Personnel approaching protection method and device for mine large-scale mobile equipment

Abstract

The invention provides a personnel approach protection method and device for mine large-scale mobile equipment. The method comprises the following steps: acquiring first two-dimensional positioning information and second two-dimensional positioning information in real time; determining an electronic fence in any shape according to the motion attribute of the mine large-scale mobile equipment and the second two-dimensional positioning information; according to the position relation between the first two-dimensional positioning information and the electronic fence, whether the worker enters the electronic fence is judged; and when the worker is a common worker and does not enter the electronic fence and the dangerous distance is smaller than a first set distance threshold value, a first-level early warning signal is sent out. The problem that in the prior art, due to the fact that a large mobile device is large in size and does not have an automatic locking function, the extrusion casualty situation between the device and people mistakenly entering a dangerous area occurs frequently in the device operation and movement process, and then production safety accidents occur frequently is solved.

Description

Technical Field

[0001] The present invention relates to the field of underground safety protection technology in coal mines, and in particular to a method for protecting personnel from approaching large mobile equipment in mines, a device for protecting personnel from approaching large mobile equipment in mines, a computer-readable storage medium, and a system for protecting personnel from approaching large mobile equipment in mines. Background Art

[0002] With the improvement of the level of intelligence and mechanization of coal mines, and the relatively complete construction of information infrastructure equipment today, there are still large mobile equipment on the mining face that is not adequately protected for operators, resulting in frequent safety accidents. Large mobile equipment for coal mines, such as tunneling machines and hydraulic supports, are important key equipment for coal mining. With the demand for the construction of intelligent coal mines, the use of large mobile equipment underground in coal mines is increasing, and alternating cycle operations are carried out in production, especially in coal mine working faces, where the space is narrow and the environment is dark. Large mobile equipment such as tunneling machines, shuttle cars, hydraulic supports, etc. are large in size and do not have automatic locking functions. They move forward, backward, left, right, and up and down during operation. Due to the influence of a large amount of dust, debris, water vapor, and noise in the surrounding environment of the working face, the visual and auditory range on the scene is very small, the driver has a large visual and auditory blind spot, and the communication between the surrounding personnel and the equipment driver is inconvenient. During the operation and movement of the equipment, squeeze casualties often occur between the equipment and the personnel who stray into the danger zone, resulting in frequent production safety accidents. Summary of the invention

[0003] The main purpose of the present application is to provide a method for protecting large mobile equipment in mines from personnel approach, a device for protecting large mobile equipment in mines from personnel approach, a computer-readable storage medium and a system for protecting large mobile equipment in mines from personnel approach, so as to at least solve the problem in the prior art that large mobile equipment is large in size and does not have an automatic locking function, which often leads to squeezing and casualties between the equipment and the personnel who stray into the danger zone during the operation and movement of the equipment, thus leading to frequent production safety accidents.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for protecting large mobile equipment in a mine from approach by personnel is provided, including: acquiring a first two-dimensional positioning signal and a second two-dimensional positioning information in real time, wherein the first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-tyred machines; determining an electronic fence of any shape according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, wherein the motion properties include at least the speed and acceleration of the large mobile equipment in the mine, and the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports the surrounding of the large mobile equipment in the mine. A graded warning is carried out in the dangerous area, and the dangerous area is a set range area centered on the large mobile equipment in the mine during the movement of the large mobile equipment in the mine; whether the staff has entered the electronic fence is judged according to the positional relationship between the first two-dimensional positioning information and the electronic fence, and the staff is divided into ordinary staff and special staff, the ordinary staff has no authority to enter the dangerous area, and the special staff has the authority to enter the dangerous area; when the staff is the ordinary staff and has not entered the electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued, and the first-level warning signal is used to warn the staff that it is strictly forbidden to approach the electronic fence, and the danger distance is the distance between the staff and the electronic fence.

[0005] Optionally, the first two-dimensional positioning information and the second two-dimensional positioning information are obtained in real time, including: real-time monitoring of the personnel identification card carried by the staff and the positioning terminal on the large mobile device in the mine to obtain the first positioning information and the second two-dimensional positioning information respectively, the first positioning information is the positioning information of the staff, and the positioning terminal is used to locate the large mobile device in the mine; real-time monitoring of the staff by thermal imaging technology to obtain thermal imaging positioning information; and processing the first positioning information and the thermal imaging positioning information by a hybrid positioning algorithm to obtain the first two-dimensional positioning information.

[0006] Optionally, after acquiring the first two-dimensional positioning information and the second two-dimensional positioning information in real time, the method further includes: displaying and storing the first two-dimensional positioning information and the second two-dimensional positioning information on a GIS map to perform trajectory speed playback according to the positioning object and positioning area, the positioning object being the designated staff member to be queried, and the positioning area being the designated area to be queried in the mine.

[0007] Optionally, an electronic fence of any shape is determined according to the motion properties of the large mobile device in the mine and the second two-dimensional positioning information, including: acquiring the motion properties of the large mobile device in the mine in real time through sensors on the large mobile device in the mine; determining the shape and range of the electronic fence according to the second two-dimensional positioning information, the motion properties and the movement trajectory of the large mobile device in the mine in combination with the mine environment conditions, so as to arrange the wireless receiver and the infrared sensor along the shape and the range of the electronic fence according to the shape and the range, and the mine environment conditions at least include the mine terrain and the working area conditions.

[0008] Optionally, after determining whether the staff has entered the electronic fence based on the positional relationship between the first two-dimensional positioning information and the electronic fence, the method further includes: when the staff is the ordinary staff and the staff has entered the electronic fence but has not entered the dangerous area, issuing a secondary warning signal, wherein the secondary warning signal is used to alert the staff that he has entered the electronic fence and control the large mobile equipment in the mine to stop running; when the staff is the ordinary staff and the staff has entered the dangerous area, issuing a third-level warning signal, wherein the third-level warning signal is used to warn the staff that he has entered the dangerous area and automatically control the large mobile equipment in the mine to cut off power and lock.

[0009] Optionally, when the worker is the ordinary worker and the worker enters the electronic fence but does not enter the dangerous area, after issuing the secondary warning signal, the method also includes: receiving a reset instruction from a designated person, controlling the large mobile equipment in the mine to restart according to the reset instruction, or controlling the large mobile equipment in the mine to restart when the worker leaves the electronic fence, and the reset instruction is an instruction to restore the operating status of the large mobile equipment in the mine.

[0010] Optionally, after determining whether the staff has entered the electronic fence based on the positional relationship between the first two-dimensional positioning information and the dangerous area, the method further includes: if the staff is the special staff, allowing the staff to enter the electronic fence and allowing the staff to enter the corresponding dangerous area.

[0011] According to another aspect of the present application, a device for protecting personnel from approaching large mobile equipment in a mine is provided, the device comprising: an acquisition unit for acquiring in real time a first two-dimensional positioning information and a second two-dimensional positioning information, the first two-dimensional positioning information being the two-dimensional positioning information of the staff in the mine, the second two-dimensional positioning information being the two-dimensional positioning information of the large mobile equipment in the mine, the large mobile equipment in the mine comprising at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine; a determination unit for determining an electronic fence of any shape according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, the motion properties comprising at least the speed and acceleration of the large mobile equipment in the mine, the electronic fence comprising at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, the electronic fence supporting the detection of dangerous areas around the large mobile equipment in the mine A graded warning is carried out in the domain, the dangerous area is a set range area centered on the large mobile equipment in the mine during the movement of the large mobile equipment in the mine; a judgment unit is used to judge whether the staff has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff is divided into ordinary staff and special staff, the ordinary staff has no authority to enter the dangerous area, and the special staff has authority to enter the dangerous area; a first issuing unit is used to issue a first-level warning signal when the staff is the ordinary staff and has not entered the electronic fence and the danger distance is less than a first set distance threshold, the first-level warning signal is used to warn the staff that it is strictly forbidden to approach the electronic fence, and the danger distance is the distance between the staff and the electronic fence.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0013] According to another aspect of the present application, a personnel approach protection system for large mobile equipment in a mine is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the methods described.

