A mining equipment personnel early warning method and device

Abstract

The present invention relates to a mining equipment personnel early warning method and device, comprising: obtaining position information of a worker and the mining equipment; when a worker is located in front of the mining equipment, collecting first person-vehicle distance information using ultrasonic radar and laser radar; when a worker is located to the side or rear of the mining equipment, obtaining first distance data using a UWB base station and a UWB tag, and obtaining second distance data using an ultrasonic radar; when both the first and second distance data are greater than a preset value, obtaining second person-vehicle distance information based on the first distance data; when both the first and second distance data are less than or equal to a preset value, obtaining third person-vehicle distance information based on the second distance data; and generating early warning information based on the first, second, or third person-vehicle distance information. The present invention ensures accurate detection of mining equipment and worker position data, reduces the frequency of accidents using early warnings, and reduces detection costs.

Description

Technical Field

[0001] The present invention relates to the technical field of mining equipment, and in particular to a mining equipment personnel early warning method and device. Background Art

[0002] Due to the harsh working environment in mining areas, visibility of mobile equipment underground is low, leading to frequent accidents involving injuries or collisions. To address this, most current market-leading collision warning solutions for mobile equipment underground are based on UWB technology. UWB is a carrier-free communication technology that uses baseband pulses to transmit signals directly, without the need for a carrier. These baseband pulses have very low power spectral density and extremely narrow pulse widths. UWB technology offers advantages such as strong resistance to multipath interference and high penetration, making it suitable for use in harsh mining environments.

[0003] UWB technology is implemented through UWB base stations and UWB tags. The coverage range of UWB base stations is generally about 100 meters. Depending on different scenarios, the layout of UWB base stations is different. In generally one-dimensional scenarios such as underground and tunnels, it is usually necessary to arrange two to three UWB base stations within 100 meters in underground, tunnels and other places to meet the measurement accuracy requirements. At the same time, multiple UWB tags are also required, and each UWB tag is carried by personnel or equipment. Each UWB tag is positioned by multiple UWB base stations to obtain ranging data, and the coordinates of each UWB tag are calculated based on the ranging data and coordinates of the UWB base station. The position of the UWB tag is monitored to set an early warning range to avoid accidents. As a result, such systems require the use of multiple UWB base stations and UWB tags, and the high price of UWB equipment makes the cost of implementing the corresponding solution too high. Summary of the Invention

[0004] The problem solved by the present invention is how to more accurately detect the location data of mining equipment and personnel and reduce the occurrence of accidents through early warning while reducing the detection cost.

[0005] To solve the above problems, the present invention provides a mining equipment personnel early warning method, based on a mining equipment personnel early warning system, the mining equipment personnel early warning system includes a mining system and a personnel system, the personnel system includes a UWB tag, the UWB tag is used to be set on the staff, the mining system includes a UWB base station, a laser radar and multiple ultrasonic radars, the UWB base station is used to be set on the mining equipment, the laser radar is used to be installed at the central front end of the mining equipment, and the multiple ultrasonic radars are used to be set around the outside of the mining equipment. The mining equipment personnel early warning method includes:

[0006] When the worker is located in front of the mining equipment, the ultrasonic radar and the laser radar are used to collect first person-vehicle distance information;

[0007] When the worker is located on the side or rear of the mining equipment, first distance data is acquired through the UWB base station and the UWB tag, and second distance data is acquired through the ultrasonic radar;

[0008] When both the first distance data and the second distance data are greater than a preset value, second person-vehicle distance information is obtained according to the first distance data; when both the first distance data and the second distance data are less than or equal to the preset value, third person-vehicle distance information is obtained according to the second distance data;

[0009] Generate warning information based on the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information.

[0010] Optionally, when the worker is located in front of the mining equipment, collecting first person-vehicle distance information using the ultrasonic radar and the laser radar includes:

[0011] When the worker is located in front of the mining equipment, the ultrasonic radar is used to collect the worker's coordinate data, and the laser radar is used to collect the laser point cloud data;

[0012] Preprocessing the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results respectively;

[0013] Unifying the coordinates of the ultrasonic detection results and the laser detection results into a standard coordinate system, and rasterizing the ultrasonic detection results and the laser detection results to obtain ultrasonic radar coordinates and laser radar coordinates, respectively;

[0014] The ultrasonic radar coordinates and the laser radar coordinates are overlapped to obtain the first person-vehicle distance information.

[0015] Optionally, before overlapping the ultrasonic radar coordinates and the laser radar coordinates to obtain the first person-vehicle distance information, the method further includes:

[0016] The ultrasonic radar coordinates and the laser radar coordinates are updated in real time, and the movement trajectories of the ultrasonic radar coordinates and the laser radar coordinates are predicted.

