Automatic monitoring tracking method and apparatus for camera in fully mechanized coal mining face

Abstract

An automatic monitoring tracking method and apparatus for a camera in a fully mechanized coal mining face. The method comprises: when it is detected that the position of a coal mining machine on a fully mechanized coal mining face has changed, acquiring the current position of the coal mining machine; on the basis of the current position, and structure information of the coal mining machine, performing region division on the fully mechanized coal mining face, so as to obtain a plurality of regions; and for each region, performing, by means of a camera located in the region, real-time monitoring on equipment located in the region, wherein the camera in the region is arranged on a hydraulic support located in the region.

Description

Method and device for monitoring and automating tracking of cameras in fully mechanized coal mining working faces

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 202311257641.0 and application date of September 26, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present disclosure relates to the field of coal mine technology, and in particular to a method and device for automatically tracking monitoring of a camera in a fully mechanized mining face of a coal mine. Background Art

[0004] The fully mechanized coal mining face is the primary site of coal mine production. Characterized by a complex operating environment, numerous machines, and poor visual conditions, the face presents a high probability of accidents and is a key monitoring area for coal mine safety. During the mining process, abnormal conditions such as cutting interference and coal wall spalling often occur, posing a threat to the safety of both equipment and operators.

[0005] Video technology is currently the primary solution for real-time safety monitoring of underground working faces. The working space in a fully-mechanized coal mining face is long and narrow, making comprehensive monitoring impossible with a single camera. Multiple cameras are typically deployed at equal intervals on hydraulic supports within the face. During the operation of a fully-mechanized coal mining face, controlling the cameras to obtain more real-time safety monitoring information is crucial for ensuring safe production.

[0006] Summary of the Invention

[0007] The present disclosure proposes a method and device for automatically tracking monitoring of cameras in a fully mechanized mining face in a coal mine.

[0008] One aspect of an embodiment of the present disclosure proposes a method for automatically tracking monitoring cameras in a fully-mechanized mining face of a coal mine, the method comprising: obtaining the current position of the coal mining machine when a change in the position of the coal mining machine in the fully-mechanized mining face of the coal mine is detected; dividing the fully-mechanized mining face of the coal mine into regions based on the current position and structural information of the coal mining machine to obtain a plurality of regions; for each region, performing real-time monitoring of equipment located in the region by a camera located in the region, wherein the camera in the region is arranged on a hydraulic support located in the region.

[0009] The embodiment of the present disclosure provides an automatic tracking method for monitoring cameras in a coal mine comprehensive mining working face. When a change in the position of a coal mining machine in the coal mine comprehensive mining working face is detected, the coal mine comprehensive mining working face is divided into multiple areas according to the current position and structural information of the coal mining machine in the coal mine comprehensive mining working face, and the equipment located in the corresponding area is monitored in real time by the cameras on the hydraulic supports located in each area. Therefore, during the production and operation of the coal mine comprehensive mining working face, the area of ​​the coal mine comprehensive mining working face is dynamically divided based on the change in the position of the coal mining machine, and the equipment in the corresponding area is monitored in real time based on the cameras located in the dynamically divided areas, thereby making full use of the cameras to obtain more safety monitoring information in the real-time safe production of the working face.

[0010] Another embodiment of the present disclosure proposes an automatic tracking device for monitoring cameras in a coal mine fully-mechanized mining working face, the device comprising: an acquisition module for acquiring the current position of the coal mining machine when a change in the position of the coal mining machine in the coal mine fully-mechanized mining working face is detected; an area division module for dividing the coal mine fully-mechanized mining working face into areas according to the current position and structural information of the coal mining machine to obtain a plurality of areas; a real-time monitoring module for real-time monitoring of the equipment located in each area through a camera located in the area, wherein the camera in the area is arranged on a hydraulic support located in the area.

[0011] The embodiment of the present disclosure provides an automatic tracking device for monitoring cameras in a coal mine comprehensive mining working face. When a change in the position of a coal mining machine in the coal mine comprehensive mining working face is detected, the coal mine comprehensive mining working face is divided into multiple areas according to the current position and structural information of the coal mining machine in the coal mine comprehensive mining working face, and the equipment located in the corresponding area is monitored in real time through the cameras on the hydraulic supports located in each area. Therefore, during the production and operation of the coal mine comprehensive mining working face, the area of ​​the coal mine comprehensive mining working face is dynamically divided based on the change in the position of the coal mining machine, and the equipment in the corresponding area is monitored in real time based on the cameras located in the dynamically divided areas, thereby making full use of the cameras to obtain more safety monitoring information in the real-time safe production of the working face.

[0012] Another embodiment of the present disclosure proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for automatically monitoring and tracking cameras in a coal mine comprehensive mining face according to the embodiment of the present disclosure is implemented.

[0013] Another embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for automatically tracking monitoring of a camera in a fully mechanized mining face of a coal mine according to the embodiment of the present disclosure is implemented.

