

[0236] It can be understood that the preset change rate is the change rate of the reference water permeation, the change coefficient is the change coefficient corresponding to the water permeation, that is, the ratio of the water permeation change rate and the preset change rate, the preset grouting hole quantity is the quantity of the preset grouting hole, and the actual grouting hole quantity is the quantity of the actual grouting hole corresponding to the slot region, that is, the product of the change coefficient and the preset grouting hole quantity.

[0237] In some embodiments, the specific implementation of step B08 (obtaining the change coefficient according to the ratio of the water permeation change rate and the preset change rate, and obtaining the actual grouting hole quantity corresponding to the slot region according to the product of the change coefficient and the preset grouting hole quantity) includes:

[0238] The actual grouting hole quantity is obtained by the following formula,

[0239]

[0240] Wherein, the actual grouting hole quantity, the quantity of the second water seepage pixel point, the quantity of the first water seepage pixel point, is a preset interval duration, is a constant value, is a preset change rate, is a preset number of grouting holes, is a grouting hole number weight.

[0241] It can be understood that, is a change rate pixel point number, so when the number of second water infiltration pixel points is more, that is, the difference between the number of second water infiltration pixel points and the number of first water infiltration pixel points is larger, the change rate pixel point number will increase accordingly, and then the water permeability change rate will also increase, which indicates that more areas of soil are infiltrated by water within the preset interval duration, and then when the water permeability change rate is larger, the change coefficient will also increase, and after being multiplied by the preset number of grouting holes, the actual number of grouting holes obtained will also increase, so as to accelerate the grouting reinforcement of the coal mine tunnel and improve the safety of the tunnel, wherein the constant value may be a constant value artificially preset according to actual conditions.

[0242] On the contrary, when the number of second water infiltration pixel points is smaller, the change rate pixel point number obtained will decrease accordingly, and then the water permeability change rate will also decrease, which indicates that the area of soil infiltrated by water within the preset interval duration is small, which indicates that the water permeation rate is low, and then after being multiplied by the preset number of grouting holes, the actual number of grouting holes obtained will also decrease, that is, when the water permeability change rate is not high, a smaller number of grouting holes can also achieve the grouting reinforcement of the tunnel.

[0243] The grouting hole number weight is a weight value for calculating the actual number of grouting holes.

[0244] It is worth mentioning that when images of the corresponding slot are acquired at preset intervals, and the images show no water seepage in the corresponding slot (i.e., the grayscale value of all pixels in the corresponding slot area is greater than the preset grayscale value), it indicates that there is no water seepage in the direction corresponding to the slot. Therefore, there is no need to drill holes for grouting reinforcement near the corresponding slot. Secondly, when the grayscale value of all pixels in the corresponding slot in the acquired pre-excavation image is less than or equal to the preset grayscale value, it indicates that the slot has been completely permeated by water. Even at preset intervals, the number of corresponding seepage pixels remains unchanged, making it impossible to determine the corresponding rate of water permeability change. Therefore, holes can be drilled according to the preset number of grouting holes for grouting reinforcement. Furthermore, a new slot can be excavated below the corresponding slot to obtain a new slot. By observing the number of pixels in the new slot, the rate of water permeability change can be determined, and thus the number of grouting holes can be obtained. The number of grouting holes can be increased again to allow for grouting reinforcement of the coal mine tunnel.

[0245] It should be noted that the number of grouting holes can be manually input based on experience. Therefore, in order to make the calculated actual number of grouting holes more consistent with the opening conditions of the corresponding coal mine tunnel, the number of grouting holes manually input can be analyzed with the currently calculated actual number of grouting holes, and the corresponding weight of the number of grouting holes can be adjusted accordingly. Therefore, this also includes:

[0246] The system receives the number of active grouting holes from the management terminal and obtains the quantity difference based on the absolute value of the difference between the number of active grouting holes and the actual number of grouting holes.

[0247] It is understandable that the number of actively injected grouting holes is the number of grouting holes that are manually entered, and the difference in number is the difference between the number manually entered and the calculated actual number of grouting holes.

[0248] The weighting adjustment ratio is obtained based on the ratio of the quantity difference to the actual number of grouting holes.

[0249] It is understandable that the weight adjustment ratio is the ratio by which the weight is adjusted, that is, the ratio of the quantity difference to the actual number of grouting holes.

[0250] When the number of active grouting holes is determined to be greater than the actual number of grouting holes, an increase adjustment is made according to the weight adjustment ratio and the weight of the number of grouting holes to obtain the increased weight of the number of grouting holes.