[0017] Optionally, the preprocessing of the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results includes:

[0018] Eliminating long-distance data greater than the preset coordinate data from the personnel coordinate data to obtain the ultrasonic detection result;

[0019] Irrelevant data points beyond a preset effective range in the laser point cloud data are eliminated to obtain processed data, and noise points in the processed data are filtered to obtain the laser detection result.

[0020] Optionally, when the worker is located on the side or rear of the mining equipment, obtaining first distance data through the UWB base station and the UWB tag includes:

[0021] When the worker is located on the side or rear of the mining equipment, UWB distance data is acquired through the UWB base station and the UWB tag;

[0022] Processing the UWB distance data using a Kalman filter to obtain a state update equation;

[0023] Determine whether the viewing environment has changed by using the state update equation;

[0024] The state update equation is adjusted according to the judgment result, and the first distance data is obtained according to the adjusted state update equation.

[0025] Optionally, determining whether the line-of-sight environment has changed by using the state update equation includes:

[0026] Obtain two adjacent actual measurement values through the state update equation;

[0027] Obtaining a measurement value change rate according to two adjacent actual measurement values;

[0028] Comparing the change rate of the measured value with the threshold value;

[0029] It is determined whether the viewing distance environment has changed based on the comparison result.

[0030] Optionally, the processing of the UWB distance data by using a Kalman filter to obtain a state update equation includes:

[0031] deriving a state prediction equation using the UWB distance data;

[0032] Calculating the covariance of the state prediction equation parameters to obtain a covariance prediction equation;

[0033] The Kalman gain of the covariance prediction equation is calculated, and the state update equation is obtained according to the Kalman gain.

[0034] Optionally, generating warning information according to the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information includes:

[0035] When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a first warning threshold, a first warning is generated;

[0036] When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to the second warning threshold and greater than the first warning threshold, a second warning is generated.

[0037] Optionally, the mining equipment personnel early warning method further includes:

[0038] When the first distance data is greater than the preset value and the second distance data is less than or equal to the preset value, or when the first distance data is less than or equal to the preset value and the second distance data is greater than the preset value, the first distance data and the second distance data are reacquired.

[0039] The mining equipment personnel warning method described in the present invention is based on a mining equipment personnel warning system. By transmitting pulse signals from a UWB base station on the mining equipment to a UWB tag carried by a worker, the distance data between the mining equipment and workers to the side or rear is calculated, ensuring measurement accuracy in the harsh underground environment. An ultrasonic radar is also provided to avoid errors caused by close-range detection of a single set of UWB devices. Laser radar and ultrasonic radar fusion monitoring data are used to replace some UWB devices to detect the distance data between the mining equipment and the worker in front, ensuring detection speed and resolving the problem of the mining equipment being unable to provide timely feedback due to forward movement. By obtaining position information of the worker and the mining equipment, different judgment methods are used according to the worker's position on the mining equipment, thereby increasing detection accuracy. When the worker is in front of the mining equipment, a distance sensor is used to collect distance information between the person and the vehicle. The distance sensor replaces the distance measuring device to provide measurement data. When the worker is located to the side or rear of the mining equipment, first distance data is obtained using a distance measuring device, and second distance data is obtained using a distance measuring sensor. The first and second distance data are compared with preset values, and more accurate second and third person-vehicle distance information are obtained based on the comparison results. Warning information is generated based on the first, second, and third person-vehicle distance information. The combination of distance measuring sensors and distance measuring devices achieves accurate detection while reducing equipment investment costs.

[0040] The present invention also provides a mining equipment personnel early warning device, comprising:

[0041] a first personnel information acquisition unit, wherein the first person-vehicle distance information acquisition unit is configured to collect first person-vehicle distance information using the ultrasonic radar and the laser radar when the worker is located in front of the mining equipment;

[0042] a distance data acquisition unit, configured to acquire first distance data through the UWB base station and the UWB tag and second distance data through the ultrasonic radar when the worker is located to the side or rear of the mining equipment;

[0043] a second person information acquisition unit, the second person-vehicle distance information acquisition unit being configured to obtain second person-vehicle distance information according to the first distance data when both the first distance data and the second distance data are greater than a preset value, and to obtain third person-vehicle distance information according to the second distance data when both the first distance data and the second distance data are less than or equal to the preset value;

[0044] An early warning unit is configured to generate early warning information based on the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information.

[0045] The advantages of the mining equipment personnel warning device and the mining equipment personnel warning method described in the present invention over the prior art are the same and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 FIG2 is a flow chart of a method for early warning of personnel in mining equipment according to an embodiment of the present invention;

[0049] Figure 2 Shown is a schematic diagram of a specific embodiment of mining equipment in an embodiment of the present invention;

[0050] Figure 3 It is a schematic diagram of the process of the first preferred embodiment of the present invention;

[0051] Figure 4 It is a schematic diagram of the process of the second preferred embodiment of the present invention;

[0052] Figure 5 Shown is a schematic diagram of a personnel warning device for mining equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0054] In an embodiment of the present invention, the mining equipment personnel warning method is applied to mining equipment. The mining equipment includes a controller, which can execute any of the mining equipment personnel warning methods. The controller can specifically be a combinational logic controller or a microprogram controller.

