Personnel approaching early warning system and method for support carrier

Abstract

The invention discloses a personnel approaching early warning system and method for a support carrier, and relates to the technical field of coal mine intelligent early warning. The first collector is mounted at a reference position; the second collector is installed at a preset position. The mounting position of the first signal generator is determined by the second collector; the second signal generator is installed on the support carrier. The other signal generators are respectively carried by people, and each person carries one signal generator. The controller transmits distance data to the first collector and the second collector, a control program is built in the controller, and the control program calculates the relative position value between the support carrier and the personnel according to the distance data obtained through real-time measurement and conducts early warning judgment and reminding according to the relative position value. According to the invention, the relative position value between the support carrying vehicle and the personnel is accurately obtained, and early warning judgment and reminding are carried out. The problem existing in approaching early warning of a traditional electronic fence technology is solved. Extra hardware cost investment is not needed, and the cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent early warning for coal mines, in particular to a personnel approaching early warning system for a support transport vehicle and a personnel approaching early warning method for a support transport vehicle. Background Art

[0002] During the mining process, the transport lanes of the mining face are used to transport equipment and materials and for the passage of workers. In some mines, the support trucks used to transport equipment and materials are parked in the transport lanes of the mining face for a long time within the preset range of the working face, and move synchronously with the mining of the working face.

[0003] During the transportation process of the support transporter, there may be workers passing through the transport lanes of the mining face at the same time. The underground environment is noisy and the visibility is dim. It is necessary to use sensor technology to conduct real-time approach warnings between the support transporter and the personnel to ensure the personal safety of the personnel. However, there are many problems with the existing approach warnings based on various electronic fence technologies, such as: the inability to cover the transport lanes, resulting in false warnings and missed warnings; there is no global systematic consideration of the spatial relationship of the fully mechanized mining face, etc. As a result, the current approach warning system and its method are not well applicable to the transport lanes of the mining face. Summary of the invention

[0004] In view of the above problems, the present invention proposes a personnel approach warning system for a scaffold transport vehicle and a personnel approach warning method for a scaffold transport vehicle.

[0005] An embodiment of the present invention provides a personnel approach warning system for a stent transport vehicle, the stent transport vehicle personnel approach warning system comprising: a first collector, a second collector, a plurality of signal generators and a controller;

[0006] The first collector is installed at a reference position;

[0007] The second collector is installed at a preset position, and the first collector and the second collector are used to collect distance data from a plurality of the signal generators, and summarize and analyze the distance data and upload them to the controller;

[0008] The installation of the first signal generator among the plurality of signal generators is determined by the second collector;

[0009] The second signal generator among the plurality of signal generators is installed on the support transport vehicle;

[0010] The remaining signal generators of the plurality of signal generators except the first signal generator and the second signal generator are respectively carried by personnel, each person carries a signal generator, and each signal generator is used to periodically send positioning signals to the first collector and the second collector;

[0011] The controller transmits the distance data to the first collector and the second collector. The controller has a built-in control program, which calculates the relative position value between the support transport vehicle and the personnel based on the distance data obtained by real-time measurement, and makes early warning judgments and reminders based on the relative position value.

[0012] Optionally, the first collector includes: a packaging and transmission unit and a first collection and aggregation unit;

[0013] The second collector includes: a second collection and aggregation unit;

[0014] The first collection and aggregation unit and the second collection and aggregation unit are used to respectively collect distance data from a plurality of the signal generators, and to aggregate and analyze the distance data obtained respectively and upload them to the packaging and transmission unit;

[0015] The packaging transmission unit is used to package all received distance data and transmit the data to the controller.

[0016] Optionally, the first collector includes: a first collection and aggregation unit;

[0017] The second collector includes: a packaging and transmission unit and a second collection and summary unit;

[0018] The first collection and aggregation unit and the second collection and aggregation unit are used to respectively collect distance data from a plurality of the signal generators, and to aggregate and analyze the distance data obtained respectively and upload them to the packaging and transmission unit;

[0019] The packaging transmission unit is used to package all received distance data and transmit the data to the controller.