[0251] It is understandable that when the number of actively injected grouting holes is greater than the actual number of injected grouting holes, it means that the number of manually injected holes is higher than the currently calculated actual number of injected grouting holes. Therefore, it is necessary to increase the weight of the number of injected grouting holes in order to increase the actual number of injected grouting holes in the future.

[0252] When the number of active grouting holes is determined to be less than the actual number of grouting holes, the grouting hole number weight is adjusted by decreasing according to the weight adjustment ratio and the grouting hole number weight, to obtain an adjusted grouting hole number weight.

[0253] It can be understood that when the number of active grouting holes is less than the actual number of grouting holes, it indicates that the number of active grouting holes input by the user is less than the actual number of grouting holes calculated by the system, so the grouting hole number weight needs to be adjusted by decreasing, so that the actual number of grouting holes calculated subsequently can be reduced.

[0254] The adjusted grouting hole number weight is obtained by the following formula,

[0255]

[0256] Wherein, is the number of active grouting holes, is the increased adjusted grouting hole number weight, is the decreased adjusted grouting hole number weight.

[0257] It can be understood that when the number of active grouting holes is greater than the actual number of grouting holes calculated, it indicates that the number of grouting holes calculated by the system is less, which may affect the reinforcement efficiency, so the grouting hole number weight needs to be adjusted by increasing, so that the actual number of grouting holes calculated after adjustment is increased, and when the absolute value of the difference between the number of active grouting holes and the actual number of grouting holes calculated before adjustment is greater, the increased adjusted grouting hole number weight is greater, so that the actual number of grouting holes calculated subsequently is greater, and vice versa, when the number of active grouting holes is less than the actual number of grouting holes calculated, it indicates that the number of grouting holes calculated by the system is too large, and too many grouting holes will increase the cost of maintenance and reinforcement, so the grouting hole number weight can be adjusted by decreasing according to the number of active grouting holes and the actual number of grouting holes calculated before adjustment, so that the actual number of grouting holes calculated after adjustment is reduced, and when the absolute value of the difference between the number of active grouting holes and the actual number of grouting holes calculated before adjustment is greater, the decreased adjusted grouting hole number weight is smaller, so that the actual number of grouting holes calculated subsequently is smaller, which meets the actual needs of the coal mine tunnel.

[0258] B09, determining the positioning ray where the slot area is located as a reference ray, and rotating the reference ray to both sides based on a preset grouting angle, to obtain a grouting ray corresponding to the slot area.

[0259] It can be understood that, in order to accurately determine the position of the grouting hole, the positioning ray where the slot area is located is taken as the reference ray, and then the reference ray is rotated to both sides according to the preset grouting angle to obtain the corresponding grouting ray, so as to determine the corresponding grouting hole position subsequently.

[0260] The reference ray is the positioning ray where the slot area is located, the preset grouting angle is a preset rotation angle, which can be 30° for example, and the grouting ray is the area ray for determining the grouting hole position.

[0261] B10, the grouting circular area is intercepted to obtain a grouting sector area corresponding to the slot area.

[0262] It can be understood that the grouting sector area is a sector area in which the grouting hole can be determined, that is, the sector area after the grouting circular area is intercepted according to the grouting ray.

[0263] B11, the arc boundary line in the grouting sector area is uniformly divided according to the actual grouting hole quantity to obtain a plurality of grouting hole positions corresponding to the grouting sector area.

[0264] It can be understood that, in order to make the grouting slurry reinforce the corresponding water seepage area uniformly, the arc boundary line in the grouting sector area is uniformly divided according to the actual grouting hole quantity to obtain a plurality of grouting hole positions, so as to perform grouting reinforcement.

[0265] The arc boundary line is the arc area line corresponding to the grouting sector area, and the grouting hole position is the hole position for grouting reinforcement.

[0266] Through the above embodiment, the corresponding plurality of grouting hole positions can be determined to reinforce the tunnel by grouting, thereby improving the safety of the tunnel.

[0267] Referring to Figure 3 , a coal mine water prevention and control data processing system provided by the embodiment of the present application, the coal mine water prevention and control data processing system comprises:

[0268] The acquisition module is configured to control the inspection equipment to acquire images of the top wall and the side wall in the coal mine tunnel in real time, and obtain a plurality of inspection images corresponding to each inspection point in the coal mine tunnel.

[0269] The analysis module is configured to directly analyze the inspection images to generate an analysis result, wherein the analysis result comprises a normal result, a direct abnormal result and a potential abnormal result, and when the analysis result is determined as the direct abnormal result, an early warning information is generated.

[0270] The generating module is configured to, when the analysis result is a potential abnormal result, perform water seepage analysis on the slot position image to obtain a water seepage result and a non-water seepage result, and generate early warning information based on the water seepage result.