[0055] Combine Figure 1 As shown, this embodiment provides a mining equipment personnel warning method, based on a mining equipment personnel warning system, the mining equipment personnel warning system includes a mining system and a personnel system, the personnel system includes a UWB tag, the UWB tag is used to be set on the staff, the mining system includes a UWB base station, a laser radar and multiple ultrasonic radars, the UWB base station is used to be set on the mining equipment, the laser radar is used to be installed at the central front end of the mining equipment, and the multiple ultrasonic radars are used to be set around the outside of the mining equipment. The mining equipment personnel warning method includes:

[0056] Step 110: When the worker is located in front of the mining equipment, the ultrasonic radar and the laser radar are used to collect first person-vehicle distance information;

[0057] Step 120: When the worker is located to the side or rear of the mining equipment, first distance data is acquired through the UWB base station and the UWB tag, and second distance data is acquired through the ultrasonic radar.

[0058] Step 130: When both the first distance data and the second distance data are greater than a preset value, second person-vehicle distance information is obtained based on the first distance data; when both the first distance data and the second distance data are less than or equal to the preset value, third person-vehicle distance information is obtained based on the second distance data;

[0059] Step 140: Generate warning information based on the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information.

[0060] Specifically, the mining equipment and personnel warning system includes mining equipment and personnel equipment. The personnel equipment includes a UWB tag, which is used to transmit pulse signals to and from the UWB base station to calculate the distance between the mining equipment and the personnel to the side or rear. The mining equipment includes a UWB base station, a laser radar, and multiple ultrasonic radars. The laser radar and ultrasonic radar are used to detect the distance between the mining equipment and the personnel in front. The position information of the personnel and the mining equipment is obtained, and the position of the personnel and the mining equipment is determined. When the personnel are not present, the mining equipment operates normally. When the personnel is located in front of the mining equipment, the distance obtained by fusing the data collected by the ultrasonic radar and the laser radar is recorded as the first person-vehicle distance information. When the worker is located to the side or behind the mining equipment, a UWB device and ultrasonic radar are combined to determine the worker's position. Distance data collected by different devices is retained based on the distance measured. When the distance between the worker and the mining equipment is greater than a preset value, the first distance data acquired by the UWB base station and the UWB tag is used as the second person-vehicle distance information. When the distance between the worker and the mining equipment is less than or equal to the preset value, the second distance data acquired by the ultrasonic radar is used as the third person-vehicle distance information. After the UWB base station is activated, it transmits a pulse signal to the UWB tag at time T1 on its timestamp. After receiving the pulse signal, the UWB tag transmits a response signal to the UWB base station at time T2, which the UWB base station receives at time T3 on its timestamp. The distance between the UWB base station and the UWB tag is calculated based on the time it takes to transmit the pulse signal and the time it takes to receive the response signal. A warning message is generated based on the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information. It should be noted that the ultrasonic radars of the present invention are arranged around the outside of the mining equipment. There is no specific limitation on the spacing distance of the ultrasonic radars. It is only necessary to ensure that the ultrasonic radars are provided on each side of the mining equipment.

[0061] In some specific embodiments, Figure 2 As shown, the mining equipment is equipped with a UWB base station, one laser radar and four ultrasonic radars installed in front of the equipment, two pairs of ultrasonic radars symmetrically installed on each side, and five ultrasonic radars evenly spaced in the rear. In this embodiment, the ultrasonic radars are evenly spaced to achieve optimal detection of the distance between the operator and the mining equipment.

[0062] The mining equipment personnel warning method described in this embodiment is based on the mining equipment personnel warning system. By transmitting a pulse signal from the UWB base station on the mining equipment to the UWB tag installed on the personnel equipment, the distance data between the mining equipment and the personnel to the side or rear is calculated to ensure the accuracy of measurement in the harsh environment underground. At the same time, an ultrasonic radar is set to avoid the problem of errors caused by close-range detection of a single set of UWB equipment. The monitoring data of the laser radar and ultrasonic radar is fused to replace the UWB device to detect the distance data between the mining equipment and the personnel in front, ensuring the detection rate and solving the problem of the mining equipment not being able to reflect the situation in time due to the forward movement of the mining equipment. By obtaining the position information of the personnel and the mining equipment, different judgment methods are adopted according to the different positions of the personnel in the mining equipment to increase the detection accuracy. When the personnel is in front of the mining equipment, the distance information between the personnel and the vehicle is collected using a distance sensor, and the distance sensor replaces the distance measuring device to provide measurement data. When the worker is located to the side or rear of the mining equipment, first distance data is obtained using a distance measuring device, and second distance data is obtained using a distance measuring sensor. The first and second distance data are compared with preset values, and more accurate second and third person-vehicle distance information are obtained based on the comparison results. Warning information is generated based on the first, second, and third person-vehicle distance information. The combination of distance measuring sensors and distance measuring devices achieves accurate detection while reducing equipment investment costs.