[0014] Another aspect of the present disclosure provides a computer program product, including a computer program. When the computer program is executed by a processor, the method for automatically tracking the monitoring of a camera in a fully mechanized mining face in a coal mine according to the embodiment of the present disclosure is implemented.

[0015] Another aspect of the present disclosure provides a computer program product, including a computer program. When the computer program is executed by a processor, the method for automatically tracking the monitoring of a camera in a fully mechanized mining face in a coal mine according to the embodiment of the present disclosure is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0017] FIG1 is a flow chart of a method for automatically tracking monitoring of a camera in a fully mechanized mining face in a coal mine according to an embodiment of the present disclosure;

[0018] FIG2 is a flow chart of a method for automatically tracking monitoring of a camera in a fully mechanized coal mining face according to another embodiment of the present disclosure;

[0019] FIG3 is an exemplary diagram of a coal mining machine, a fully mechanized coal mining face, a hydraulic support, and a plurality of areas obtained by division according to an embodiment of the present disclosure;

[0020] FIG4 is a schematic structural diagram of a camera monitoring and automatic tracking device in a fully mechanized coal mining face according to an embodiment of the present disclosure;

[0021] FIG5 is a block diagram of an electronic device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but are not to be construed as limiting the present invention.

[0023] In related technologies, during the production and operation of a fully mechanized mining face in a coal mine, the monitoring area corresponding to the camera installed on the hydraulic support is usually fixed and does not change with the position of the coal mining machine. However, the monitoring information collected by the monitoring area corresponding to the camera is limited. Therefore, how to control the camera to obtain more safety monitoring information in real-time safe production of the working face is a problem that needs to be solved urgently.

[0024] In response to the above problems, the present disclosure proposes the following technical concept: when a change in the position of the coal mining machine of the coal mine comprehensive mining working face is detected, the coal mine comprehensive mining working face is divided into multiple areas according to the current position and structural information of the coal mining machine of the coal mine comprehensive mining working face, and the equipment located in the corresponding area is monitored in real time through the cameras on the hydraulic supports located in each area. Therefore, during the production and operation of the coal mine comprehensive mining working face, the dynamic division of the area of ​​the coal mine comprehensive mining working face is realized based on the change in the position of the coal mining machine, and the equipment in the corresponding area is monitored in real time based on the cameras located in the dynamically divided areas, so as to make full use of the cameras to obtain more safety monitoring information in the real-time safe production of the working face.

[0025] The following describes, with reference to the accompanying drawings, the method, device, electronic device, and storage medium for monitoring and automatically tracking cameras in a fully mechanized coal mining face according to an embodiment of the present disclosure.

[0026] FIG1 is a flow chart of a method for automatically tracking cameras in a fully-mechanized coal mining face according to an embodiment of the present disclosure. It should be noted that the method for automatically tracking cameras in a fully-mechanized coal mining face provided in this embodiment is performed by a device for automatically tracking cameras in a fully-mechanized coal mining face. The device for automatically tracking cameras in a fully-mechanized coal mining face in this embodiment can be implemented by software and / or hardware. The device for automatically tracking cameras in a fully-mechanized coal mining face in this example can be an electronic device, or can be configured in an electronic device.

[0027] The electronic devices in this example embodiment may include terminal devices, servers, etc., wherein the terminal devices may be PCs (Personal Computers), mobile devices, tablet computers, etc., which are not specifically limited in this embodiment.

[0028] As shown in FIG1 , the method for automatically tracking the monitoring of cameras in a fully mechanized coal mining face may include:

[0029] Step 101: When it is detected that the position of the coal shearer of the fully mechanized mining face of the coal mine has changed, the current position of the coal shearer is obtained.

[0030] In some embodiments, during the process of coal mining by the coal mining machine on the comprehensive mining working face of the coal mine, the position of the coal mining machine on the comprehensive mining working face of the coal mine changes. Correspondingly, when it is detected that the position of the coal mining machine on the comprehensive mining working face of the coal mine has changed, the current position of the coal mining machine on the comprehensive mining working face of the coal mine can be obtained.

[0031] It is understandable that in different application scenarios, the method of obtaining the current position of the coal mining machine is different. An exemplary description is as follows:

[0032] As an example, image data captured by a camera capable of capturing images of a coal mining machine may be obtained, and the current position of the coal mining machine may be determined based on the image data.

[0033] Among them, regarding image data, an exemplary process for determining the current position of the coal mining machine is: determining the image data to determine the image area of ​​the coal mining machine in the image data, and the image area is at the image position of the image data, and determining the current position of the coal mining machine based on the image position and the position information of the camera that can capture the coal mining machine.

[0034] Among them, the specific implementation method of determining the current position of the coal mining machine based on the image data can be found in the relevant technology, which will not be repeated here.