[0014] By applying the technical solution of the present application, in a method for protecting personnel from approaching large mobile equipment in a mine, first, a first two-dimensional positioning signal and a second two-dimensional positioning information are obtained in real time, wherein the first two-dimensional positioning information is the two-dimensional positioning information of the personnel in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine at least includes hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines; then, an electronic fence of any shape is determined according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, wherein the motion properties at least include the speed and acceleration of the large mobile equipment in the mine, and the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports the classification of dangerous areas around the large mobile equipment in the mine. Level 1 warning, the above-mentioned dangerous area is the set range area with the above-mentioned large mobile equipment in the mine as the center during the movement of the above-mentioned large mobile equipment in the mine; then, according to the positional relationship between the above-mentioned first two-dimensional positioning information and the above-mentioned electronic fence, it is judged whether the above-mentioned staff has entered the above-mentioned electronic fence. The above-mentioned staff are divided into ordinary staff and special staff. The above-mentioned ordinary staff do not have the authority to enter the above-mentioned dangerous area, and the above-mentioned special staff have the authority to enter the above-mentioned dangerous area; finally, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the dangerous distance is less than the first set distance threshold, a level 1 warning signal is issued. The above-mentioned level 1 warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned dangerous distance is the distance between the above-mentioned staff and the above-mentioned electronic fence. This application uses two-dimensional precise positioning technology to locate the position information of the staff in the mine and the position information of the large mobile equipment. It can be used for the active safety protection of large mobile equipment such as hydraulic supports and tunneling machines in complex working conditions in coal mines, and supports the setting of electronic fences of any shape, supports electronic fences for multi-segment graded warnings of dangerous areas around large mobile equipment, and supports two-way warnings on large mobile equipment and approaching personnel. It ensures the safety of personnel on the working face and improves the level of intelligence on the working face. The present application solves the problem in the prior art that large mobile equipment is large in size and does not have an automatic locking function, which often leads to crushing casualties between the equipment and people who accidentally enter the danger zone during the operation and movement of the equipment, thereby causing frequent production safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for protecting personnel from approaching a large mobile equipment in a mine provided in an embodiment of the present application is shown;

[0016] Figure 2 A schematic diagram of a process for protecting a large mobile equipment in a mine from personnel approaching is shown according to an embodiment of the present application;

[0017] Figure 3 A schematic diagram of a worker position positioning method provided according to an embodiment of the present application is shown;

[0018] Figure 4 A schematic structural diagram of a personnel approach protection system for large mobile equipment in a mine provided according to an embodiment of the present application is shown;

[0019] Figure 5 A schematic diagram of the structure of an electronic fence provided according to an embodiment of the present application is shown;

[0020] Figure 6 A schematic diagram of thermal imaging positioning of a worker provided according to an embodiment of the present application is shown;

[0021] Figure 7 A structural block diagram of a personnel approach protection device for large mobile equipment in a mine provided according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, in the prior art, large mobile equipment such as tunnel boring machines, shuttle cars, hydraulic supports, etc., are large in size and do not have an automatic locking function. They move forward, backward, left, right, and up and down during operation. Due to the influence of a large amount of dust, debris, water vapor, and noise in the surrounding environment of the working face, the visual and auditory range on site is very small, the driver has a large visual and auditory blind spot, and the communication between the surrounding personnel and the equipment driver is inconvenient. During the operation and movement of the equipment, crushing casualties often occur between the equipment and the personnel who mistakenly enter the dangerous area, resulting in frequent production safety accidents. In order to solve the problem that large mobile equipment in the prior art is large in size and does not have an automatic locking function, which often causes crushing casualties between the equipment and the personnel who mistakenly enter the dangerous area during the operation and movement of the equipment, and thus leads to frequent production safety accidents, the embodiments of the present application provide a method for personnel access protection of large mobile equipment in a mine, a device for personnel access protection of large mobile equipment in a mine, a computer-readable storage medium, and a system for personnel access protection of large mobile equipment in a mine.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of a method for protecting personnel from approaching a large mobile equipment in a mine according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0030] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the personnel approach protection method for large mobile equipment in mines in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. The specific examples of the above networks may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] In this embodiment, a method for protecting personnel from approaching large mobile equipment in mines that runs on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 2 Flowchart of the method for protecting personnel from approaching large mobile equipment in a mine according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0033] Step S201, obtaining the first two-dimensional positioning information and the second two-dimensional positioning information in real time, wherein the first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines.

[0034] Specifically, Figure 3As shown, the two-dimensional positioning information of the staff in the mine and the two-dimensional positioning information of the large mobile equipment in the mine are obtained in real time through the positioning terminal (i.e., the personnel identification card). The above-mentioned large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines.

[0035] It should be noted that the personnel approach protection system for large mobile equipment consists of a two-dimensional precise positioning terminal, a mine-use flameproof and intrinsically safe power supply box, a positioning terminal, an intrinsically safe sound and light alarm, and a system software platform. The structural diagram of the personnel approach protection system for large mobile equipment is shown in the figure below. Figure 4 As shown, for example, the two-dimensional precise positioning base station: intrinsically safe circuit design, with two-dimensional precise positioning function, with Ethernet, CAN bus transmission function, IP65 or above protection level; used for real-time UWB communication with the positioning terminal, according to the UWB PDOA / TOF hybrid positioning algorithm and the positioning terminal for two-dimensional precise positioning, calculate the precise location information of large mobile equipment and surrounding personnel, and transmit the positioning results to the ground system software platform. Positioning terminal: powered by a rechargeable lithium-ion battery, intrinsically safe circuit design, with real-time precise positioning, emergency rescue, sound, light and vibration alarm prompts, low voltage prompt functions, IP65 or above protection level. Real-time UWB communication with the two-dimensional precise positioning base station, installed on the tunneling machine, it is used for precise positioning of large mobile equipment, and worn by personnel, it is used for precise positioning of personnel. Mining flameproof and intrinsically safe power supply box: converts AC power into intrinsically safe DC power supply, used to power the two-dimensional precise positioning base station. Intrinsically safe sound and light alarm: used to sound and light alarm when the staff breaks into the electronic fence area of ​​the large mobile equipment.

[0036] Step S202, determining an electronic fence of any shape according to the motion properties of the above-mentioned large mobile device in the mine and the above-mentioned second two-dimensional positioning information, the above-mentioned motion properties at least include the speed and acceleration of the above-mentioned large mobile device in the mine, the above-mentioned electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, the above-mentioned electronic fence supports graded early warning of dangerous areas around the above-mentioned large mobile device in the mine, and the above-mentioned dangerous area is a set range area centered on the above-mentioned large mobile device in the mine during the movement of the above-mentioned large mobile device in the mine.

[0037] Specifically, the motion attribute data of large mobile equipment in mines are collected, including information such as speed and acceleration. These data can be obtained through sensors inside the equipment or external monitoring equipment. Then, combined with the second two-dimensional positioning information, the current position and movement direction of the large mobile equipment in the mine are determined. According to the motion attributes of the large mobile equipment in the mine and the second two-dimensional positioning information, the range of the dangerous area around the equipment is determined. This range can be dynamically adjusted according to parameters such as equipment speed, acceleration and movement direction. According to the determined range of the dangerous area, the shape and size of the electronic fence are set. The electronic fence can be implemented through wireless receivers, sound and light alarms, infrared sensors and other equipment to ensure timely alarms. The range of the electronic fence is larger than the range of the dangerous area, as shown in the following example. Figure 5 As shown. The system supports the setting of electronic fences of any shape, supports electronic fences to carry out multi-stage graded warnings for dangerous areas around large mobile equipment in mines, and supports two-way warnings for large mobile equipment and approaching personnel. The electronic fence is mainly composed of mine intrinsically safe vehicle-mounted wireless receivers, sound and light alarms, thermal sensors, and mine-sealed and intrinsically safe DC regulated power supplies. Install intrinsically safe infrared sensors around dangerous areas or on running units / equipment. When a worker approaches 4-5m, the infrared sensor starts detecting and sends the signal to the infrared receiver for processing. Figure 6 The above mentioned danger zones change with the movement of the above mentioned large mobile equipment in the mine.

[0038] Step S203, judging whether the staff has entered the electronic fence based on the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff is divided into ordinary staff and special staff, the ordinary staff does not have the authority to enter the dangerous area, and the special staff has the authority to enter the dangerous area.