[0063] In an embodiment of the present invention, when the worker is located in front of the mining equipment, collecting first person-vehicle distance information using the ultrasonic radar and the laser radar includes:

[0064] When the worker is located in front of the mining equipment, the ultrasonic radar is used to collect the worker's coordinate data, and the laser radar is used to collect the laser point cloud data;

[0065] Preprocessing the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results respectively;

[0066] Unifying the coordinates of the ultrasonic detection results and the laser detection results into a standard coordinate system, and rasterizing the ultrasonic detection results and the laser detection results to obtain ultrasonic radar coordinates and laser radar coordinates, respectively;

[0067] The ultrasonic radar coordinates and the laser radar coordinates are overlapped to obtain the first person-vehicle distance information.

[0068] Specifically, the ultrasonic radar emits ultrasonic waves and collects the coordinates of people based on the echo information from obstacles. The lidar continuously emits lasers and collects information about reflection points, thereby collecting laser point cloud data. After preprocessing, the ultrasonic and laser detection results are obtained. Due to the different positions of the ultrasonic radar and lidar, the coordinates of the ultrasonic and laser detection results must first be unified into a standard coordinate system. To facilitate result fusion, the ultrasonic and laser detection results are rasterized to obtain ultrasonic radar coordinates and lidar coordinates. The overlapping portions of the ultrasonic and lidar coordinates are fused in the grid to obtain the first person-vehicle distance information.

[0069] The mining equipment personnel warning method of this embodiment utilizes both ultrasonic radar and lidar for detection. The use of lidar compensates for the weaker echo signal of ultrasonic radar when measuring targets at greater distances, which can affect accuracy. Ultrasonic radar and lidar also have a wider detection range and can detect greater distances in the vertical direction. By combining lidar and ultrasonic radar and fusing their detection results, the accuracy of detection results is increased.

[0070] In the embodiment of the present invention, before superimposing the ultrasonic radar coordinates and the laser radar coordinates to obtain the first person-vehicle distance information, the method further includes:

[0071] The ultrasonic radar coordinates and the laser radar coordinates are updated in real time, and the movement trajectories of the ultrasonic radar coordinates and the laser radar coordinates are predicted.

[0072] The mining equipment personnel warning method of this embodiment accelerates information processing speed and ensures the accuracy of results by updating the ultrasonic radar coordinates and the laser radar coordinates in real time and predicting the movement trajectory.

[0073] In the embodiment of the present invention, the preprocessing of the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results includes:

[0074] Eliminating long-distance data greater than the preset coordinate data from the personnel coordinate data to obtain the ultrasonic detection result;

[0075] Irrelevant data points beyond a preset effective range in the laser point cloud data are eliminated to obtain processed data, and noise points in the processed data are filtered to obtain the laser detection result.

[0076] Specifically, by filtering the coordinate data of people acquired by the ultrasonic radar, the long-distance coordinate data greater than the preset coordinate data is first eliminated, retaining only the relatively close coordinate data as the ultrasonic detection result. The laser point cloud data acquired by the lidar is then filtered out of irrelevant data points outside the preset effective range to obtain processed data. A filter is then used to remove interfering noise points in the laser point cloud to obtain the laser detection result.

[0077] The mining equipment personnel warning method of this embodiment preprocesses the personnel coordinate data and the laser point cloud data, removes dark data points outside a preset effective range from the laser point cloud data to obtain processed data, and filters the processed data to obtain laser detection results, thereby improving the accuracy of the acquired data. Unnecessary information in the personnel coordinate data is removed, thereby reducing the computational burden.

[0078] In an embodiment of the present invention, when the worker is located on the side or rear of the mining equipment, obtaining first distance data through the UWB base station and the UWB tag includes:

[0079] When the worker is located on the side or rear of the mining equipment, UWB distance data is acquired through the UWB base station and the UWB tag;

[0080] Processing the UWB distance data using a Kalman filter to obtain a state update equation;

[0081] Determine whether the viewing environment has changed by using the state update equation;

[0082] The state update equation is adjusted according to the judgment result, and the first distance data is obtained by substituting the current state prediction value into the adjusted state update equation.

[0083] Specifically, when the worker is located to the side or rear of the mining equipment, UWB distance data is obtained, and the state value is reconstructed from the UWB distance data using Kalman filtering to obtain a state update equation. The state update equation is then adjusted by determining whether the line-of-sight environment has changed, so that the output value change in the non-line-of-sight stage tends to the change trend of the previous stage. The first distance data is obtained based on the adjusted state update equation, and the second distance data is obtained based on the ultrasonic radar. The formula of the adjusted state update equation is as follows:

[0084]

[0085] Wherein, X(t) represents the adjusted state update equation; X(t-1) represents the optimal value at time t-1 obtained by the Kalman filter process; Z t Indicates the changing situation at time t.