[0020] Optionally, the reference position is the end frame position on the transport tunnel side of the mining face;

[0021] The preset position is a position at a preset distance from the end head frame;

[0022] Wherein, the preset distance is M meters.

[0023] Optionally, the first signal generator is installed on the second collector; or,

[0024] The first signal generator is installed around the second collector, and the closer to the second collector the better.

[0025] An embodiment of the present invention provides a method for warning the approach of personnel to a scaffold transport vehicle. The method for warning the approach of personnel to a scaffold transport vehicle is implemented by using any of the above-mentioned warning systems for warning the approach of personnel to a scaffold transport vehicle. The method for warning the approach of personnel to a scaffold transport vehicle comprises:

[0026] The first collector collects the distance data of the first signal generator, obtains the first distance data between the first collector and the second collector through a filtering algorithm, and uploads the first distance data to the controller after summarizing and analyzing the first distance data;

[0027] The first collector and the second collector respectively collect the distance data of the second signal generator and the distance data of the remaining signal generators, obtain the comprehensive distance data through the filtering algorithm, and upload the comprehensive distance data to the controller after summarizing and analyzing;

[0028] The controller uses the control program to solve the first distance data and the comprehensive distance data to obtain the relative position value between the support transport vehicle and each of the personnel;

[0029] The controller uses the control program to perform the early warning judgment and reminder according to the size relationship between the relative position value and the preset limit difference value;

[0030] Wherein, each distance value in the comprehensive distance data is a projection distance value, and the projection distance value is the distance value between the target point position and the reference position;

[0031] The target point position is the position where the position of the support transport vehicle intersects the target line vertically, and the position where each of the personnel intersects the target line vertically;

[0032] The target line is a line connecting the first collector and the second collector.

[0033] Optionally, the first collector and the second collector respectively collect the distance data of the second signal generator and the distance data of the remaining signal generators, and obtain the comprehensive distance data through the filtering algorithm, including:

[0034] The first collector collects the distance data of the second signal generator, obtains the second distance data between the first collector and the support transport vehicle through the filtering algorithm, and uploads the second distance data to the controller after summarizing and analyzing.

[0035] The first collector collects the distance data of the remaining signal generators, obtains the distance data between the first collector and each of the personnel through the filtering algorithm, obtains a plurality of third distance data corresponding to all the personnel, and uploads them to the controller after summarizing and analyzing;

[0036] The second collector collects the distance data of the second signal generator, obtains the fourth distance data between the second collector and the support transport vehicle through the filtering algorithm, and uploads the fourth distance data to the controller after summarizing and analyzing.

[0037] The second collector collects the distance data of the remaining signal generators, obtains the distance data between the second collector and each of the personnel through the filtering algorithm, obtains a plurality of fifth distance data corresponding to all the personnel, and uploads them to the controller after summarizing and analyzing;

[0038] The comprehensive distance data includes: the second distance data, the fourth distance data, a plurality of the third distance data, and a plurality of the fifth distance data.

[0039] Optionally, the filtering algorithm includes:

[0040] The first collector and the second collector collect the distance data at preset time intervals, and use an array to sequentially store the distance data of each signal generator;

[0041] For any collector, the distance data of each signal generator is stored as L1, L2, L3.......L i-1 , L i ,......L n ;

[0042] If the distance data at adjacent times changes by more than H meters, the set of distance data is invalid and deleted;

[0043] If the distance data at adjacent times does not change by more than H meters, the data set is retained, and the formula is:

[0044] |L i -L i-1 |≤H

[0045] If the standard deviation of the distance data within the preset time period exceeds B, the set of distance data is invalid and deleted;

[0046] If the standard deviation of the distance data within the preset time period does not exceed B, the group of data is retained, and the formula is:

[0047]

[0048]

[0049] In the above two formulas, L represents the average value of the distance data corresponding to the same signal generator within the preset time period, n represents the number of times collected at the preset time interval within the preset time period, and Std represents the standard deviation of the distance data.