[0035] As another example, the current position of the coal mining machine may be determined based on positioning information output by a positioning device in the coal mining machine.

[0036] Step 102 , dividing the fully mechanized mining face of the coal mine into regions according to the current position and the structural information of the coal mining machine to obtain a plurality of regions.

[0037] The structural information of the coal mining machine may include but is not limited to at least one of the body, the first drum and the second drum of the coal mining machine.

[0038] Among them, the first roller is the roller at the coal mining end end of the coal mining machine close to the coal mine fully mechanized mining working face.

[0039] Among them, the second roller is the roller at the starting end of coal mining in the coal mining machine close to the fully mechanized mining working face of the coal mine.

[0040] The direction from the starting end to the ending end of coal mining is the same as the coal cutting direction of the coal mining machine.

[0041] As an example, when the structural information of the coal mining machine only includes the body of the coal mining machine, the body of the coal mining machine can be projected onto the coal mine comprehensive mining working face according to the current position, and the boundary of the projected body projection area in the target direction perpendicular to the coal cutting direction of the coal mining machine is extended outward to the boundary of the coal mine comprehensive mining working face to obtain the first area obtained by dividing the coal mine comprehensive mining working face. Then, the coal mine comprehensive mining working face is divided according to the first area to obtain the area between the first boundary of the first area in the coal mine comprehensive mining working face and the coal mining end end of the coal mine comprehensive mining working face and the area between the second boundary of the first area and the coal mining starting end of the coal mine comprehensive mining working face, wherein the first boundary is the boundary of the first area close to the coal mining end end of the coal mine comprehensive mining working face, and the second boundary is the boundary close to the coal mining starting end of the coal mine comprehensive mining working face.

[0042] Among them, the fuselage projection area refers to the minimum circumscribed area including the fuselage projection in the fully mechanized mining working face of a coal mine.

[0043] As another example, when the structural information of the coal mining machine only includes the first roller of the coal mining machine, the first roller of the coal mining machine can be projected onto the coal mine comprehensive mining working face according to the current position, and the boundary of the first roller projection area obtained by projection in the target direction perpendicular to the coal cutting direction of the coal mining machine is extended outward to the boundary of the coal mine comprehensive mining working face to obtain the first area obtained by dividing the coal mine comprehensive mining working face, and then, the coal mine comprehensive mining working face is divided according to the first area to obtain the area between the first boundary of the first area and the coal mining end end of the coal mine comprehensive mining working face and the area between the second boundary of the first area and the coal mining starting end of the coal mine comprehensive mining working face, wherein the first boundary is the boundary of the first area near the coal mining end end of the coal mining working face, and the second boundary is the boundary near the coal mining starting end of the coal mining working face, wherein the direction from the coal mining starting end to the coal mining end end is the same as the coal cutting direction of the coal mining machine.

[0044] Among them, the first roller projection area refers to the minimum circumscribed area in the coal mine fully mechanized mining working face including the first roller projection.

[0045] As another example, when the structural information of the coal mining machine only includes the second roller of the coal mining machine, the second roller of the coal mining machine can be projected onto the coal mine comprehensive mining working face according to the current position, and the boundary of the second roller projection area obtained by projection in the target direction perpendicular to the coal cutting direction of the coal mining machine is extended outward to the boundary of the coal mine comprehensive mining working face to obtain the first area obtained by dividing the coal mine comprehensive mining working face, and then, the coal mine comprehensive mining working face is divided according to the first area to obtain the area between the first boundary of the first area and the coal mining end end of the coal mine comprehensive mining working face and the area between the second boundary of the first area and the coal mining starting end of the coal mine comprehensive mining working face, wherein the first boundary is the boundary of the first area near the coal mining end end of the coal mining working face, and the second boundary is the boundary near the coal mining starting end of the coal mining working face, wherein the direction from the coal mining starting end to the coal mining end end is the same as the coal cutting direction of the coal mining machine.

[0046] Among them, the second roller projection area refers to the minimum circumscribed area in the coal mine fully mechanized mining working face including the second roller projection.

[0047] As another example, when the structural information of the coal mining machine only includes the body and the first roller of the coal mining machine, the body and the first roller of the coal mining machine can be projected onto the coal mine comprehensive mining working face according to the current position to obtain the first area and the second area of ​​the coal mine comprehensive mining working face respectively, wherein the first area and the second area are obtained by expanding the boundaries of the respective corresponding projection areas of the body and the first roller on the coal mine comprehensive mining working face in the target direction perpendicular to the coal cutting direction of the coal mining machine outward to the boundary of the coal mine comprehensive mining working face; the coal mine comprehensive mining working face is divided according to the first boundary of the second area and the coal mining end end of the coal mine comprehensive mining working face to obtain the area between the first boundary of the second area and the coal mining end end of the coal mine comprehensive mining working face, wherein the first boundary is the boundary in the second area close to the coal mining end end of the coal mine comprehensive mining working face.