[0271] The updating module is configured to construct a coal mine tunnel space corresponding to the coal mine tunnel, update the inspection image and the slot position image to the coal mine tunnel space based on the corresponding inspection point, obtain a coal mine verification space, and send the coal mine verification space and the early warning information to a management terminal.

[0272] Referring to Figure 4 is a hardware structure schematic diagram of an electronic device provided by an embodiment of the present application, and the electronic device 40 comprises a processor 41, a memory 42 and a computer program.

[0273] The memory 42 is configured to store the computer program, and the memory can also be a flash memory. The computer program is, for example, an application program, a functional module or the like for implementing the above method.

[0274] The processor 41 is configured to execute the computer program stored in the memory to implement each step of the device in the above method.

[0275] Optionally, the memory 42 can be independent or integrated with the processor 41.

[0276] When the memory 42 is a device independent of the processor 41, the device can further comprise:

[0277] A bus 43 is configured to connect the memory 42 and the processor 41.

[0278] The present application further provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method provided by the various embodiments.

[0279] Wherein, the readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transfer of computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general or special purpose computer. For example, the readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). In addition, the ASIC can be located in the user equipment. Of course, the processor and the readable storage medium can also exist as discrete components in the communication device. The readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0280] The present application also provides a program product, which includes execution instructions stored in a readable storage medium. At least one processor of the device can read the execution instructions from the readable storage medium, and the at least one processor executes the execution instructions to make the device implement the method provided by the various embodiments described above.

[0281] In the embodiments of the above device, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the present application can be directly embodied as the execution of the hardware processor, or the execution of the combination of hardware and software modules in the processor.

[0282] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A coal mine water prevention and control data processing method, characterized in that, include: The control and inspection equipment collects images of the roof and side walls of the coal mine tunnel in real time, and obtains multiple inspection images corresponding to each inspection point in the coal mine tunnel. The inspection images are directly analyzed to generate analysis results, which include normal results, direct anomalies, and potential anomalies. When the analysis result is determined to be a direct anomaly, an early warning message is generated, including: Based on OpenCV, the inspection images are directly analyzed to generate corresponding analysis results, including normal results, water permeability results, red stain results, and bead stain results. Based on the water permeability results and the red bead hanging results, the direct abnormal results are obtained, and the bead hanging results are regarded as potential abnormal results. When the analysis result is determined to be a direct anomaly, an early warning message is generated; When the analysis results are determined to be potentially abnormal, a seepage analysis is performed on the tank image to obtain seepage and non-seepage results. Based on the seepage results, early warning information is generated, including: When the analysis result is determined to be a potential abnormal result, the corresponding inspection image is used as the bead image, and the bead area of ​​the bead region in the bead image is obtained. The number of slots is obtained based on the ratio of the hanging bead area to the reference area, and the rotation positioning angle is determined based on the number of slots. The center point of the bead image is obtained as the origin of the coordinate system, and the bead coordinate system corresponding to the bead image is constructed based on the origin of the coordinate system. Obtain the midpoint of the beaded area in the beaded image, and determine the slotting position in the beaded area based on the midpoint and the rotation positioning angle; When the slot is determined to be located on the top wall, the inspection equipment is controlled to randomly spray slot markings onto the slot location. The control and verification equipment chiseles the groove markings at the groove location and captures images of the grooved area to obtain groove images. When the slotting position is determined to be on the side wall, the ordinate of each slotting position in the hanging bead coordinate system is obtained as the slotting sequence coordinate; Based on the slotting sequence coordinates, the slotting positions are sorted in descending order to obtain the slotting sequence. The inspection equipment is then controlled to spray slotting marks onto the slotting positions in the slotting sequence in sequence. The control and verification equipment sequentially chisels the slotting marks corresponding to the slotting positions in the slotting sequence and collects images after chiseling to obtain slot images. The grayscale value of the slot area in the slot image is obtained as the area grayscale value. When the area grayscale value is greater than the preset grayscale value, a non-permeable result is generated. When the gray value of a determined area is less than or equal to a preset gray value, a water seepage result is generated, and an early warning message is generated based on the water seepage result; Construct a coal mine tunnel space corresponding to the coal mine tunnel, update the inspection images and trench images to the coal mine tunnel space based on the corresponding inspection points, obtain the coal mine verification space, and send the coal mine verification space and early warning information to the management terminal.