[0039] Specifically, the current position of the staff is determined by the first two-dimensional positioning information. The position information is compared with the position of the electronic fence to determine whether the staff has crossed the electronic fence. If the staff has crossed the electronic fence, their identity needs to be further determined. According to the identity of the staff, their authority can be determined. Ordinary staff do not have the authority to enter the dangerous area, while special staff can enter the dangerous area. The range of activities of the staff can be effectively monitored to prevent them from crossing the electronic fence and entering the dangerous area. By judging the identity and authority of the staff, unauthorized personnel can be detected and prevented from entering the dangerous area in time to ensure the safety of the workplace.

[0040] Step S204, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned danger distance is the distance between the above-mentioned staff and the above-mentioned electronic fence.

[0041] Specifically, when the system detects that an ordinary worker is approaching the electronic fence, the system will issue a first-level warning signal. The first-level warning signal can be a sound alarm, a flashing light warning, or a vibration reminder to attract the attention of the workers and warn them that they are strictly prohibited from approaching the electronic fence. It can protect the safety of the workers and prevent accidents. By issuing a first-level warning signal, the workers can realize that their position is close to the electronic fence, so that they can take timely measures to avoid danger and ensure their own safety.

[0042] In this embodiment, first, the first two-dimensional positioning information and the second two-dimensional positioning information are obtained in real time, the first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines; then, an electronic fence of any shape is determined according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, the motion properties include at least the speed and acceleration of the large mobile equipment in the mine, the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports graded early warning of dangerous areas around the large mobile equipment in the mine, and the dangerous areas are in The above-mentioned large-scale mobile equipment in the mine is moving in a set range area with the above-mentioned large-scale mobile equipment in the mine as the center; afterwards, the above-mentioned staff is judged whether it has entered the above-mentioned electronic fence according to the positional relationship between the above-mentioned first two-dimensional positioning information and the above-mentioned electronic fence. The above-mentioned staff are divided into ordinary staff and special staff. The above-mentioned ordinary staff do not have the authority to enter the above-mentioned dangerous area, and the above-mentioned special staff have the authority to enter the above-mentioned dangerous area; finally, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the dangerous distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned dangerous distance is the distance between the above-mentioned staff and the above-mentioned electronic fence. This application uses two-dimensional precise positioning technology to locate the position information of the staff in the mine and the position information of the large-scale mobile equipment. It can be used for the active safety protection of large-scale mobile equipment such as hydraulic supports and tunneling machines in complex working conditions in coal mines, and supports the setting of electronic fences of any shape, supports electronic fences for multi-stage graded warnings of dangerous areas around large-scale mobile equipment, and supports two-way warnings on large-scale mobile equipment and approaching personnel. It ensures the safety of personnel on the working face and improves the level of intelligence on the working face. The present application solves the problem in the prior art that large mobile equipment is large in size and does not have an automatic locking function, which often leads to crushing casualties between the equipment and people who accidentally enter the danger zone during the operation and movement of the equipment, thereby causing frequent production safety accidents.

[0043] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the personnel approach protection method for large mobile equipment in mines of the present application will be described in detail below in combination with specific embodiments.

[0044] In order to accurately locate the workers and large mobile equipment in a mine in a complex environment, in an optional implementation, the above step S201 includes:

[0045] Step S2011, real-time monitoring is performed on the personnel identification card carried by the staff and the positioning terminal on the large mobile device in the mine, and the first positioning information and the second two-dimensional positioning information are obtained respectively, wherein the first positioning information is the positioning information of the staff, and the positioning terminal is used to position the large mobile device in the mine;

[0046] Step S2012, using thermal imaging technology to monitor the above-mentioned staff in real time to obtain thermal imaging positioning information;

[0047] Step S2013: Use a hybrid positioning algorithm to process the first positioning information and the thermal imaging positioning information to obtain the first two-dimensional positioning information.

[0048] In the above embodiment, the positioning terminal is powered by a rechargeable lithium-ion battery, has an intrinsically safe circuit design, has real-time accurate positioning, emergency rescue, sound, light and vibration alarm prompts, low voltage prompt functions, and a protection level of IP65 or above. Real-time UWB communication with the two-dimensional accurate positioning terminal, the positioning terminal is installed on the tunneling machine, and is used for accurate positioning of large mobile equipment. The positioning terminal (i.e. the above-mentioned personnel identification card) is worn by the personnel for accurate positioning of the personnel. The thermal imaging technology is used to monitor the staff in real time, and the distribution of the surface temperature of the personnel is obtained through infrared thermal imagers and other equipment, and it is converted into image information, thereby realizing real-time monitoring of the personnel. The thermal imaging technology can effectively monitor the position and activity status of the personnel, and can be monitored in a dark environment, while also avoiding interference to the personnel. The hybrid positioning algorithm is used to process the first positioning information and the thermal imaging positioning information. The hybrid positioning algorithm combines a variety of different types of positioning technologies, comprehensively utilizes their advantages, and improves the accuracy and reliability of positioning. In this process, the personnel position information obtained by thermal imaging technology can be combined with the original positioning information to obtain the two-dimensional positioning information of the personnel through algorithm processing. It can realize real-time monitoring and positioning of staff, and improve the safety management and monitoring effect of staff. Through the application of thermal imaging technology and hybrid positioning algorithm, it can accurately locate staff in complex environments, detect abnormal situations in time, and ensure the safety of staff. At the same time, it can also improve work efficiency, respond quickly to emergencies, and effectively manage and dispatch staff.

[0049] In order to ensure the safety and work efficiency of the staff, in an optional implementation manner, after the above step S201, the method further includes:

[0050] Step S301, displaying and storing the first two-dimensional positioning information and the second two-dimensional positioning information on a GIS map, so as to replay the trajectory at multiple speeds according to the positioning object and the positioning area, wherein the positioning object is the designated staff member to be queried, and the positioning area is the designated area to be queried in the mine.

[0051] In the above embodiment, the personnel approach protection system for large mobile equipment in a mine has the functions of displaying, querying, managing and storing two-dimensional precise location information, and can display, query, analyze, manage and store the two-dimensional precise location information of the staff on the GIS map, and can replay the terminal trajectory at a multiple speed, and can also replay the trajectory according to the positioning object / positioning area to grasp its detailed work route and time. Specifically, the first two-dimensional positioning information and the second two-dimensional positioning information are imported into the GIS map software, so that the positioning information can be associated with the map layer. The designated area in the mine is marked on the GIS map, and the polygon or rectangle tool can be used to draw the area boundary. Through the function of the GIS map software, the positioning information of the designated staff or the designated large mobile equipment in the mine is filtered out, and the trajectory of the staff or the large mobile equipment in the mine is displayed on the map. The trajectory playback function is set on the GIS map, and the playback speed can be set as needed, for example, 1x speed, 2x speed, etc. Start the trajectory playback, that is, the action trajectory of the designated staff in the mine is displayed on the map, and it can be replayed according to the set speed. Through the track playback on the GIS map, you can clearly understand the activity track of the designated staff in the mine, including their movement path, stop location and other information. The playback function can be used to view the work efficiency and workflow of the staff in the mine, so as to optimize and manage the workflow. Through track playback, the activities of the staff in the mine can be monitored and managed to ensure the safety and work efficiency of the staff.

[0052] In order to effectively ensure the safe movement range of large mobile equipment in a mine, in an optional implementation, the above step S202 includes:

[0053] Step S2021, obtaining the motion attributes of the large-scale mobile equipment in the mine in real time through sensors on the large-scale mobile equipment in the mine;

[0054] Step S2022, based on the above-mentioned second two-dimensional positioning information of the above-mentioned large mobile equipment in the mine, the above-mentioned motion attributes and movement trajectory combined with the mine environment conditions, determine the shape and range of the above-mentioned electronic fence, so as to arrange the above-mentioned wireless receiver and the above-mentioned infrared sensor along the above-mentioned shape and the above-mentioned range of the above-mentioned electronic fence according to the above-mentioned shape and the above-mentioned range, and the above-mentioned mine environment conditions at least include the mine terrain and the working area conditions.