[0048] As another example, when the structural information of the coal mining machine only includes the body and the second roller of the coal mining machine, the body and the second roller of the coal mining machine can be projected onto the coal mine comprehensive mining working face according to the current position to obtain the first area and the second area of ​​the coal mine comprehensive mining working face respectively. The first area, the second area and the third area are obtained by expanding the boundaries of the corresponding projection areas of the body and the second roller on the coal mine comprehensive mining working face in the target direction perpendicular to the coal cutting direction of the coal mining machine outward to the boundary of the coal mine comprehensive mining working face; the coal mine comprehensive mining working face is divided according to the first boundary of the second area and the coal mining end end of the coal mine comprehensive mining working face to obtain the area between the first boundary of the second area and the coal mining end end of the coal mine comprehensive mining working face, wherein the first boundary is the boundary in the second area close to the coal mining end end of the coal mine comprehensive mining working face.

[0049] Among them, it should be noted that when the structural information includes the body of the coal mining machine, the first roller and the second roller, the coal mine comprehensive mining working face is divided into areas based on the current position and the structural information. The specific implementation method of obtaining multiple areas will be exemplarily described in subsequent embodiments.

[0050] Step 103 : For each area, real-time monitoring of the equipment in the area is performed by using a camera located in the area, wherein the camera in the area is set on a hydraulic support located in the area.

[0051] Among them, for each area, each area can include multiple hydraulic supports. It can be understood that in some examples, a camera is set on each hydraulic support in each area; in other examples, a camera is set on a designated hydraulic support in each area, wherein the designated hydraulic support can be one or more of the multiple hydraulic supports. For example, an area includes 9 hydraulic supports arranged in sequence, and a camera can be set every two hydraulic supports. At this time, there are three designated hydraulic supports, namely the hydraulic support ranked third, the hydraulic support ranked sixth, and the hydraulic support ranked ninth.

[0052] The embodiment of the present disclosure provides an automatic tracking method for monitoring cameras in a coal mine fully-mechanized mining face. When a change in the position of a coal mining machine in the coal mine fully-mechanized mining face is detected, the coal mine fully-mechanized mining face is divided into multiple areas according to the current position and structural information of the coal mining machine in the coal mine fully-mechanized mining face, and the equipment located in the corresponding area is monitored in real time by cameras on hydraulic supports located in each area. Therefore, during the production and operation of the coal mine fully-mechanized mining face, the area of ​​the coal mine fully-mechanized mining face is dynamically divided based on the change in the position of the coal mining machine, and the equipment in the corresponding area is monitored in real time based on the cameras located in the dynamically divided areas, thereby making full use of the cameras to obtain more safety monitoring information in the real-time safe production of the working face.

[0053] Based on the above embodiments, in order to enable the camera to accurately monitor the equipment in the corresponding area of ​​the coal mine comprehensive mining face, the camera can also be controlled to rotate accordingly as the position of the coal mining machine changes.

[0054] In some embodiments, when the position of the coal mining machine changes, the moving direction of the corresponding camera can be determined according to the moving direction of the coal mining machine, and the rotation speed of the corresponding camera can be determined according to the moving speed of the coal mining machine, and the corresponding camera can be controlled to rotate accordingly based on the rotation speed and rotation direction.

[0055] The following is an exemplary description of the automatic tracking method for monitoring cameras in the fully mechanized mining face of a coal mine with reference to FIG2 . This embodiment is a further refinement of the above embodiment.

[0056] FIG2 is a flow chart of an automated tracking method for monitoring cameras in a fully mechanized mining face in a coal mine according to another embodiment of the present disclosure.

[0057] As shown in FIG2 , the method for automatically tracking the monitoring of cameras in a fully mechanized coal mining face may include the following steps:

[0058] Step 201: When it is detected that the position of the coal shearer of the fully mechanized mining face of the coal mine has changed, the current position of the coal shearer is obtained.

[0059] It should be noted that, for the specific implementation of step 201, please refer to the relevant description in the embodiment of the present disclosure, which will not be repeated here.

[0060] Step 202, when the structural information includes the body, first roller and second roller of the coal mining machine, the body, first roller and second roller of the coal mining machine are projected onto the coal mine comprehensive mining working face respectively according to the current position to obtain the first area, second area and third area of ​​the coal mine comprehensive mining working face, wherein the first area, second area and third area are obtained by expanding the boundaries of the respective corresponding projection areas of the body, first roller and second roller on the coal mine comprehensive mining working face in the target direction perpendicular to the coal cutting direction of the coal mining machine outward to the boundary of the coal mine comprehensive mining working face.

[0061] In this embodiment, after obtaining the body projection area of ​​the coal mining machine on the coal mine comprehensive mining working face, the boundary of the body projection area in the target direction perpendicular to the coal cutting direction of the coal mining machine can be expanded outward to the boundary of the coal mine comprehensive mining working face to obtain the first area of ​​the coal mine comprehensive mining working face.