2. The method according to claim 1, characterized in that, The step of obtaining the midpoint of the beaded area in the beaded image and determining the slot position in the beaded area based on the midpoint and the rotation positioning angle includes: Determine the maximum and minimum x-coordinates, maximum and minimum y-coordinates of the beaded region in the beaded coordinate system; The abscissa of the area corresponding to the hanging bead area is obtained by averaging the maximum and minimum abscissas. The region vertical coordinate corresponding to the hanging bead region is obtained based on the mean value of the maximum vertical coordinate and the minimum vertical coordinate; The region midpoint corresponding to the hanging bead region is obtained according to the region horizontal coordinate and the region vertical coordinate; A plurality of positioning rays are generated in the hanging bead image based on the rotation positioning angle with the region midpoint as the center, and the intersection of the positioning rays and the region line of the hanging bead region is taken as the positioning intersection point; The slot distribution line is determined according to the connecting line of the positioning intersection point and the center, the distance of each slot distribution line is taken as the slot distribution distance, the product of the preset slot ratio and the slot distribution distance is taken as the slot distance, and the slot distance is obtained; The slot position is determined based on the slot distance at the position of the center of the positioning intersection point along the direction of the positioning ray.

3. The method of claim 1, wherein the gray value of the slot position region in the slot position image is obtained as a region gray value, comprising: obtaining the pixel value of each slot pixel point in the slot position region in the slot position image, and performing average value processing on the pixel value of the slot pixel point to obtain the pixel point gray value corresponding to the slot pixel point; statistically obtaining the pixel point gray value of the slot pixel point in the slot position region to obtain a region total gray value, and statistically obtaining the number of pixel points in the slot position region to obtain a region total number; obtaining the region gray value according to the ratio of the region total gray value to the region total number. Further comprising:

4. The method according to claim 2 or 3, characterized in that, controlling the verification device to perform image acquisition on the hanging bead region to obtain a pre-excavation image corresponding to the hanging bead region, and obtaining the number of slot marks in the pre-excavation image; when the number of marks is less than the number of slots and the number of marks is greater than or equal to 2, taking the slot marks in the pre-excavation image as retained marks, and selecting any two retained marks as reference marks; updating the slot position to the corresponding hanging bead image to obtain a standard slot position image, determining the slot position corresponding to the retained mark in the standard slot position image as a retained position, and taking the remaining slot positions as filled positions; determining the slot position corresponding to the reference mark as a reference position, connecting the reference positions to each other, and connecting the reference positions and the filled positions to obtain a filled triangle; obtaining the angle of the vertex corresponding to the reference position in the filled triangle as a filled angle, and determining the connecting line of the reference position in the filled triangle as a reference connecting line, and obtaining the relative direction of the filled position and the reference connecting line as a filled direction; obtaining the center point of the reference mark as a reference midpoint, and connecting the reference midpoint to obtain a reference filled line; generating a filled straight line at the reference filled line based on the filled direction and the filled angle, and obtaining the intersection of the filled straight line as a filled mark point.

5. The method of claim 4, wherein the coal mine tunnel space corresponding to the coal mine tunnel is constructed, the inspection image and the slot position image are updated to the coal mine tunnel space based on the corresponding inspection point, a coal mine verification space is obtained, and the coal mine verification space and the early warning information are sent to the management end, comprising: constructing a coal mine tunnel space corresponding to the coal mine tunnel, and when the analysis result of the inspection image corresponding to the inspection point is a direct abnormal result, taking the corresponding inspection point as a first review point; ​ ​ In the coal mine tunnel space, a first trigger marker corresponding to the first inspection point is constructed, and the corresponding inspection image is bound to the first trigger marker; When the analysis result of the inspection image corresponding to the inspection point is determined to be a potential abnormal result, the corresponding inspection point is used as the second review point. In the coal mine tunnel space, a second trigger marker corresponding to the second inspection point is constructed, and a preset instruction template is retrieved. The preset instruction template includes an inspection filling area on the left and a slotting filling area on the right. Fill the inspection area with the corresponding inspection image, fill the slot area with the corresponding slot image, and generate a directional marker from the inspection area to the slot area to obtain the slot combination template. Bind the slotting combination template to the second trigger identifier to obtain the coal mine verification space, and send the coal mine verification space and early warning information to the management terminal.