[0050] Optionally, the controller uses the control program to solve the first distance data and the comprehensive distance data to obtain a relative position value between the support transport vehicle and the personnel, including:

[0051] If the difference between the data value of the second distance data and the data value of the fourth distance data is equal to or within a threshold value, the position of the support carrier is in a direction from the first collector to the second collector and away from the reference position, and the distance between the support carrier and the reference position is equal to the data value of the second distance data;

[0052] If the sum of the data value of the second distance data and the data value of the fourth distance data is equal to or the difference between the sum and the data value of the first distance data is within the threshold, the position of the support carrier is between the first collector and the second collector, and the distance of the support carrier from the reference position is equal to the data value of the second distance data;

[0053] If the difference between the data value of the third distance data corresponding to the target person and the data value of the fifth distance data corresponding to the target person is equal to or within the threshold with the data value of the first distance data, then the position of the target person is in the direction from the first collector to the second collector and away from the reference position, and the distance of the target person from the reference position is equal to the data value of the third distance data corresponding to the target person;

[0054] If the sum of the data value of the third distance data corresponding to the target person and the data value of the fifth distance data corresponding to the target person is equal to or the difference between the sum and the data value of the first distance data is within the threshold, then the position of the target person is between the first collector and the second collector, and the distance of the person from the reference position is equal to the data value of the third distance data corresponding to the target person;

[0055] The difference between the data value of the second distance data and the data value of the third distance data corresponding to the target person is calculated to obtain the relative position value between the support transport vehicle and the target person.

[0056] Optionally, the controller uses the control program to perform the early warning judgment and reminder according to the size relationship between the relative position value and the preset limit difference value, including:

[0057] If the absolute value of the relative position value between the target person and the stent transport vehicle is less than the preset limit difference, a warning instruction is sent to the stent transport vehicle, and an alarm instruction is sent to the signal generator carried by the target person;

[0058] The support transport vehicle performs an emergency stop operation and a broadcast reminder operation according to the warning instruction;

[0059] The signal generator carried by the target person performs buzzing and vibration operations according to the alarm instruction;

[0060] If the absolute value of the relative position value between the target person and the support transport vehicle is not less than the preset limit difference, the early warning instruction and the alarm instruction are not sent.

[0061] The present invention provides a personnel approach warning system for a support transport vehicle, which can be applied to a mine recovery working face, and can also be applied to other scenarios similar to the working environment of a mine recovery working face, and includes: a first collector, a second collector, multiple signal generators and a controller.

[0062] The first collector is installed at the reference position; the second collector is installed at the preset position. The first collector and the second collector are used to collect distance data from multiple signal generators, and summarize and analyze the distance data and upload them to the controller. The installation position of the first signal generator among the multiple signal generators is determined by the second collector; the second signal generator among the multiple signal generators is installed on the bracket transporter; the remaining signal generators are carried by personnel, each of whom carries a signal generator, and each signal generator is used to periodically send positioning signals to the first collector and the second collector.

[0063] The controller transmits distance data to the first collector and the second collector (generally through wired or wireless communication). The controller has a built-in control program, which calculates the relative position value between the support transport vehicle and the personnel based on the distance data obtained by real-time measurement, and makes early warning judgments and reminders based on the relative position value.

[0064] The scaffold transport vehicle personnel approach warning system proposed in the present invention is different from the approach warning of various traditional electronic fence technologies. It is based on a collector, a signal generator and a controller to accurately collect various distance data, and the controller performs calculations based on the accurate distance data to obtain the relative position value between the scaffold transport vehicle and the personnel, and then performs warning judgment and reminder. Since the positions of each collector and signal generator are determined based on the three-dimensional coordinates of the earth, the distance data can be collected in a unified coordinate system to obtain accurate values, which solves the problems existing in the approach warning of various traditional electronic fence technologies. Furthermore, the collector and signal generator can also reuse the equipment in the existing electronic fence system to realize the corresponding functions, without the need for additional hardware cost investment, which greatly reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0066] Figure 1 This is a structural diagram of a preferred personnel approach warning system for a support transport vehicle applied to a mining working face in an embodiment of the present invention;

[0067] Figure 2 is a schematic diagram of the position of an exemplary support transport vehicle in an embodiment of the present invention;

[0068] Figure 3 It is another exemplary schematic diagram of the position of a support transport vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, are only part of the embodiments of the present invention, not all of the embodiments, and are not used to limit the present invention.