[0055] In the above embodiment, the shape and range of the electronic fence are analyzed and determined based on the second two-dimensional positioning information and movement trajectory data of the large mobile equipment in the mine, combined with the mine environment, including the mine terrain and the working area; according to the determined shape and range, the wireless receiver and infrared sensor are planned and arranged along the shape and range of the electronic fence; according to the characteristics of the mine environment, the possible obstacles and other influencing factors are considered, and the layout plan is adjusted to ensure the integrity and accuracy of the coverage; finally, it is necessary to verify whether the shape and range of the electronic fence can ensure the safe movement of the large mobile equipment in the mine. If not, the shape and range of the electronic fence need to be re-determined. By determining the shape and range of the electronic fence, the range of activities of the large mobile equipment can be effectively limited in the mine environment to prevent it from deviating from the working area or encountering dangerous areas; an effective electronic fence layout plan can improve the safety and production efficiency of large mobile equipment in the mine, reduce the risk of accidents, and ensure the safety of staff.

[0056] In order to effectively prevent injuries or accidents caused by the operation of the equipment, in an optional implementation, after the above step S203, the method further includes:

[0057] Step S401, when the worker is the ordinary worker and enters the electronic fence but does not enter the dangerous area, a secondary warning signal is issued, wherein the secondary warning signal is used to warn the worker that he has entered the electronic fence and to control the large mobile equipment in the mine to stop running;

[0058] Step S402, when the above-mentioned staff is the above-mentioned ordinary staff and the above-mentioned staff has entered the above-mentioned dangerous area, a third-level warning signal is issued, and the above-mentioned third-level warning signal is to warn the above-mentioned staff that they have entered the above-mentioned dangerous area and automatically control the above-mentioned large mobile equipment in the mine to cut off power and lock.

[0059] In the above embodiment, when an ordinary worker enters the electronic fence, the electronic fence will automatically detect his entry and send a secondary warning signal. The secondary warning signal will be immediately transmitted to the monitoring center or relevant responsible personnel, who will immediately take action to notify the staff to stop running the large mobile equipment in the mine. After receiving the warning signal, the staff will stop the equipment operation to ensure that they can safely exit the dangerous area and ensure the safety of the working environment, or remotely control the large mobile equipment in the mine to automatically stop running through the monitoring center. When ordinary workers have entered the dangerous area, the system will send a third-level warning signal. The third-level warning signal will automatically trigger the control system to immediately power off and lock the large mobile equipment in the mine to prevent accidents caused by the continued operation of the equipment. At the same time, the monitoring center or relevant responsible personnel will receive the warning signal and immediately go to the scene to confirm the safety of the staff and take rescue measures in time. The personnel approach protection system for large mobile equipment in the mine supports the automatic power-off, locking and unlocking of large mobile equipment according to the real-time location information of the approaching personnel, and transmits the real-time two-dimensional precise location information or locking control information of the approaching personnel to the large mobile equipment control device through the CAN bus and RS485 bus.

[0060] In order to ensure the operational safety of large mobile equipment in a mine and the personal safety of workers, in an optional implementation manner, after the above step S401, the method further includes:

[0061] Step S501, receiving a reset instruction from a designated person, and controlling the large mobile equipment in the mine to restart according to the reset instruction, or controlling the large mobile equipment in the mine to restart when the staff leaves the electronic fence. The reset instruction is an instruction to restore the operating status of the large mobile equipment in the mine.

[0062] In the above embodiment, it is first necessary to determine which personnel have the right to receive and send reset instructions. Usually, these personnel will be authorized and equipped with corresponding identity recognition devices. When it is necessary to restart the large mobile equipment in the mine, the designated personnel will send the reset instruction to the equipment control system through a specific communication device. After receiving the reset instruction, the equipment control system will verify the legality of the instruction and perform corresponding processing to control the equipment to restart: If the reset instruction is legal and valid, the equipment control system will control the large mobile equipment in the mine to restart and restore its operating state. Or continue to monitor whether the staff in the fence has left, and restart the large mobile equipment in the mine after confirming that the ordinary staff has left the electronic fence, so as to ensure the safety of the staff and the safe operation of the large mobile equipment in the mine during the restart process of the large mobile equipment in the mine, and quickly restore the operating state of the equipment, which can also reduce the time of production interruption and improve production efficiency and capacity utilization.

[0063] In order to ensure that the production progress is not affected, in an optional implementation manner, after the above step S203, the method further includes:

[0064] Step S601, when the staff member is the special staff member, the staff member is allowed to enter the electronic fence and the staff member is allowed to enter the corresponding dangerous area.

[0065] In the above embodiment, the personnel approach protection system of large mobile equipment in the mine can identify whether the card number is a special staff member through the UWB positioning terminal (i.e., the personnel identification card), and support the management function of the special personnel authority. If it is a special staff member, such as a tunnel boring machine driver, he can enter the electronic fence and enter the dangerous area corresponding to the tunnel boring machine, and no alarm and equipment locking are performed. However, after the tunnel boring machine driver enters the electronic fence, he cannot enter the dangerous area of ​​other large mobile equipment in the mine such as hydraulic supports and coal mining machines. If he enters the dangerous area of ​​other large mobile equipment in the mine such as hydraulic supports and coal mining machines, a three-level warning signal will also be issued. That is, when the above-mentioned staff member is the above-mentioned special staff member and the above-mentioned staff member enters other dangerous areas, the above-mentioned three-level warning signal is issued. The above-mentioned three-level warning signal is to warn the above-mentioned staff member that he has entered the above-mentioned dangerous area and automatically control the corresponding above-mentioned large mobile equipment in the mine to power off and lock. The above-mentioned other dangerous areas are other dangerous areas other than the above-mentioned dangerous areas corresponding to the above-mentioned large mobile equipment in the mine where the above-mentioned staff member is working. Special staff members can directly enter the dangerous area to work, avoiding the need for other employees to spend extra time and energy to transfer or monitor, and ensuring that the production progress is not affected.

[0066] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0067] The embodiment of the present application also provides a personnel approach protection device for large mobile equipment in mines. It should be noted that the personnel approach protection device for large mobile equipment in mines in the embodiment of the present application can be used to execute the personnel approach protection method for large mobile equipment in mines provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been explained will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0068] The following is an introduction to the personnel approach protection device for large mobile equipment in mines provided in an embodiment of the present application.

[0069] Figure 7 1 is a structural block diagram of a personnel approach protection device for large mobile equipment in a mine according to an embodiment of the present application. Figure 7 As shown, the device comprises:

[0070] The acquisition unit 10 is used to acquire the first two-dimensional positioning information and the second two-dimensional positioning information in real time. The first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine. The large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines.

[0071] Specifically, Figure 3 As shown, the two-dimensional positioning information of the staff in the mine and the two-dimensional positioning information of the large mobile equipment in the mine are obtained in real time through the positioning terminal (i.e., the personnel identification card). The above-mentioned large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines.

[0072] It should be noted that the personnel approach protection system for large mobile equipment consists of a two-dimensional precise positioning terminal, a mine-use flameproof and intrinsically safe power supply box, a positioning terminal, an intrinsically safe sound and light alarm, and a system software platform. The structural diagram of the personnel approach protection system for large mobile equipment is shown in the figure below. Figure 4 As shown, for example, the two-dimensional precise positioning base station: intrinsically safe circuit design, with two-dimensional precise positioning function, with Ethernet, CAN bus transmission function, IP65 or above protection level; used for real-time UWB communication with the positioning terminal, according to the UWB PDOA / TOF hybrid positioning algorithm and the positioning terminal for two-dimensional precise positioning, calculate the precise location information of large mobile equipment and surrounding personnel, and transmit the positioning results to the ground system software platform. Positioning terminal: powered by a rechargeable lithium-ion battery, intrinsically safe circuit design, with real-time precise positioning, emergency rescue, sound, light and vibration alarm prompts, low voltage prompt functions, IP65 or above protection level. Real-time UWB communication with the two-dimensional precise positioning base station, installed on the tunneling machine, it is used for precise positioning of large mobile equipment, and worn by personnel, it is used for precise positioning of personnel. Mining flameproof and intrinsically safe power supply box: converts AC power into intrinsically safe DC power supply, used to power the two-dimensional precise positioning base station. Intrinsically safe sound and light alarm: used to sound and light alarm when the staff breaks into the electronic fence area of ​​the large mobile equipment.