6. The method of claim 4, wherein, Also includes: Based on the beaded coordinate system, obtain the coordinate points of the area line in the corresponding area line of the beaded area, and obtain the coordinate point of the area line farthest from the center of the area as the calculation coordinate point; The construction radius is calculated based on the coordinate points and the center point of the region. A circular grouting area is then generated with the center point of the region as the center. The grayscale value of the pixel in the corresponding slot area of ​​the slot image is obtained as the initial grayscale value. When the initial grayscale value is less than or equal to the preset grayscale value, the corresponding slot pixel is taken as the first seepage pixel. Images of the excavated area are acquired at preset intervals to obtain interval images; The grayscale value of the pixel in the slot area corresponding to the interval image is obtained as the interval grayscale value. When the interval grayscale value is less than or equal to the preset grayscale value, the corresponding slot pixel is used as the second seepage pixel. The number of change rate pixels is obtained by the difference between the number of second seepage pixels and the number of first seepage pixels in the slot area; The permeability change rate of the slot area is obtained by the ratio of the number of pixels with the rate of change to the preset interval time. The change coefficient is obtained by the ratio of the permeability change rate to the preset change rate. The actual number of grouting holes corresponding to the trench area is obtained by multiplying the change coefficient and the preset number of grouting holes. The positioning ray where the trench area is located is determined as the reference ray. Based on the preset grouting angle, the reference ray is rotated to both sides to obtain the grouting ray corresponding to the trench area. Based on the grouting ray, the circular grouting area is cut off to obtain the grouting fan-shaped area corresponding to the groove area; The arc-shaped boundary line in the grouting sector is evenly divided according to the actual number of grouting holes to obtain multiple grouting hole positions corresponding to the grouting sector.

7. The method according to claim 6, characterized in that, The step of obtaining a change coefficient based on the ratio of the permeability change rate to a preset change rate, and obtaining the actual number of grouting holes corresponding to the trench area based on the product of the change coefficient and the preset number of grouting holes, includes: The actual number of grouting holes can be obtained using the following formula. wherein, is the actual number of grouting holes, is the number of second water seepage pixel points, is the number of first water seepage pixel points, is a preset interval duration, is a constant value, is a preset change rate, is a preset number of grouting holes, is a grouting hole number weight.

8. A coal mine water prevention and control data processing system, characterized in that, include: The acquisition module is used to control the inspection equipment to acquire images of the top and side walls of the coal mine tunnel in real time, and obtain multiple inspection images corresponding to each inspection point in the coal mine tunnel. The analysis module is configured to directly analyze the inspection image to generate an analysis result, the analysis result including a normal result, a direct abnormal result, and a potential abnormal result, and generate an early warning information when the analysis result is determined as the direct abnormal result, including: The OpenCV is used to directly analyze the inspection image to generate an analysis result corresponding to the inspection image, the analysis result including a normal result, a water penetration result, a red hanging result, and a bead hanging result; The direct abnormal result is obtained according to the water penetration result and the red hanging result, and the bead hanging result is taken as the potential abnormal result; The early warning information is generated when the analysis result is determined as the direct abnormal result; The generation module is configured to perform water penetration analysis on the slot position image to obtain a water penetration result and a non-water penetration result when the analysis result is determined as the potential abnormal result, and generate the early warning information based on the water penetration result, including: The corresponding inspection image is taken as a bead hanging image when the analysis result is determined as the potential abnormal result, and a bead hanging area of the bead hanging image is obtained; The number of slots is obtained based on the ratio of the bead hanging area to a reference area, and the rotation positioning angle is determined based on the number of slots; The center point of the bead hanging image is taken as a coordinate origin, and a bead hanging coordinate system corresponding to the bead hanging image is constructed based on the coordinate origin; The region midpoint of the bead hanging area in the bead hanging image is obtained, and the slot position in the bead hanging area is determined according to the region midpoint and the rotation positioning angle; The slot position is determined as being on a top wall, and the inspection device is controlled to randomly spray a slot mark on the slot position; The slot mark on the slot position is processed by the verification device, and an image after the processing is collected to obtain a slot position image; The slot position is determined as being on a side wall, and the longitudinal coordinate of each slot position in the bead hanging coordinate system is taken as a slot sequence coordinate; The slot sequence is obtained by sorting the slot positions in descending order based on the slot sequence coordinates, and the inspection device is controlled to spray a slot mark on the slot positions in the slot sequence in sequence; The slot marks corresponding to the slot positions in the slot sequence are processed by the verification device in sequence, and an image after the processing is collected to obtain a slot position image; The gray value of the slot position area in the slot position image is taken as a region gray value, and the non-water penetration result is generated when the region gray value is greater than a preset gray value; The water penetration result is generated when the region gray value is less than or equal to the preset gray value, and the early warning information is generated based on the water penetration result; The update module is configured to construct a coal mine tunnel space corresponding to the coal mine tunnel, update the inspection image and the slot position image to the coal mine tunnel space based on the corresponding inspection point, obtain a coal mine verification space, and send the coal mine verification space and the early warning information to a management terminal.

Images