[0070] The inventors have found that the existing proximity warnings based on various electronic fence technologies have many problems, mainly the following two problems:

[0071] Question 1: Electronic fence technology is based on the monitoring and early warning of a single point and a single device, and does not take into account the overall systemic consideration of the spatial relationship of the comprehensive mining working face. As a result, it cannot judge the relative position value between the support transport vehicle and the personnel well.

[0072] Question 2: Due to the arrangement and installation location of the sensors in the electronic fence technology, there is a possibility that it may not cover the transport tunnels of the mining working face, which may lead to problems such as false warnings and missed warnings.

[0073] In view of the above problems, the inventor creatively proposed a personnel approach warning system and a personnel approach warning method for a scaffold transport vehicle of the present application. The technical solution of the present application is explained and illustrated in detail below.

[0074] The present invention provides a support transport vehicle personnel approach warning system, which can be applied to a mine recovery working face, and can also be applied to other scenes similar to the working environment of a mine recovery working face. The support transport vehicle personnel approach warning system includes: a first collector, a second collector, a plurality of signal generators and a controller.

[0075] The first collector is installed at the reference position; the second collector is installed at the preset position. The first collector and the second collector are used to collect distance data from multiple signal generators, and summarize and analyze the distance data and upload them to the controller.

[0076] The installation of the first signal generator among the multiple signal generators is determined by the second collector; the installation position of the second signal generator among the multiple signal generators is on the bracket transporter; the remaining signal generators among the multiple signal generators except the first signal generator and the second generator are carried by personnel respectively, each person carries a signal generator, and each signal generator is used to periodically send positioning signals to the first collector and the second collector.

[0077] The controller transmits distance data to the first collector and the second collector. The controller has a built-in control program, which calculates the relative position value between the support transport vehicle and the personnel based on the distance data obtained by real-time measurement, and makes early warning judgments and reminders based on the relative position value.

[0078] Preferably, the first collector includes: a packaging and transmission unit and a first collection and summary unit; the second collector includes: a second collection and summary unit; the first collection and summary unit and the second collection and summary unit are used to respectively collect distance data from multiple signal generators, and summarize and analyze the distance data obtained and upload them to the packaging and transmission unit; the packaging and transmission unit is used to package all received distance data and transmit them to the controller.

[0079] Preferably, there is another structure, in which the first collector includes: a first collection and summary unit; and the second collector includes: a packaging and transmission unit and a second collection and summary unit. The first collection and summary unit and the second collection and summary unit are used to collect distance data from multiple signal generators respectively, and summarize and analyze the distance data obtained by each of them and upload them to the packaging and transmission unit; the packaging and transmission unit is used to package all received distance data and transmit them to the controller. That is: the first collector can be responsible for transmitting all packaged received distance data to the controller, or the second collector can be responsible for transmitting all packaged received distance data to the controller. Of course, if the cost and occupied space are not taken into consideration, the packaging and transmission unit can be separated and installed in a suitable position, so that the two collectors are only responsible for collecting distance data respectively, and summarizing and analyzing the distance data obtained by each of them and uploading them to the independently installed packaging and transmission unit, and then the independently installed packaging and transmission unit transmits it to the controller.

[0080] Preferably, the reference position can be determined according to the actual situation of the application site. For example, if the application site is a mining face transport tunnel, the reference position is the end frame position on the mining face transport tunnel side. The reference positions of other application sites can be determined by technicians in the field according to actual needs, which will not be described in detail.

[0081] When the reference position is determined, the preset position can be determined. The preset position is the position at a preset distance from the end frame. For example, if the application site is a transportation tunnel of the mining face, the preset position can generally be set to a position about M meters away from the end, and the optimal M value is 50.