[0073] The determination unit 20 is used to determine an electronic fence of any shape based on the motion properties of the above-mentioned large mobile device in the mine and the above-mentioned second two-dimensional positioning information, the above-mentioned motion properties at least include the speed and acceleration of the above-mentioned large mobile device in the mine, the above-mentioned electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the above-mentioned electronic fence supports graded early warning of dangerous areas around the above-mentioned large mobile device in the mine, and the above-mentioned dangerous area is a set range area centered on the above-mentioned large mobile device in the mine during the movement of the above-mentioned large mobile device in the mine.

[0074] Specifically, the motion attribute data of large mobile equipment in mines are collected, including information such as speed and acceleration. These data can be obtained through sensors inside the equipment or external monitoring equipment. Then, combined with the second two-dimensional positioning information, the current position and movement direction of the large mobile equipment in the mine are determined. According to the motion attributes of the large mobile equipment in the mine and the second two-dimensional positioning information, the range of the dangerous area around the equipment is determined. This range can be dynamically adjusted according to parameters such as equipment speed, acceleration and movement direction. According to the determined range of the dangerous area, the shape and size of the electronic fence are set. The electronic fence can be implemented through wireless receivers, sound and light alarms, infrared sensors and other equipment to ensure timely alarms. The range of the electronic fence is larger than the range of the dangerous area, as shown in the following example. Figure 5 As shown. The system supports the setting of electronic fences of any shape, supports electronic fences to carry out multi-stage graded warnings for dangerous areas around large mobile equipment in mines, and supports two-way warnings for large mobile equipment and approaching personnel. The electronic fence is mainly composed of mine intrinsically safe vehicle-mounted wireless receivers, sound and light alarms, thermal sensors, and mine-sealed and intrinsically safe DC regulated power supplies. Install intrinsically safe infrared sensors around dangerous areas or on running units / equipment. When a worker approaches 4-5m, the infrared sensor starts detecting and sends the signal to the infrared receiver for processing. Figure 6 The above mentioned danger zones change with the movement of the above mentioned large mobile equipment in the mine.

[0075] The judgment unit 30 is used to judge whether the above-mentioned staff has entered the above-mentioned electronic fence based on the position relationship between the above-mentioned first two-dimensional positioning information and the above-mentioned electronic fence. The above-mentioned staff are divided into ordinary staff and special staff. The above-mentioned ordinary staff do not have the authority to enter the above-mentioned dangerous area, and the above-mentioned special staff have the authority to enter the above-mentioned dangerous area.

[0076] Specifically, the current position of the staff is determined by the first two-dimensional positioning information. The position information is compared with the position of the electronic fence to determine whether the staff has crossed the electronic fence. If the staff has crossed the electronic fence, their identity needs to be further determined. According to the identity of the staff, their authority can be determined. Ordinary staff do not have the authority to enter the dangerous area, while special staff can enter the dangerous area. The range of activities of the staff can be effectively monitored to prevent them from crossing the electronic fence and entering the dangerous area. By judging the identity and authority of the staff, unauthorized personnel can be detected and prevented from entering the dangerous area in time to ensure the safety of the workplace.

[0077] The first issuing unit 40 is used to issue a first-level warning signal when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the danger distance is less than the first set distance threshold. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned danger distance is the distance between the above-mentioned staff and the above-mentioned electronic fence.

[0078] Specifically, when the system detects that an ordinary worker is approaching the electronic fence, the system will issue a first-level warning signal. The first-level warning signal can be a sound alarm, a flashing light warning, or a vibration reminder to attract the attention of the workers and warn them that they are strictly prohibited from approaching the electronic fence. It can protect the safety of the workers and prevent accidents. By issuing a first-level warning signal, the workers can realize that their position is close to the electronic fence, so that they can take timely measures to avoid danger and ensure their own safety.

[0079] In this embodiment, the acquisition unit is used to acquire the first two-dimensional positioning information and the second two-dimensional positioning information in real time, the first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines; the determination unit is used to determine an electronic fence of any shape according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, the motion properties include at least the speed and acceleration of the large mobile equipment in the mine, the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports graded early warning of dangerous areas around the large mobile equipment in the mine, and the dangerous areas are above The large mobile device in the mine is used to set a range area with the large mobile device in the mine as the center during the movement; a judgment unit is used to judge whether the staff member has entered the electronic fence according to the position relationship between the first two-dimensional positioning information and the electronic fence. The staff member is divided into ordinary staff and special staff. The ordinary staff member does not have the authority to enter the dangerous area, and the special staff member has the authority to enter the dangerous area; the first issuing unit is used to issue a first-level warning signal when the staff member is the ordinary staff member and has not entered the electronic fence and the dangerous distance is less than the first set distance threshold. The first-level warning signal is used to warn the staff member that it is strictly forbidden to approach the electronic fence. The dangerous distance is the distance between the staff member and the electronic fence. This application uses two-dimensional precise positioning technology to locate the position information of the staff in the mine and the position information of the large mobile device. It can be used for active safety protection of large mobile devices such as hydraulic supports and tunneling machines in complex working conditions in coal mines, and supports the setting of electronic fences of any shape, supports electronic fences for multi-stage graded warnings of dangerous areas around large mobile devices, and supports two-way warnings on large mobile device ends and close personnel ends. It ensures the safety of personnel on the working face and improves the level of intelligence on the working face. The present application solves the problem in the prior art that large mobile equipment is large in size and does not have an automatic locking function, which often leads to crushing casualties between the equipment and people who accidentally enter the danger zone during the operation and movement of the equipment, thereby causing frequent production safety accidents.

[0080] In order to accurately locate the workers and large mobile equipment in a mine in a complex environment, in an optional implementation, the acquisition unit includes:

[0081] A positioning monitoring module is used to monitor the personnel identification card carried by the staff and the positioning terminal on the large mobile device in the mine in real time, and obtain the first positioning information and the second two-dimensional positioning information respectively, wherein the first positioning information is the positioning information of the staff, and the positioning terminal is used to locate the large mobile device in the mine;

[0082] Thermal imaging monitoring module, used to use thermal imaging technology to monitor the above-mentioned staff in real time and obtain thermal imaging positioning information;

[0083] The positioning processing module is used to process the first positioning information and the thermal imaging positioning information using a hybrid positioning algorithm to obtain the first two-dimensional positioning information.

[0084] In the above embodiment, the positioning terminal is powered by a rechargeable lithium-ion battery, has an intrinsically safe circuit design, has real-time accurate positioning, emergency rescue, sound, light and vibration alarm prompts, low voltage prompt functions, and a protection level of IP65 or above. Real-time UWB communication with the two-dimensional accurate positioning terminal, the positioning terminal is installed on the tunneling machine, and is used for accurate positioning of large mobile equipment. The positioning terminal (i.e. the above-mentioned personnel identification card) is worn by the personnel for accurate positioning of the personnel. The thermal imaging technology is used to monitor the staff in real time, and the distribution of the surface temperature of the personnel is obtained through infrared thermal imagers and other equipment, and it is converted into image information, thereby realizing real-time monitoring of the personnel. The thermal imaging technology can effectively monitor the position and activity status of the personnel, and can be monitored in a dark environment, while also avoiding interference to the personnel. The hybrid positioning algorithm is used to process the first positioning information and the thermal imaging positioning information. The hybrid positioning algorithm combines a variety of different types of positioning technologies, comprehensively utilizes their advantages, and improves the accuracy and reliability of positioning. In this process, the personnel position information obtained by thermal imaging technology can be combined with the original positioning information to obtain the two-dimensional positioning information of the personnel through algorithm processing. It can realize real-time monitoring and positioning of staff, and improve the safety management and monitoring effect of staff. Through the application of thermal imaging technology and hybrid positioning algorithm, it can accurately locate staff in complex environments, detect abnormal situations in time, and ensure the safety of staff. At the same time, it can also improve work efficiency, respond quickly to emergencies, and effectively manage and dispatch staff.

[0085] In order to ensure the safety and work efficiency of the staff, in an optional embodiment, the device also includes:

[0086] The storage unit is used to display and store the first two-dimensional positioning information and the second two-dimensional positioning information on a GIS map after acquiring the first two-dimensional positioning information and the second two-dimensional positioning information in real time, so as to play back the trajectory at multiple speeds according to the positioning object and the positioning area. The positioning object is the designated staff member to be queried, and the positioning area is the designated area to be queried in the mine.