[0086] The mining equipment personnel warning method of this embodiment uses the UWB distance data to generate a state prediction equation, determines whether the line-of-sight environment has changed, adjusts the state update equation to obtain first distance data, and then obtains second distance data using the ranging sensor. The combination of UWB and ranging sensors to measure specific data reduces the number of UWB devices required.

[0087] In the embodiment of the present invention, determining whether the line-of-sight environment has changed by using the state update equation includes:

[0088] Obtain two adjacent actual measurement values through the state update equation;

[0089] Obtaining a measurement value change rate according to two adjacent actual measurement values;

[0090] Comparing the change rate of the measured value with the threshold value;

[0091] It is determined whether the viewing distance environment has changed based on the comparison result.

[0092] Specifically, the measurement value change rate is obtained by using two adjacent measurement values. The measurement value change rate formula is as follows:

[0093]

[0094] Where F(t) represents the rate of change of the measured value; X(t) represents the optimal value at time t obtained through the Kalman filter process; X(t-1) represents the optimal value at time t-1 obtained through the Kalman filter process; and T represents the ranging period. When the rate of change of the measured value is less than a threshold value, the line-of-sight environment has changed; when the rate of change of the measured value is greater than or equal to the threshold value, the line-of-sight environment has not changed.

[0095] In some preferred embodiments, assuming that the ranging environment starts from a line-of-sight environment, whether the line-of-sight environment has changed is determined by comparing the rate of change of the measured value with the threshold value. Alternatively, whether the environment has changed can be determined using a line-of-sight discriminant, and the two judgment rules are not effective at the same time. The line-of-sight discriminant formula is as follows:

[0096] (Z t-1 -X(t-1))(Z t -X(t))≤0,

[0097] Among them, the Z t-1 Indicates the changing situation at time t-1; t represents the changing situation at time t; X(t|t-1) represents the state prediction equation; and X(t) represents the state update equation.

[0098] The mining equipment personnel warning method of this embodiment determines whether the sight distance environment has changed by comparing the change rate of two adjacent measurement values and the threshold value, thereby reducing abnormal fluctuations caused by changes in sight distance conditions during the ranging process and increasing measurement accuracy.

[0099] In an embodiment of the present invention, the UWB distance data is processed using a Kalman filter to obtain a state update equation, including:

[0100] deriving a state prediction equation using the UWB distance data;

[0101] Calculating the covariance of the state prediction equation parameters to obtain a covariance prediction equation;

[0102] The Kalman gain of the covariance prediction equation is calculated, and the state update equation is obtained according to the Kalman gain.

[0103] Specifically, the UWB distance data is used to obtain a state prediction equation, and the state prediction equation formula is as follows:

[0104] X(t|t-1)=A t X(t-1)+B t U(t),

[0105] Wherein, X(t|t-1) represents the state prediction equation; A t Represents the state transfer matrix; the B t represents the control variable matrix; U(t) represents the state control vector at the current moment; X(t-1) represents the observation value at time t-1.

[0106] The covariance prediction equation is obtained according to the state prediction equation parameters. The covariance prediction equation formula is as follows:

[0107] P(t|t-1)=A t P(t-1)A T +Q,

[0108] Wherein, the P(t|t-1) represents the covariance prediction equation; the P(t-1) represents the covariance of X(t-1); the Q represents the covariance matrix of the ranging process noise; the A T Indicates A t The covariance of .

[0109] The Kalman gain of the covariance prediction equation is calculated. The Kalman gain formula is as follows:

[0110]

[0111] Among them, the K trepresents the Kalman gain; the H t represents the observation matrix in the measurement equation; R represents the noise covariance matrix in the measurement process; H t T Indicates H t The transposed matrix of .

[0112] The state update equation is obtained according to the Kalman gain, and the state update equation formula is as follows:

[0113] X(t)=X(t|t-1)+K t (Z t -H t X(t|t-1)),

[0114] Wherein, X(t) represents the state update equation, i.e., the optimal value at time t obtained by the Kalman filter process; Z t Represents the measurement value of the system at time t; the K t Represents the weighted operation value of the estimated value and the measured value.

[0115] The covariance update equation formula of the state update equation is as follows:

[0116] P(t)=(IK t H t )P(t|t-1),

[0117] Wherein, the P(t) represents the covariance update equation of the state update equation; and the I represents the identity matrix.

[0118] The mining equipment personnel warning method of this embodiment uses the UWB distance data to generate a state prediction equation. By predicting the covariance prediction equation, the Kalman gain is calculated to obtain a state update equation. This reduces the error caused by the UWB in dynamic environments due to the influence of non-line-of-sight (NLOS) environments such as surrounding steel plates, human bodies, templates, and walls. The ranging results are optimized by combining the slope characteristics of the ranging value with Kalman filtering to reduce the impact of non-line-of-sight (NLOS).