[0062] Correspondingly, after obtaining the first roller projection area of ​​the first roller of the coal mining machine on the coal mine comprehensive mining working face, the boundary of the first roller projection area in the target direction perpendicular to the coal cutting direction of the coal mining machine can be expanded outward to the boundary of the coal mine comprehensive mining working face to obtain the second area of ​​the coal mine comprehensive mining working face.

[0063] Correspondingly, after obtaining the second roller projection area of ​​the second roller of the coal mining machine on the coal mine comprehensive mining working face, the boundary of the second roller projection area in the target direction perpendicular to the coal cutting direction of the coal mining machine can be expanded outward to the boundary of the coal mine comprehensive mining working face to obtain the third area of ​​the coal mine comprehensive mining working face.

[0064] Step 203, divide the coal mine fully mechanized mining working face according to the first boundary of the second area and the coal mining end end of the coal mine fully mechanized mining working face to obtain the area between the first boundary of the second area and the coal mining end end of the coal mine fully mechanized mining working face, wherein the first boundary is the boundary in the second area close to the coal mining end end of the coal mine fully mechanized mining working face.

[0065] In some examples, the area between the first boundary of the second area in the fully-mechanized mining working face of the coal mine and the coal mining end of the fully-mechanized mining working face of the coal mine may be referred to as the fourth area.

[0066] Step 204, divide the coal mine fully mechanized mining working face according to the second boundary of the third area and the coal mining starting end of the coal mine fully mechanized mining working face to obtain the area between the second boundary of the third area and the coal mining starting end of the coal mine fully mechanized mining working face, wherein the second boundary is the boundary of the coal mining starting end close to the coal mining starting end of the coal mine fully mechanized mining working face in the third area, wherein the direction from the coal mining starting end to the coal mining ending end is the same as the coal cutting direction of the coal mining machine.

[0067] In some examples, the area between the second boundary of the third area in the fully-mechanized mining working face of the coal mine and the coal mining starting end of the fully-mechanized mining working face of the coal mine may be referred to as the fifth area.

[0068] In one embodiment of the present disclosure, a fully mechanized coal mining face includes a bend. If, based on the current position, the shearer is determined to have moved in the coal cutting direction and passed the bend, the area between the second boundary of the third region and the coal mining end of the fully mechanized coal mining face can be further divided based on the bend to obtain two sub-regions. The two sub-regions include: a sub-region between the target endpoint of the bend and the coal mining start, and a sub-region between the target endpoint of the bend and the second boundary of the third region. The target endpoint is the endpoint of the bend near the coal mining end. Step 205: For each region, real-time monitoring of equipment within the region is performed using a camera located within the region, wherein the camera within the region is installed on a hydraulic support within the region.

[0069] For example, an example diagram of a coal mining machine, a coal mine fully-mechanized mining working face, a hydraulic support, and multiple areas obtained by division is shown in FIG3 , wherein A1 in FIG3 represents the body of the coal mining machine, A2 represents the first roller of the coal mining machine, A3 represents the second roller of the coal mining machine, B represents the coal mine fully-mechanized mining working face, C represents the hydraulic support of the coal mine fully-mechanized mining working face, D represents the coal mining end end of the coal mine fully-mechanized mining working face, and E represents the coal mining start end of the coal mine fully-mechanized mining working face. The six areas obtained by division are exemplified by areas 1 to 6 in FIG3 , wherein area 1 represents the turning section of the coal mine fully-mechanized mining working face. Region one represents the area between the end point near the end of coal mining and the start point of coal mining in the turning section of the coal mine fully-mechanized mining face and the right boundary of region three; region three represents the area obtained based on the mapping area of ​​the second roller of the coal mining machine in the fully-mechanized mining face of the coal mine, region four represents the area obtained based on the mapping area of ​​the body of the coal mining machine in the fully-mechanized mining face of the coal mine, and region five represents the area obtained based on the mapping area of ​​the first roller of the coal mining machine in the fully-mechanized mining face of the coal mine; region six represents the area between the end of coal mining in the fully-mechanized mining face of the coal mine and the left boundary of region five.

[0070] For each area shown in Figure 3, for area one, the camera installed on the hydraulic support in area one can monitor the equipment located in area one in real time. For area two, the camera installed on the hydraulic support in area two can detect the pulling action, coal collection status of the machine way, pulling action, pulling results, and pushing and sliding action in the turning section in area two; for area three, the camera installed on the hydraulic support in area three can detect the undercover status of the lower drum in area three in real time; for area four, the camera installed on the hydraulic support in area four can monitor the opening status of the guard plate in real time to determine whether the guard plate is open. For area five, the camera installed on the hydraulic support in area five can monitor the first drum and the coal-rock boundary line in real time to prevent the drum from cutting the top beam. For area six, the camera installed on the hydraulic support in area six can detect the opening status of the guard plate to prevent the drum from colliding with the guard plate.