[0087] In the above embodiment, the personnel approach protection system for large mobile equipment in a mine has the functions of displaying, querying, managing and storing two-dimensional precise location information, and can display, query, analyze, manage and store the two-dimensional precise location information of the staff on the GIS map, and can replay the terminal trajectory at a multiple speed, and can also replay the trajectory according to the positioning object / positioning area to grasp its detailed work route and time. Specifically, the first two-dimensional positioning information and the second two-dimensional positioning information are imported into the GIS map software, so that the positioning information can be associated with the map layer. The designated area in the mine is marked on the GIS map, and the polygon or rectangle tool can be used to draw the area boundary. Through the function of the GIS map software, the positioning information of the designated staff or the designated large mobile equipment in the mine is filtered out, and the trajectory of the staff or the large mobile equipment in the mine is displayed on the map. The trajectory playback function is set on the GIS map, and the playback speed can be set as needed, for example, 1x speed, 2x speed, etc. Start the trajectory playback, that is, the action trajectory of the designated staff in the mine is displayed on the map, and it can be replayed according to the set speed. Through the track playback on the GIS map, you can clearly understand the activity track of the designated staff in the mine, including their movement path, stop location and other information. The playback function can be used to view the work efficiency and workflow of the staff in the mine, so as to optimize and manage the workflow. Through track playback, the activities of the staff in the mine can be monitored and managed to ensure the safety and work efficiency of the staff.

[0088] In order to effectively ensure the safe movement range of large mobile equipment in a mine, in an optional implementation, the determination unit includes:

[0089] An acquisition module, which acquires the motion attributes of the large-scale mobile equipment in the mine in real time through sensors on the large-scale mobile equipment in the mine;

[0090] A determination module determines the shape and range of the electronic fence based on the second two-dimensional positioning information, the motion attributes and the movement trajectory of the large mobile device in the mine, combined with the mine environment conditions, so as to arrange the wireless receiver and the infrared sensor along the shape and the range of the electronic fence according to the shape and the range. The mine environment conditions at least include the mine terrain and the working area conditions.

[0091] In the above embodiment, the shape and range of the electronic fence are analyzed and determined based on the second two-dimensional positioning information and movement trajectory data of the large mobile equipment in the mine, combined with the mine environment, including the mine terrain and the working area; according to the determined shape and range, the wireless receiver and infrared sensor are planned and arranged along the shape and range of the electronic fence; according to the characteristics of the mine environment, the possible obstacles and other influencing factors are considered, and the layout plan is adjusted to ensure the integrity and accuracy of the coverage; finally, it is necessary to verify whether the shape and range of the electronic fence can ensure the safe movement of the large mobile equipment in the mine. If not, the shape and range of the electronic fence need to be re-determined. By determining the shape and range of the electronic fence, the range of activities of the large mobile equipment can be effectively limited in the mine environment to prevent it from deviating from the working area or encountering dangerous areas; an effective electronic fence layout plan can improve the safety and production efficiency of large mobile equipment in the mine, reduce the risk of accidents, and ensure the safety of staff.

[0092] In order to effectively prevent injuries or accidents caused by the operation of the equipment, in an optional embodiment, the device further includes:

[0093] A second issuing unit is used for, after judging whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, issuing a secondary warning signal if the staff member is an ordinary staff member and has entered the electronic fence but has not entered the dangerous area, wherein the secondary warning signal is used to warn the staff member that he has entered the electronic fence and to control the large mobile equipment in the mine to stop running;

[0094] The third issuing unit is used for issuing a three-level warning signal when the above-mentioned staff is the above-mentioned ordinary staff and the above-mentioned staff has entered the above-mentioned dangerous area. The above-mentioned three-level warning signal is to warn the above-mentioned staff that they have entered the above-mentioned dangerous area and automatically control the above-mentioned large mobile equipment in the mine to cut off power and lock.

[0095] In the above embodiment, when an ordinary worker enters the electronic fence, the electronic fence will automatically detect his entry and send a secondary warning signal. The secondary warning signal will be immediately transmitted to the monitoring center or relevant responsible personnel, who will immediately take action to notify the staff to stop running the large mobile equipment in the mine. After receiving the warning signal, the staff will stop the equipment operation to ensure that they can safely exit the dangerous area and ensure the safety of the working environment, or remotely control the large mobile equipment in the mine to automatically stop running through the monitoring center. When ordinary workers have entered the dangerous area, the system will send a third-level warning signal. The third-level warning signal will automatically trigger the control system to immediately power off and lock the large mobile equipment in the mine to prevent accidents caused by the continued operation of the equipment. At the same time, the monitoring center or relevant responsible personnel will receive the warning signal and immediately go to the scene to confirm the safety of the staff and take rescue measures in time. The personnel approach protection system for large mobile equipment in the mine supports the automatic power-off, locking and unlocking of large mobile equipment according to the real-time location information of the approaching personnel, and transmits the real-time two-dimensional precise location information or locking control information of the approaching personnel to the large mobile equipment control device through the CAN bus and RS485 bus.

[0096] In order to ensure the operational safety of large mobile equipment in mines and the personal safety of workers, in an optional implementation, the device further includes:

[0097] The starting unit is used to receive a reset instruction from a designated person after issuing a secondary warning signal when the above-mentioned staff is the above-mentioned ordinary staff and the above-mentioned staff enters the above-mentioned electronic fence but does not enter the above-mentioned dangerous area, and control the above-mentioned large mobile equipment in the mine to restart according to the above-mentioned reset instruction, or control the above-mentioned large mobile equipment in the mine to restart when the above-mentioned staff leaves the above-mentioned electronic fence, and the above-mentioned reset instruction is an instruction to restore the operating status of the above-mentioned large mobile equipment in the mine.

[0098] In the above embodiment, it is first necessary to determine which personnel have the right to receive and send reset instructions. Usually, these personnel will be authorized and equipped with corresponding identity recognition devices. When it is necessary to restart the large mobile equipment in the mine, the designated personnel will send the reset instruction to the equipment control system through a specific communication device. After receiving the reset instruction, the equipment control system will verify the legality of the instruction and perform corresponding processing to control the equipment to restart: If the reset instruction is legal and valid, the equipment control system will control the large mobile equipment in the mine to restart and restore its operating state. Or continue to monitor whether the staff in the fence has left, and restart the large mobile equipment in the mine after confirming that the ordinary staff has left the electronic fence, so as to ensure the safety of the staff and the safe operation of the large mobile equipment in the mine during the restart process of the large mobile equipment in the mine, and quickly restore the operating state of the equipment, which can also reduce the time of production interruption and improve production efficiency and capacity utilization.

[0099] In order to ensure that the production progress is not affected, in an optional implementation manner, the device further includes:

[0100] The allowing unit is used to determine whether the above-mentioned staff member has entered the above-mentioned electronic fence based on the positional relationship between the above-mentioned first two-dimensional positioning information and the above-mentioned dangerous area. If the above-mentioned staff member is the above-mentioned special staff member, the allowing unit is used to allow the above-mentioned staff member to enter the above-mentioned electronic fence and allow the above-mentioned staff member to enter the corresponding dangerous area.

[0101] In the above embodiment, the personnel approach protection system of large mobile equipment in the mine can identify whether the card number is a special staff member through the UWB positioning terminal (i.e., the personnel identification card), and support the management function of the special personnel authority. If it is a special staff member, such as a tunnel boring machine driver, he can enter the electronic fence and enter the dangerous area corresponding to the tunnel boring machine, and no alarm and equipment locking are performed. However, after the tunnel boring machine driver enters the electronic fence, he cannot enter the dangerous area of ​​other large mobile equipment in the mine such as hydraulic supports and coal mining machines. If he enters the dangerous area of ​​other large mobile equipment in the mine such as hydraulic supports and coal mining machines, a three-level warning signal will also be issued. That is, when the above-mentioned staff member is the above-mentioned special staff member and the above-mentioned staff member enters other dangerous areas, the above-mentioned three-level warning signal is issued. The above-mentioned three-level warning signal is to warn the above-mentioned staff member that he has entered the above-mentioned dangerous area and automatically control the corresponding above-mentioned large mobile equipment in the mine to power off and lock. The above-mentioned other dangerous areas are other dangerous areas other than the above-mentioned dangerous areas corresponding to the above-mentioned large mobile equipment in the mine where the above-mentioned staff member is working. Special staff members can directly enter the dangerous area to work, avoiding the need for other employees to spend extra time and energy to transfer or monitor, and ensuring that the production progress is not affected.