[0119] In the embodiment of the present invention, generating warning information according to the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information includes:

[0120] When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a first warning threshold, a first warning is generated;

[0121] When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to the second warning threshold and greater than the first warning threshold, a second warning is generated.

[0122] In some specific embodiments, when the first person-vehicle distance information, the second person-vehicle distance information or the third person-vehicle distance information is less than 3m, it is determined that the personnel are in the parking area, and a first warning is generated. The alarms installed in the mining equipment and personnel equipment perform sound and light alarms, and at the same time, a mining equipment shutdown signal is issued; when the first person-vehicle distance information, the second person-vehicle distance information or the third person-vehicle distance information is less than 8m and greater than or equal to 3m, it is determined that the personnel are in the warning area, and a second warning is generated. The alarms installed in the mining equipment and personnel equipment perform sound and light alarms.

[0123] The mining equipment personnel warning method of this embodiment generates a warning according to the distance between personnel by setting a first warning threshold and a second warning threshold, and the equipment responds accordingly. The design is more humane and fits the actual working conditions in the mining area.

[0124] In an embodiment of the present invention, the mining equipment personnel warning method also includes: when the first distance data is greater than the preset value and the second distance data is less than or equal to the preset value, or when the first distance data is less than or equal to the preset value and the second distance data is greater than the preset value, re-acquiring the first distance data and the second distance data.

[0125] In some preferred embodiments, Figure 3 As shown, when the mining equipment is operating normally, when an obstacle appears on the side or rear of the mining equipment, it is determined whether the obstacle is within 3 meters. If the obstacle is within 3 meters, ultrasonic radar data is extracted, and if the obstacle is outside 3 meters, UWB data is extracted; when an obstacle appears in front of the mining equipment, it is determined whether the obstacle is within 3 meters. If the obstacle is within 3 meters, ultrasonic radar data is extracted, and if the obstacle is outside 3 meters, lidar data is extracted.

[0126] In some preferred embodiments, Figure 4 As shown, the mining equipment is equipped with an ultrasonic radar, a laser radar, an electrical box, a display, an alarm, a UWB base station and a controller, and the equipment worn by the staff includes an alarm and a UWB tag. The electrical box supplies power to the controller, ultrasonic radar, laser radar, display and alarm, and the equipment worn by the staff is equipped with a separate power supply module. The position of the personnel is measured by the ultrasonic radar, laser radar and UWB base station provided in the mining equipment, as well as the UWB tag worn by the staff. When the staff arrives in the second warning area, the alarms of the mining equipment and the equipment worn by the staff sound a warning alarm, and the display on the mining equipment shows the position of the personnel. When the personnel arrives in the first warning area, the alarm signal is strengthened and a shutdown signal is returned to the controller.

[0127] The mining equipment personnel warning method described in the present invention is based on the mining equipment personnel warning system. By transmitting a pulse signal from the UWB base station on the mining equipment to the UWB tag installed on the personnel equipment, the distance data between the mining equipment and the personnel to the side or rear is calculated to ensure the accuracy of measurement in the harsh environment underground. At the same time, an ultrasonic radar is provided to avoid the problem of errors caused by close-range detection of a single set of UWB equipment. The monitoring data of the laser radar and ultrasonic radar is fused to replace the UWB device to detect the distance data between the mining equipment and the personnel in front, ensuring the detection rate and solving the problem of the mining equipment not being able to reflect the situation in time due to the forward movement of the mining equipment. By obtaining the position information of the personnel and the mining equipment, different judgment methods are adopted according to the different positions of the personnel in the mining equipment to increase the detection accuracy. When the personnel is located in front of the mining equipment, the distance information between the personnel and the vehicle is collected using a distance sensor, and the distance sensor replaces the distance measuring device to provide measurement data. When the worker is located to the side or rear of the mining equipment, first distance data is obtained using a distance measuring device, and second distance data is obtained using a distance measuring sensor. The first and second distance data are compared with preset values, and more accurate second and third person-vehicle distance information are obtained based on the comparison results. Warning information is generated based on the first, second, and third person-vehicle distance information. The combination of distance measuring sensors and distance measuring devices achieves accurate detection while reducing equipment investment costs.