[0071] In this embodiment, when it is detected that the position of the coal mining machine of the coal mine comprehensive mining working face has changed, the coal mine comprehensive mining working face is divided into multiple areas according to the current position of the coal mining machine, the body of the coal mining machine, the first roller and the second roller of the coal mining working face, and the equipment located in the corresponding area is monitored in real time through the cameras on the hydraulic supports located in each area. Therefore, during the production and operation of the coal mine comprehensive mining working face, the dynamic division of the area of ​​the coal mine comprehensive mining working face is realized based on the change of the position of the coal mining machine, and the equipment in the corresponding area is monitored in real time based on the cameras located in the dynamically divided areas, so as to make full use of the cameras to obtain more safety monitoring information in the real-time safe production of the working face.

[0072] Corresponding to the automatic monitoring and tracking methods for cameras in coal mine comprehensive mining working faces provided in the above-mentioned embodiments, an embodiment of the present disclosure also provides an automatic monitoring and tracking device for cameras in coal mine comprehensive mining working faces. Since the automatic monitoring and tracking device for cameras in coal mine comprehensive mining working faces provided in the embodiment of the present disclosure corresponds to the automatic monitoring and tracking methods for cameras in coal mine comprehensive mining working faces provided in the above-mentioned embodiments, the implementation method of the automatic monitoring and tracking method for cameras in coal mine comprehensive mining working faces is also applicable to the automatic monitoring and tracking device for cameras in coal mine comprehensive mining working faces of this embodiment, and will not be described in detail in this embodiment.

[0073] FIG4 is a schematic structural diagram of an automatic tracking device for monitoring a camera in a fully mechanized mining face of a coal mine according to an embodiment of the present disclosure.

[0074] As shown in FIG4 , the automatic tracking device 400 for monitoring cameras in a fully mechanized coal mining face includes: an acquisition module 401 , an area division module 402 , and a real-time monitoring module 403 , wherein:

[0075] The acquisition module 401 is used to acquire the current position of the coal shearer when it is detected that the position of the coal shearer of the fully mechanized mining face of the coal mine has changed.

[0076] The area division module 402 is used to divide the fully mechanized mining face of the coal mine into areas according to the current position and the structural information of the coal mining machine to obtain multiple areas.

[0077] The real-time monitoring module 403 is used to monitor the equipment in each area in real time through a camera located in the area, wherein the camera in the area is set on the hydraulic support located in the area.

[0078] In one embodiment of the present disclosure, the apparatus further comprises:

[0079] The control module is used to control the camera to rotate accordingly with the movement of the coal shearer when the position of the coal shearer changes.

[0080] In one embodiment of the present disclosure, the structural information includes a body, a first roller, and a second roller of a coal shearer. The first roller is the roller at the coal mining end of the coal shearer near the fully-mechanized working face of the coal mine, and the second roller is the roller at the coal mining start of the coal shearer near the fully-mechanized working face of the coal mine. The direction from the coal mining start to the coal mining end is the same as the coal cutting direction of the coal shearer. As shown in FIG4 , the area division module 402 includes:

[0081] The first division unit 4021 is configured to project the body, the first roller, and the second roller of the shearer onto the fully-mechanized mining face of the coal mine, respectively, based on the current position, to obtain a first region, a second region, and a third region of the fully-mechanized mining face of the coal mine, wherein the first region, the second region, and the third region are obtained by extending the boundaries of the projection regions corresponding to the body, the first roller, and the second roller on the fully-mechanized mining face of the coal mine, respectively, in a target direction perpendicular to the coal cutting direction of the shearer, outward to the boundary of the fully-mechanized mining face of the coal mine;

[0082] The second dividing unit 4022 is configured to divide the fully-mechanized mining working face of the coal mine according to the first boundary of the second region and the coal mining end end of the fully-mechanized mining working face of the coal mine, so as to obtain a region between the first boundary of the second region and the coal mining end end of the fully-mechanized mining working face of the coal mine, wherein the first boundary is a boundary in the second region close to the coal mining end end of the fully-mechanized mining working face of the coal mine;

[0083] The third division unit 4023 is used to divide the coal mine fully-mechanized mining working face according to the second boundary of the third area and the starting end of coal mining of the coal mine fully-mechanized mining working face, so as to obtain the area between the second boundary of the third area and the starting end of coal mining of the coal mine fully-mechanized mining working face, wherein the second boundary is the boundary in the third area close to the starting end of coal mining of the coal mine fully-mechanized mining working face.