[0102] The above-mentioned personnel approach protection device for large mobile equipment in a mine includes a processor and a memory. The above-mentioned acquisition unit, determination unit and judgment unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0103] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that large mobile devices in the prior art are large in size and do not have an automatic locking function, which often causes crushing casualties between the equipment and personnel who stray into the danger zone during the operation and movement of the equipment, thereby causing frequent production safety accidents.

[0104] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0105] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for protecting large mobile equipment from personnel approach in mines.

[0106] Specifically, the protection methods for personnel approaching large mobile equipment in mines include:

[0107] Step S201, obtaining in real time a first two-dimensional positioning signal and a second two-dimensional positioning signal, wherein the first two-dimensional positioning signal is the two-dimensional positioning signal of the staff in the mine, and the second two-dimensional positioning signal is the two-dimensional positioning signal of the large mobile equipment in the mine, wherein the large mobile equipment in the mine includes at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine;

[0108] Step S202, determining an electronic fence of any shape according to the motion attributes of the above-mentioned large mobile device in the mine and the above-mentioned second two-dimensional positioning information, the above-mentioned motion attributes at least include the speed and acceleration of the above-mentioned large mobile device in the mine, the above-mentioned electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the above-mentioned electronic fence supports graded early warning of the dangerous area around the above-mentioned large mobile device in the mine, and the above-mentioned dangerous area is a set range area centered on the above-mentioned large mobile device in the mine during the movement of the above-mentioned large mobile device in the mine;

[0109] Step S203, judging whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff member is divided into ordinary staff member and special staff member, the ordinary staff member does not have the authority to enter the dangerous area, and the special staff member has the authority to enter the dangerous area;

[0110] Step S204, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned danger distance is the distance between the above-mentioned staff and the above-mentioned electronic fence.

[0111] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes the above-mentioned method for protecting personnel from approaching large mobile equipment in a mine when it is run.

[0112] Specifically, the protection methods for personnel approaching large mobile equipment in mines include:

[0113] Step S201, obtaining in real time a first two-dimensional positioning signal and a second two-dimensional positioning signal, wherein the first two-dimensional positioning signal is the two-dimensional positioning signal of the staff in the mine, and the second two-dimensional positioning signal is the two-dimensional positioning signal of the large mobile equipment in the mine, wherein the large mobile equipment in the mine includes at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine;

[0114] Step S202, determining an electronic fence of any shape according to the motion attributes of the above-mentioned large mobile device in the mine and the above-mentioned second two-dimensional positioning information, the above-mentioned motion attributes at least include the speed and acceleration of the above-mentioned large mobile device in the mine, the above-mentioned electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the above-mentioned electronic fence supports graded early warning of the dangerous area around the above-mentioned large mobile device in the mine, and the above-mentioned dangerous area is a set range area centered on the above-mentioned large mobile device in the mine during the movement of the above-mentioned large mobile device in the mine;

[0115] Step S203, judging whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff member is divided into ordinary staff member and special staff member, the ordinary staff member does not have the authority to enter the dangerous area, and the special staff member has the authority to enter the dangerous area;

[0116] Step S204, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned danger distance is the distance between the above-mentioned staff and the above-mentioned electronic fence.

[0117] An embodiment of the present invention provides a personnel approach protection system for large mobile equipment in a mine. The personnel approach protection system for large mobile equipment in a mine includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are implemented:

[0118] Step S201, obtaining in real time a first two-dimensional positioning signal and a second two-dimensional positioning signal, wherein the first two-dimensional positioning signal is the two-dimensional positioning signal of the staff in the mine, and the second two-dimensional positioning signal is the two-dimensional positioning signal of the large mobile equipment in the mine, wherein the large mobile equipment in the mine includes at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine;

[0119] Step S202, determining an electronic fence of any shape according to the motion attributes of the above-mentioned large mobile device in the mine and the above-mentioned second two-dimensional positioning information, the above-mentioned motion attributes at least include the speed and acceleration of the above-mentioned large mobile device in the mine, the above-mentioned electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the above-mentioned electronic fence supports graded early warning of the dangerous area around the above-mentioned large mobile device in the mine, and the above-mentioned dangerous area is a set range area centered on the above-mentioned large mobile device in the mine during the movement of the above-mentioned large mobile device in the mine;

[0120] Step S203, judging whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff member is divided into ordinary staff member and special staff member, the ordinary staff member does not have the authority to enter the dangerous area, and the special staff member has the authority to enter the dangerous area;

[0121] Step S204, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned danger distance is the distance between the above-mentioned staff and the above-mentioned electronic fence.

[0122] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0123] Step S201, obtaining in real time a first two-dimensional positioning signal and a second two-dimensional positioning signal, wherein the first two-dimensional positioning signal is the two-dimensional positioning signal of the staff in the mine, and the second two-dimensional positioning signal is the two-dimensional positioning signal of the large mobile equipment in the mine, wherein the large mobile equipment in the mine includes at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine;

[0124] Step S202, determining an electronic fence of any shape according to the motion attributes of the above-mentioned large mobile device in the mine and the above-mentioned second two-dimensional positioning information, the above-mentioned motion attributes at least include the speed and acceleration of the above-mentioned large mobile device in the mine, the above-mentioned electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the above-mentioned electronic fence supports graded early warning of the dangerous area around the above-mentioned large mobile device in the mine, and the above-mentioned dangerous area is a set range area centered on the above-mentioned large mobile device in the mine during the movement of the above-mentioned large mobile device in the mine;

[0125] Step S203, judging whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff member is divided into ordinary staff member and special staff member, the ordinary staff member does not have the authority to enter the dangerous area, and the special staff member has the authority to enter the dangerous area;

[0126] Step S204, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned danger distance is the distance between the above-mentioned staff and the above-mentioned electronic fence.

[0127] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0128] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0129] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0133] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0134] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0136] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0137] 1) The method for protecting personnel from approaching large mobile equipment in a mine of the present application first obtains a first two-dimensional positioning signal and a second two-dimensional positioning information in real time, wherein the first two-dimensional positioning information is the two-dimensional positioning information of the personnel in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine includes at least hydraulic supports, tunneling machines, coal mining machines and rubber-wheel machines; then, an electronic fence of any shape is determined according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, wherein the motion properties include at least the speed and acceleration of the large mobile equipment in the mine, and the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports graded early warning of dangerous areas around the large mobile equipment in the mine , the above-mentioned dangerous area is a set range area with the above-mentioned large mobile equipment in the mine as the center during the movement of the above-mentioned large mobile equipment in the mine; afterwards, according to the positional relationship between the above-mentioned first two-dimensional positioning information and the above-mentioned electronic fence, it is judged whether the above-mentioned staff has entered the above-mentioned electronic fence. The above-mentioned staff are divided into ordinary staff and special staff. The above-mentioned ordinary staff do not have the authority to enter the above-mentioned dangerous area, and the above-mentioned special staff have the authority to enter the above-mentioned dangerous area; finally, when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the dangerous distance is less than the first set distance threshold, a first-level warning signal is issued. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned dangerous distance is the distance between the above-mentioned staff and the above-mentioned electronic fence. This application uses two-dimensional precise positioning technology to locate the position information of the staff in the mine and the position information of the large mobile equipment. It can be used for active safety protection of large mobile equipment such as hydraulic supports and tunneling machines in complex working conditions in coal mines, and supports the setting of electronic fences of arbitrary shapes, supports electronic fences for multi-stage graded warnings of dangerous areas around large mobile equipment, and supports two-way warnings on large mobile equipment and approaching personnel. It ensures the safety of personnel on the working face and improves the level of intelligence on the working face. The present application solves the problem in the prior art that large mobile equipment is large in size and does not have an automatic locking function, which often leads to crushing casualties between the equipment and people who accidentally enter the danger zone during the operation and movement of the equipment, thereby causing frequent production safety accidents.