[0128] Corresponding to the above-mentioned mining equipment and personnel early warning method, an embodiment of the present invention further provides a mining equipment and personnel early warning device. Figure 5 FIG. 1 is a schematic diagram of a mining equipment personnel warning device according to an embodiment of the present invention, as shown in FIG. Figure 5 As shown, the mining equipment personnel warning device includes:

[0129] A first personnel information acquisition unit 510, wherein the first person-vehicle distance information acquisition unit is configured to collect first person-vehicle distance information using the ultrasonic radar and the laser radar when the worker is located in front of the mining equipment;

[0130] a distance data acquisition unit 520 configured to acquire first distance data through the UWB base station and the UWB tag and second distance data through the ultrasonic radar when the worker is located to the side or rear of the mining equipment;

[0131] A second person information acquisition unit 530 is configured to acquire second person-vehicle distance information based on the first distance data when both the first distance data and the second distance data are greater than a preset value, and to acquire third person-vehicle distance information based on the second distance data when both the first distance data and the second distance data are less than or equal to the preset value;

[0132] The early warning unit 540 is configured to generate early warning information based on the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information.

[0133] In the embodiment of the present invention, the first personnel information acquisition unit 510 further includes, when the worker is located in front of the mining equipment, collecting personnel coordinate data using the ultrasonic radar and collecting laser point cloud data using the laser radar;

[0134] Preprocessing the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results;

[0135] Unifying the coordinates of the ultrasonic detection results and the laser detection results into a standard coordinate system, and rasterizing the ultrasonic detection results and the laser detection results to obtain ultrasonic radar coordinates and laser radar coordinates;

[0136] The ultrasonic radar coordinates and the laser radar coordinates are overlapped to obtain the first person-vehicle distance information.

[0137] The first personnel information acquisition unit 510 further includes real-time updates of the ultrasonic radar coordinates and the laser radar coordinates, and simultaneously predicts movement trajectories of the ultrasonic radar coordinates and the laser radar coordinates.

[0138] The first obtaining personnel information unit 510 further includes removing long-distance data greater than the preset coordinate data from the personnel coordinate data to obtain the ultrasonic detection result;

[0139] Eliminating irrelevant data points beyond a preset effective range from the laser point cloud data to obtain processed data;

[0140] Noise points in the processed data are filtered to obtain the laser detection result.

[0141] The second acquiring personnel information unit 530 further includes acquiring UWB distance data through the UWB base station and the UWB tag when the worker is located on the side or rear of the mining equipment;

[0142] Processing the UWB distance data using a Kalman filter to obtain a state update equation;

[0143] Determine whether the viewing environment has changed by using the state update equation;

[0144] Adjust the state update equation according to the judgment result, and obtain the first distance data according to the adjusted state update equation;

[0145] Second distance data is acquired through the ultrasonic radar.

[0146] The second obtaining personnel information unit 530 further includes obtaining two adjacent actual measurement values through the state update equation;

[0147] Obtaining a measurement value change rate according to two adjacent actual measurement values;

[0148] Comparing the change rate of the measured value with the threshold value;

[0149] It is determined whether the viewing distance environment has changed based on the comparison result.

[0150] The second obtaining personnel information unit 530 further includes obtaining a state prediction equation using the UWB distance data;

[0151] Calculating the covariance of the state prediction equation parameters to obtain a covariance prediction equation;

[0152] The Kalman gain of the covariance prediction equation is calculated, and a state update equation is obtained according to the Kalman gain.

[0153] The warning unit 540 further includes generating a first warning when the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a first warning threshold;

[0154] When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to the second warning threshold and greater than the first warning threshold, a second warning is generated.

[0155] The second personnel information acquisition unit 530 also includes re-acquiring the first distance data and the second distance data when the first distance data is greater than the preset value and the second distance data is less than or equal to the preset value, or when the first distance data is less than or equal to the preset value and the second distance data is greater than the preset value.

[0156] The advantages of the mining equipment personnel warning device and the mining equipment personnel warning method described in the present invention over the prior art are the same and will not be described in detail here.

[0157] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0158] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A mining equipment personnel early warning method, characterized in that: Based on a mining equipment personnel early warning system, the mining equipment personnel early warning system includes a mining system and a personnel system. The personnel system includes a UWB tag, and the UWB tag is used to be set on the staff. The mining system includes a UWB base station, a laser radar, and multiple ultrasonic radars. The UWB base station is used to be set on the mining equipment. The laser radar is used to be installed at the central front end of the mining equipment. The multiple ultrasonic radars are used to be set around the outside of the mining equipment. The mining equipment personnel early warning method includes: When the worker is located in front of the mining equipment, the ultrasonic radar and the laser radar are used to collect first person-vehicle distance information, including: When the worker is located in front of the mining equipment, the ultrasonic radar is used to collect the worker's coordinate data, and the laser radar is used to collect the laser point cloud data; Preprocessing the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results respectively; Unifying the coordinates of the ultrasonic detection results and the laser detection results into a standard coordinate system, and rasterizing the ultrasonic detection results and the laser detection results to obtain ultrasonic radar coordinates and laser radar coordinates, respectively; Overlap the ultrasonic radar coordinates and the laser radar coordinates to obtain first person-vehicle distance information; When the worker is located on the side or rear of the mining equipment, first distance data is acquired through the UWB base station and the UWB tag, and second distance data is acquired through the ultrasonic radar; When both the first distance data and the second distance data are greater than a preset value, second person-vehicle distance information is obtained according to the first distance data; when both the first distance data and the second distance data are less than or equal to the preset value, third person-vehicle distance information is obtained according to the second distance data; Generating warning information according to the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information includes: When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a first warning threshold, a first warning is generated; When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a second warning threshold and greater than the first warning threshold, a second warning is generated.