[0084] In one embodiment of the present disclosure, a fully mechanized coal mining working face includes a turning section. When it is determined based on the current position that the shearer has moved along the coal cutting direction and has passed the turning section, the area division module 402 further includes:

[0085] The fourth division unit 4024 is used to further divide the area between the second boundary of the third area and the coal mining end of the coal mine comprehensive mining working face according to the turning section to obtain two sub-areas, wherein the two sub-areas include: the sub-area between the target endpoint of the turning section and the coal mining start end, and the sub-area between the target endpoint of the turning section and the second boundary of the third area, wherein the target endpoint is the endpoint in the turning section close to the coal mining end end.

[0086] In one embodiment of the present disclosure, the acquisition module 401 is specifically used to: acquire image data captured by a camera capable of capturing images of the coal mining machine; and determine the current position of the coal mining machine based on the image data.

[0087] The embodiment of the present disclosure provides an automatic tracking device for monitoring cameras in a coal mine fully-mechanized mining face. When a change in the position of a coal mining machine in the coal mine fully-mechanized mining face is detected, the coal mine fully-mechanized mining face is divided into multiple areas according to the current position and structural information of the coal mining machine in the coal mine fully-mechanized mining face, and the equipment located in the corresponding area is monitored in real time through the cameras on the hydraulic supports located in each area. Therefore, during the production and operation of the coal mine fully-mechanized mining face, the area of ​​the coal mine fully-mechanized mining face is dynamically divided based on the change in the position of the coal mining machine, and the equipment in the corresponding area is monitored in real time based on the cameras located in the dynamically divided areas, thereby making full use of the cameras to obtain more safety monitoring information in the real-time safe production of the working face.

[0088] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0089] FIG5 is a structural block diagram of an electronic device according to an embodiment of the present disclosure.

[0090] As shown in FIG5 , the electronic device 500 includes a memory 510 , a processor 520 , and computer instructions stored in the memory 510 and executable on the processor 520 .

[0091] When the processor 520 executes the instruction, the automatic monitoring and tracking method of the camera in the fully mechanized mining face of the coal mine provided in the above embodiment is implemented.

[0092] Furthermore, the electronic device 500 further includes:

[0093] The communication interface 530 is used for communication between the memory 510 and the processor 520 .

[0094] The memory 510 is used to store computer instructions that can be executed on the processor 520 .

[0095] The memory 510 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0096] The processor 520 is used to implement the automatic monitoring and tracking method of the camera in the coal mine fully mechanized mining working face of the above embodiment when executing the program.

[0097] If the memory 510, processor 520, and communication interface 530 are implemented independently, the communication interface 530, memory 510, and processor 520 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, control buses, and the like. For ease of illustration, FIG5 shows only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0098] Optionally, in a specific implementation, if the memory 510, the processor 520 and the communication interface 530 are integrated on a chip, the memory 510, the processor 520 and the communication interface 530 can communicate with each other through an internal interface.

[0099] The processor 520 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0100] Another embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for automatically tracking monitoring of a camera in a fully mechanized mining face in a coal mine disclosed in the embodiment of the present disclosure is implemented.

[0101] Another aspect of the present disclosure provides a computer program product, including a computer program. When the computer program is executed by a processor, the method for automatically tracking the monitoring of a camera in a fully mechanized mining face in a coal mine according to the embodiment of the present disclosure is implemented.

[0102] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0103] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0104] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for automatically tracking a camera in a fully mechanized coal mining face, comprising: When detecting that the position of the coal mining machine of the fully mechanized mining face of the coal mine has changed, obtaining the current position of the coal mining machine; According to the current position and the structural information of the coal mining machine, the fully mechanized mining face of the coal mine is divided into regions to obtain a plurality of regions; For each area, the equipment located in the area is monitored in real time by a camera located in the area, wherein the camera in the area is arranged on a hydraulic support located in the area.

2. The method of claim 1, wherein: When the position of the coal mining machine changes, the camera is controlled to rotate accordingly with the movement of the coal mining machine.

3. The method of claim 1, wherein: The structural information includes a body, a first roller, and a second roller of the coal mining machine, wherein the first roller is a roller of the coal mining machine near the coal mining end end of the coal mining face, and the second roller is a roller of the coal mining machine near the coal mining start end of the coal mining gate, and the direction from the coal mining start end to the coal mining end end is the same as the coal cutting direction of the coal mining machine. According to the current position and the structural information of the coal mining machine, the coal mining face is divided into regions to obtain multiple regions, including: According to the current position, the body, the first roller and the second roller of the coal mining machine are projected onto the fully-mechanized mining working face of the coal mine respectively, so as to obtain the first area, the second area and the third area of ​​the fully-mechanized mining working face of the coal mine, wherein the first area, the second area and the third area are obtained by respectively extending the boundaries of the projection areas corresponding to the body, the first roller and the second roller on the fully-mechanized mining working face of the coal mine in the target direction perpendicular to the coal cutting direction of the coal mining machine outward to the boundary of the fully-mechanized mining working face of the coal mine; The coal mine fully mechanized mining working face is divided according to the first boundary of the second area and the coal mining end of the coal mine fully mechanized mining working face to obtain an area between the first boundary of the second area and the coal mining end of the coal mine fully mechanized mining working face, wherein the first boundary is a boundary in the second area close to the coal mining end of the coal mine fully mechanized mining working face; The coal mine comprehensive mining working face is divided according to the second boundary of the third area and the starting end of coal mining of the coal mine comprehensive mining working face to obtain the area between the second boundary of the third area and the starting end of coal mining of the coal mine comprehensive mining working face, wherein the second boundary is the boundary in the third area close to the starting end of coal mining of the coal mine comprehensive mining working face.

