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基于机器视觉的煤矿巷道掘进工作面关键工序识别方法

Identification method of key processes of coal mine roadway excavation face based on machine vision

  • 摘要: 为了提升煤矿掘进工作面的智能化水平,解决传统工序识别方法对传感器依赖度高、环境适应性差、图像信息利用率低的问题,提出一种基于机器视觉的煤矿巷道掘进工作面关键工序识别方法。通过分析实际掘进流程,明确“行走、截割、临时支护、永久支护”4个典型关键工序,结合目标类别、目标运动状态和人员数量等关键特征,构建由11项关键特征构成的工序判别策略。在此基础上,提出CSIS-YOLOv11目标检测模型作为该方法的核心视觉识别模块。该模型在YOLOv11n基础上进行了3项关键改进:其一,引入对比度受限自适应直方图均衡化(CLAHE)图像增强算法,提高低照度、多尘雾复杂环境下图像的对比度与边缘清晰度,使图像特征更加突出,为后续算法提供可检测性更高的图像输入;其二,在检测头中引入SEAM注意力机制模块,利用多尺度通道建模与特征融合策略,提升多目标遮挡场景中的感知能力,增强模型对局部特征丢失与类间干扰的适应性,从而提高目标检测的鲁棒性与识别精度;其三,设计IS-IoU边界框回归损失函数,在融合Inner-IoU与Shape-IoU的基础上,引入辅助边界框对预测回归过程进行约束,同时考虑边界框形状与比例因素造成的影响,提高边界框定位精度,尤其适用于长宽比大与尺度跨度大的目标识别任务。结合自主采集与标注的煤矿掘进图像数据集开展试验,结果显示,改进后的CSIS-YOLOv11模型平均精度(mAP)达到0.929,较原始YOLOv11n模型提升3.6%,同时具备轻量化结构(参数量为2.41×106)、低计算复杂度(FLOPs为5.5×109)与较高实时性(检测帧率为81.7 帧/s)。在此基础上构建基于B/S架构的掘进关键工序识别系统,集成视频采集、图像增强、目标检测、工序逻辑推断与可视化展示等功能模块,支持关键工序的实时识别与时长统计。系统在实验室条件下进行多工序视频识别验证,识别准确率:未作业或其他工序为100%、行走为91.40%、截割为99.36%、临时支护为98.39%、永久支护为99.25%,总体平均识别准确率达97.84%。试验结果表明,关键工序识别方法能够满足煤矿巷道掘进工作面关键工序的智能检测要求。

     

    Abstract: In order to enhance the level of intelligence in coal mine excavation working faces and address the issues of high sensor dependency, poor environmental adaptability, and low utilization of image information in traditional process identification methods, a machine vision-based key process identification method for coal mine roadway excavation face is proposed. By analyzing the actual excavation process, the four typical key operations of “walking, cutting, temporary support, and permanent support” were identified. Combining key features such as target category, target motion state, and personnel number, a procedure discrimination strategy consisting of 11 key features was constructed. Based on this, the CSIS-YOLOv11 object detection model is proposed as the core visual recognition module of this method. This model incorporates three key improvements over YOLOv11n: First, it introduces the Contrast Limited Adaptive Histogram Equalization (CLAHE) image enhancement algorithm to improve the contrast and edge clarity of images in low-light, dusty, and foggy complex environments, making the image features more prominent and providing higher detectability for subsequent algorithms. Second, the SEAM attention mechanism module is introduced in the detection head, utilizing multi-scale channel modeling and feature fusion strategies to enhance the perception capability in multi-target occlusion scenarios, and to improve the model’s adaptability to local feature loss and inter-class interference, thereby increasing the robustness and recognition accuracy of target detection. Third, an IS-IoU loss function is designed by integrating the principles of Inner-IoU and Shape-IoU, introducing auxiliary bounding boxes to constrain the regression process while accounting for shape and aspect ratio variations, which improves localization accuracy, especially for elongated or scale-variant targets. Combining self-collected and annotated coal mine excavation image datasets for experiments, the results show that the improved CSIS-YOLOv11 model achieves an average precision (mAP) of 0.929, an increase of 3.6% compared to the original YOLOv11n model, while also featuring a lightweight structure (2.41×106 parameters), low computational complexity (FLOPs is 5.5×109), and high real-time performance (detection frame rate of 81.7 fps). Based on this, a excavation key process identification system based on the B/S architecture is constructed, integrating functional modules such as video capture, image enhancement, target detection, process logic inference, and visualization display, supporting real-time identification and duration statistics of key processes. The system carries out multi-process video recognition verification under laboratory conditions, and the recognition accuracies are 100% for unworked or other processes, 91.40% for walking, 99.36% for cutting, 98.39% for temporary support, 99.25% for permanent support, and the overall average recognition accuracy reaches 97.84%. The experimental results show that the key process recognition method can meet the requirements of intelligent detection of key processes in the face of roadway excavation in coal mines.

     

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