Collision avoidance method and device for underground mine trackless equipment

An anti-collision and equipment technology, applied in measurement devices, radio wave measurement systems, and electromagnetic wave re-radiation, etc., can solve problems such as low driving efficiency, frequent alarms, and poor safety.

Active Publication Date: 2018-01-09
BEIJING GENERAL RES INST OF MINING & METALLURGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the narrow and long roadway, if the threshold value is set too large, the alarm will often be reported during driving, and the driving efficiency will be low; if the threshold value is set too small, early warning will not be possible in case of emergency, and the safety will be poor.

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  • Collision avoidance method and device for underground mine trackless equipment
  • Collision avoidance method and device for underground mine trackless equipment
  • Collision avoidance method and device for underground mine trackless equipment

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Embodiment 1

[0063] figure 1 It is a flow chart of an anti-collision method for underground trackless equipment in a mine provided by an embodiment of the present invention. Such as figure 1 As shown, it mainly includes the following steps:

[0064] Step 11, collect the two-dimensional information of the underground roadway in real time, and perform limiting and filtering processing on it.

[0065] The process of trackless equipment traveling in the underground tunnel is like a person walking in a corridor. When walking in a corridor, a person only needs to consider the road surface information directly in front of the person, and can ignore the height of the corridor. Similarly, the trackless equipment only needs to consider the roadway information directly in front of it and the relative distance between the trackless equipment and the roadway walls on both sides, while the height information of the underground roadway can be ignored. Therefore, for trackless equipment, the undergroun...

Embodiment 2

[0094] The embodiment of the present invention also provides an anti-collision device for mine trackless equipment, which is used to implement the method provided in the foregoing embodiments, and the device mainly includes:

[0095] Laser measurement module for real-time collection of two-dimensional information of underground roadways;

[0096] The data processing module is used for limiting and filtering the two-dimensional information collected by the laser measurement module;

[0097] The early warning module is used to calculate the roadway outline and the position of obstacles in real time based on the two-dimensional information processed by the limit filter and the pre-established horizontal and vertical distance model during the running of the vehicle, combined with the three-level early warning mechanism of the dangerous state Realize anti-collision warning of trackless equipment.

[0098] Further, the limiting filter processing includes the following steps:

[00...

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Abstract

The invention discloses a collision avoidance method and device for underground mine trackless equipment. The method comprises: collecting two-dimensional information of an underground tunnel in realtime and carrying out amplitude-limiting filter processing on the two-dimensional information; and during a vehicle driving process, calculating a tunnel contour and a obstacle location in real time according to the two-dimensional information after amplitude-limiting filter processing and a pre-established horizontal and vertical distance model, and carrying out anti-collision early warning of trackless equipment by combining a three-level dangerous state early-warning mechanism. With the method disclosed by the invention, mutual collision and person hitting accidents during the rapid drivingprocess of the trackless equipment can be avoided; and thus the accident risk of working of the underground trackless equipment is reduced.

Description

technical field [0001] The invention relates to the technical field of trackless transportation, in particular to an anti-collision method and device for trackless equipment in underground mines. Background technique [0002] Trackless transportation is one of the most important material transportation methods in the mining production process of metal and nonmetal mines in my country. With the increasingly scarce mineral resources, the mining depth of underground mines is increasing, and the geological conditions are gradually deteriorating. Traditional trackless transportation systems generally face problems such as harsh operating environments, heavy transportation tasks, backward management techniques, and high safety risks, especially in large-scale mines. In the transportation system, accidents are often caused by the lack of effective equipment location tracking methods, safety warnings, and protective measures, which not only affects production and transportation effi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/93
Inventor 余乐文杨小聪张元生张达刘冠洲冀虎
Owner BEIJING GENERAL RES INST OF MINING & METALLURGY
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