4. The method of claim 3, wherein: The fully mechanized coal mining working surface includes a turning section. When it is determined based on the current position that the coal mining machine moves along the coal cutting direction and has passed the turning section, the method further includes: According to the turning section, the area between the second boundary of the third area and the coal mining end of the coal mine comprehensive mining working face is divided again to obtain two sub-areas, wherein the two sub-areas include: the sub-area between the target endpoint of the turning section and the coal mining start end, and the sub-area between the target endpoint of the turning section and the second boundary of the third area, wherein the target endpoint is the endpoint in the turning section close to the coal mining end end.

5. The method according to any one of claims 1 to 4, wherein: The obtaining of the current position of the coal mining machine comprises: Acquiring image data captured by a camera capable of capturing the coal mining machine; Based on the image data, the current position of the coal mining machine is determined.

6. A monitoring and automatic tracking device for a camera in a fully mechanized mining face of a coal mine, comprising: An acquisition module, used for acquiring the current position of the coal mining machine when detecting that the position of the coal mining machine of the fully mechanized mining working face of the coal mine has changed; A region division module, used for dividing the coal mine fully mechanized mining face into regions according to the current position and the structural information of the coal mining machine to obtain a plurality of regions; The real-time monitoring module is used for real-time monitoring of equipment in each area through a camera located in the area, wherein the camera in the area is arranged on a hydraulic support located in the area.

7. The apparatus of claim 6, further comprising: The control module is used to control the camera to rotate accordingly with the movement of the coal mining machine when the position of the coal mining machine changes.

8. The device of claim 6, wherein: The structural information includes the body, the first roller and the second roller of the coal mining machine, wherein the first roller is a roller at the coal mining end end of the coal mining machine close to the fully-mechanized mining face of the coal mine, and the second roller is a roller at the coal mining start end of the coal mining machine close to the fully-mechanized mining gate of the coal mine, and the direction from the coal mining start end to the coal mining end end is the same as the coal cutting direction of the coal mining machine. The area division module includes: A first division unit is used to project the body, the first roller and the second roller of the coal mining machine to the fully-mechanized mining working face of the coal mine according to the current position, so as to obtain a first area, a second area and a third area of ​​the fully-mechanized mining working face of the coal mine, wherein the first area, the second area and the third area are obtained by extending the boundaries of the projection areas corresponding to the body, the first roller and the second roller on the fully-mechanized mining working face of the coal mine in a target direction perpendicular to the coal cutting direction of the coal mining machine outward to the boundary of the fully-mechanized mining working face of the coal mine; a second division unit, configured to divide the fully mechanized mining working face of the coal mine according to the first boundary of the second area and the coal mining end end of the fully mechanized mining working face of the coal mine, so as to obtain an area between the first boundary of the second area and the coal mining end end of the fully mechanized mining working face of the coal mine, wherein the first boundary is a boundary in the second area close to the coal mining end end of the fully mechanized mining working face of the coal mine; The third division unit is used to divide the coal mine comprehensive mining working face according to the second boundary of the third area and the starting end of coal mining of the coal mine comprehensive mining working face, so as to obtain the area between the second boundary of the third area and the starting end of coal mining of the coal mine comprehensive mining working face, wherein the second boundary is the boundary in the third area close to the starting end of coal mining of the coal mine comprehensive mining working face.

9. The device of claim 8, wherein: The fully mechanized coal mining working surface includes a turning section. When it is determined based on the current position that the coal mining machine moves along the coal cutting direction and has passed the turning section, the area division module further includes: The fourth division unit is used to re-divide the area between the second boundary of the third area and the coal mining end of the coal mine comprehensive mining working face according to the turning section to obtain two sub-areas, wherein the two sub-areas include: the sub-area between the target endpoint of the turning section and the coal mining start end, and the sub-area between the target endpoint of the turning section and the second boundary of the third area, wherein the target endpoint is the endpoint in the turning section close to the coal mining end end.

10. The device according to any one of claims 6 to 9, wherein: The acquisition module is used to: Acquiring image data captured by a camera capable of capturing the coal mining machine; Based on the image data, the current position of the coal mining machine is determined.

11. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the computer program.

12. A computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

13. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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