2. The mining equipment personnel early warning method according to claim 1, characterized in that: Before the ultrasonic radar coordinates and the laser radar coordinates are overlapped to obtain the first person-vehicle distance information, the method further includes: The ultrasonic radar coordinates and the laser radar coordinates are updated in real time, and the movement trajectories of the ultrasonic radar coordinates and the laser radar coordinates are predicted.

3. The mining equipment personnel early warning method according to claim 1, characterized in that: The preprocessing of the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results includes: Eliminating long-distance data greater than the preset coordinate data from the personnel coordinate data to obtain the ultrasonic detection result; Irrelevant data points beyond a preset effective range in the laser point cloud data are eliminated to obtain processed data, and noise points in the processed data are filtered to obtain the laser detection result.

4. The mining equipment personnel early warning method according to claim 1, characterized in that: When the worker is located on the side or rear of the mining equipment, obtaining first distance data through the UWB base station and the UWB tag includes: When the worker is located on the side or rear of the mining equipment, UWB distance data is acquired through the UWB base station and the UWB tag; Processing the UWB distance data using a Kalman filter to obtain a state update equation; Determine whether the viewing environment has changed by using the state update equation; The state update equation is adjusted according to the judgment result, and the first distance data is obtained according to the adjusted state update equation.

5. The mining equipment personnel early warning method according to claim 4, characterized in that: The determining whether the line-of-sight environment has changed by using the state update equation includes: Obtain two adjacent actual measurement values through the state update equation; Obtaining a measurement value change rate according to two adjacent actual measurement values; Comparing the change rate of the measured value with the threshold value; It is determined whether the viewing distance environment has changed based on the comparison result.

6. The mining equipment personnel early warning method according to claim 4, characterized in that: The UWB distance data is processed using Kalman filtering to obtain a state update equation, including: deriving a state prediction equation using the UWB distance data; Calculating the covariance of the state prediction equation parameters to obtain a covariance prediction equation; The Kalman gain of the covariance prediction equation is calculated, and the state update equation is obtained according to the Kalman gain.

7. The mining equipment personnel early warning method according to claim 1, characterized in that: The mining equipment personnel early warning method further includes: When the first distance data is greater than the preset value and the second distance data is less than or equal to the preset value, or when the first distance data is less than or equal to the preset value and the second distance data is greater than the preset value, the first distance data and the second distance data are reacquired.

8. A mining equipment personnel warning device, characterized in that: Based on the mining equipment personnel warning system, the mining equipment personnel warning system includes a mining system and a personnel system. The personnel system includes a UWB tag, and the UWB tag is used to be set on the staff. The mining system includes a UWB base station, a laser radar and multiple ultrasonic radars. The UWB base station is used to be set on the mining equipment. The laser radar is used to be installed at the central front end of the mining equipment. The multiple ultrasonic radars are used to be set around the outside of the mining equipment. The mining equipment personnel warning device includes: The first unit for obtaining personnel information, wherein the unit for obtaining first person-vehicle distance information is used to collect first person-vehicle distance information by using the ultrasonic radar and the laser radar when the worker is located in front of the mining equipment, includes: When the worker is located in front of the mining equipment, the ultrasonic radar is used to collect the worker's coordinate data, and the laser radar is used to collect the laser point cloud data; Preprocessing the personnel coordinate data and the laser point cloud data to obtain ultrasonic detection results and laser detection results respectively; Unifying the coordinates of the ultrasonic detection results and the laser detection results into a standard coordinate system, and rasterizing the ultrasonic detection results and the laser detection results to obtain ultrasonic radar coordinates and laser radar coordinates, respectively; Overlap the ultrasonic radar coordinates and the laser radar coordinates to obtain first person-vehicle distance information; a distance data acquisition unit, configured to acquire first distance data through the UWB base station and the UWB tag and second distance data through the ultrasonic radar when the worker is located to the side or rear of the mining equipment; a second person information acquisition unit, the second person-vehicle distance information acquisition unit being configured to obtain second person-vehicle distance information according to the first distance data when both the first distance data and the second distance data are greater than a preset value, and to obtain third person-vehicle distance information according to the second distance data when both the first distance data and the second distance data are less than or equal to the preset value; An early warning unit, configured to generate early warning information based on the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information, including: When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a first warning threshold, a first warning is generated; When the first person-vehicle distance information, the second person-vehicle distance information, or the third person-vehicle distance information is less than or equal to a second warning threshold and greater than the first warning threshold, a second warning is generated.

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