[0138] 2) The personnel approach protection device for large mobile equipment in a mine of the present application comprises an acquisition unit for acquiring in real time a first two-dimensional positioning signal and a second two-dimensional positioning information, wherein the first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, and the large mobile equipment in the mine at least includes a hydraulic support, a tunneling machine, a coal mining machine and a rubber-wheeled machine; a determination unit for determining an electronic fence of any shape according to the motion properties of the large mobile equipment in the mine and the second two-dimensional positioning information, wherein the motion properties at least include the speed and acceleration of the large mobile equipment in the mine, and the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports graded early warning of dangerous areas around the large mobile equipment in the mine, The above-mentioned dangerous area is a set range area with the above-mentioned large mobile equipment in the mine as the center during the movement of the above-mentioned large mobile equipment in the mine; the judgment unit is used to judge whether the above-mentioned staff has entered the above-mentioned electronic fence according to the position relationship between the above-mentioned first two-dimensional positioning information and the above-mentioned electronic fence. The above-mentioned staff are divided into ordinary staff and special staff. The above-mentioned ordinary staff do not have the authority to enter the above-mentioned dangerous area, and the above-mentioned special staff have the authority to enter the above-mentioned dangerous area; the first issuing unit is used to issue a first-level warning signal when the above-mentioned staff is the above-mentioned ordinary staff and has not entered the above-mentioned electronic fence and the dangerous distance is less than the first set distance threshold. The above-mentioned first-level warning signal is used to warn the above-mentioned staff that it is strictly forbidden to approach the above-mentioned electronic fence. The above-mentioned dangerous distance is the distance between the above-mentioned staff and the above-mentioned electronic fence. This application uses two-dimensional precise positioning technology to locate the position information of the staff in the mine and the position information of the large mobile equipment. It can be used for active safety protection of large mobile equipment such as hydraulic supports and tunneling machines in complex working conditions in coal mines, and supports the setting of electronic fences of arbitrary shapes, supports electronic fences for multi-stage graded warnings of dangerous areas around large mobile equipment, and supports two-way warnings on large mobile equipment and approaching personnel. It ensures the safety of personnel on the working face and improves the level of intelligence of the working face. The present application solves the problem in the prior art that large mobile equipment is large in size and does not have an automatic locking function, which often leads to crushing casualties between the equipment and people who accidentally enter the danger zone during the operation and movement of the equipment, thereby causing frequent production safety accidents.

[0139] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for protecting personnel from approaching large mobile equipment in a mine, characterized in that: include: Acquire a first two-dimensional positioning signal and a second two-dimensional positioning information in real time, wherein the first two-dimensional positioning information is the two-dimensional positioning information of the staff in the mine, and the second two-dimensional positioning information is the two-dimensional positioning information of the large mobile equipment in the mine, wherein the large mobile equipment in the mine includes at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine; Determine an electronic fence of any shape according to the motion attribute of the large mobile device in the mine and the second two-dimensional positioning information, wherein the motion attribute includes at least the speed and acceleration of the large mobile device in the mine, and the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports graded early warning of the dangerous area around the large mobile device in the mine, and the dangerous area is a set range area centered on the large mobile device in the mine during the movement of the large mobile device in the mine; Determine whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the staff member is divided into ordinary staff members and special staff members, the ordinary staff members do not have the authority to enter the dangerous area, and the special staff members have the authority to enter the dangerous area; When the staff is an ordinary staff and has not entered the electronic fence and the danger distance is less than the first set distance threshold, a first-level warning signal is issued. The first-level warning signal is used to warn the staff that it is strictly forbidden to approach the electronic fence. The danger distance is the distance between the staff and the electronic fence.

2. The method according to claim 1, characterized in that Real-time acquisition of first and second dimensional positioning information, including: Performing real-time monitoring on the personnel identification card carried by the staff and the positioning terminal on the large mobile device in the mine, respectively obtaining first positioning information and the second two-dimensional positioning information, wherein the first positioning information is the positioning information of the staff, and the positioning terminal is used to position the large mobile device in the mine; Using thermal imaging technology to monitor the staff in real time and obtain thermal imaging positioning information; The first positioning information and the thermal imaging positioning information are processed using a hybrid positioning algorithm to obtain the first two-dimensional positioning information.

3. The method according to claim 1, characterized in that After acquiring the first two-dimensional positioning information and the second two-dimensional positioning information in real time, the method further includes: The first two-dimensional positioning information and the second two-dimensional positioning information are displayed and stored on a GIS map so as to play back the trajectory at multiple speeds according to the positioning object and positioning area. The positioning object is the designated staff member to be queried, and the positioning area is the designated area to be queried in the mine.

4. The method according to claim 1, characterized in that Determining an electronic fence of any shape according to the motion attribute of the large mobile equipment in the mine and the second two-dimensional positioning information includes: Acquiring the motion properties of the large-scale mobile equipment in the mine in real time through sensors on the large-scale mobile equipment in the mine; Based on the second two-dimensional positioning information, the motion attributes and the movement trajectory of the large mobile device in the mine and the mine environment conditions, the shape and range of the electronic fence are determined, so that the wireless receiver and the infrared sensor are arranged along the shape and range of the electronic fence according to the shape and the range. The mine environment conditions at least include the mine terrain and the working area conditions.

5. The method according to claim 1, characterized in that After determining whether the staff member has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the electronic fence, the method further includes: In the case where the worker is the ordinary worker and the worker enters the electronic fence but does not enter the dangerous area, a secondary warning signal is issued, wherein the secondary warning signal is used to alert the worker that he has entered the electronic fence and control the large mobile equipment in the mine to stop running; In the case that the worker is an ordinary worker and has entered the dangerous area, a third-level warning signal is issued, which warns the worker that he has entered the dangerous area and automatically controls the large mobile equipment in the mine to cut off power and lock.

6. The method according to claim 5, characterized in that In the case where the worker is the ordinary worker and the worker enters the electronic fence but does not enter the dangerous area, after issuing a secondary warning signal, the method further includes: Receive a reset instruction from a designated person, and control the large mobile equipment in the mine to restart according to the reset instruction, or control the large mobile equipment in the mine to restart when the staff leaves the electronic fence, wherein the reset instruction is an instruction to restore the operating status of the large mobile equipment in the mine.

7. The method according to claim 1, characterized in that After determining whether the worker has entered the electronic fence according to the positional relationship between the first two-dimensional positioning information and the dangerous area, the method further includes: In the case that the worker is the special worker, the worker is allowed to enter the electronic fence and is allowed to enter the corresponding dangerous area.

8. A personnel approach protection device for large mobile equipment in a mine, characterized in that: The device comprises: An acquisition unit is used to acquire in real time a first two-dimensional positioning signal and a second two-dimensional positioning signal, wherein the first two-dimensional positioning signal is the two-dimensional positioning signal of the staff in the mine, and the second two-dimensional positioning signal is the two-dimensional positioning signal of the large mobile equipment in the mine, wherein the large mobile equipment in the mine includes at least a hydraulic support, a tunneling machine, a coal mining machine and a rubber-tyred machine; A determination unit, used for determining an electronic fence of any shape according to the motion attribute of the large mobile device in the mine and the second two-dimensional positioning information, wherein the motion attribute includes at least the speed and acceleration of the large mobile device in the mine, and the electronic fence is composed of at least a wireless receiver, an audible and visual alarm, an infrared sensor and a voltage-stabilized power supply, and the electronic fence supports graded early warning of a dangerous area around the large mobile device in the mine, and the dangerous area is a set range area centered on the large mobile device in the mine during the movement of the large mobile device in the mine; a judging unit, configured to judge whether the staff member has entered the electronic fence according to a positional relationship between the first two-dimensional positioning information and the electronic fence, wherein the staff member is divided into ordinary staff members and special staff members, wherein the ordinary staff members do not have the authority to enter the dangerous area, and the special staff members have the authority to enter the dangerous area; The first issuing unit is used to issue a first-level warning signal when the staff member is an ordinary staff member and has not entered the electronic fence and the danger distance is less than a first set distance threshold. The first-level warning signal is used to warn the staff member that it is strictly forbidden to approach the electronic fence. The danger distance is the distance between the staff member and the electronic fence.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A personnel approach protection system for large mobile equipment in a mine, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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