[0082] Preferably, the first signal generator can be directly installed on the second collector, that is, integrated with the second collector; or, the first signal generator is not integrated with the second collector, but installed around the second collector, and the closer to the second collector, the better. For example: assuming that the first signal generator is not integrated with the second collector, but installed around the second collector, the closer to the second collector, the better, so that the distance between it and the second collector collected by the first collector will be more accurate. If the preset position is 50 meters away from the end, then the distance between it and the second collector collected by the first collector is 50 meters (assuming that the first signal generator is integrated with the second collector) to be the most accurate, but if the first signal generator is installed 5 meters away from the second collector, then the distance between it and the second collector collected by the first collector is 55 meters, which is a large difference from the actual distance, and it may cause subsequent proximity warning errors. Therefore, it is best for the first signal generator to be integrated with the second collector. If the two cannot be integrated due to various factors, then the closer the first signal generator is installed to the second collector, the better.

[0083] In order to better understand the above-mentioned support transport vehicle personnel approach warning system applied to the mining face, refer to Figure 1 The figure shows an architectural diagram of a preferred personnel approach warning system for a support transport vehicle applied to a mining face. Figure 1 The figure shows by way of example the goaf, the mining face, the area to be mined, the mining face transport tunnel, a support transport vehicle, personnel 1, personnel 2, ... personnel N.

[0084] The first collector is installed at the end frame position on the side of the transport tunnel of the mining face, and the second collector is integrated with the first signal generator and installed 50 meters away from the first collector. The packaging transmission unit is independently installed at any position between the two. The second signal generator ( Figure 1 The signal generator (not shown) is installed on the support transport vehicle, and the remaining signal generators are carried by personnel 1, 2, ... N, respectively, and each person carries a signal generator. Each signal generator periodically sends its own positioning signal to the first collector and the second collector.

[0085] Controller( Figure 1 The controller (not shown) is generally not installed in the transport tunnel of the mining face, but is installed at a certain position on the ground. It transmits distance data with the packaging transmission unit. The controller has a built-in control program. The control program calculates the relative position value between the support transport vehicle and the personnel based on the distance data obtained by real-time measurement, and makes early warning judgments and reminders based on the relative position value.

[0086] Based on the above-mentioned scaffolding vehicle personnel approach warning system, the present invention also proposes a scaffolding vehicle personnel approach warning method, which can use any of the above-mentioned scaffolding vehicle personnel approach warning systems to complete the approach warning of the scaffolding vehicle personnel. The scaffolding vehicle personnel approach warning method includes:

[0087] Step S1: The first collector collects the distance data of the first signal generator, obtains the first distance data between the first collector and the second collector through a filtering algorithm, and uploads the first distance data to the controller after summarizing and analyzing.

[0088] First, the first collector collects the distance data of the first signal generator, obtains the first distance data between the first collector and the second collector through a filtering algorithm, and uploads the first distance data to the controller after summarizing and analyzing.

[0089] Step S2: The first collector and the second collector respectively collect the distance data of the second signal generator and the distance data of the remaining signal generators, obtain comprehensive distance data through a filtering algorithm, and upload the comprehensive distance data to the controller after aggregation and analysis.

[0090] In addition to collecting the distance data of the first signal generator and obtaining the first distance data through a filtering algorithm, the first collector also collects the distance data of the second signal generator (that is, the distance data between the first collector and the bracket transporter) and the distance data of the remaining signal generators (that is, the distance data between the first collector and each person). At the same time, the second collector also collects the distance data of the second signal generator (that is, the distance data between the second collector and the bracket transporter) and the distance data of the remaining signal generators (that is, the distance data between the second collector and each person).

[0091] Among them, each distance value in the comprehensive distance data is a projection distance value. The so-called projection distance value refers to: the distance value between the target point position and the reference position; the target point position refers to: the position where the support transport vehicle is located and the target line intersects vertically, and the position of each person is located and the target line intersects vertically; the so-called target line refers to: the connection line between the first collector and the second collector (such as Figure 1 That is, whether it is the first distance data or the comprehensive distance data, it essentially refers to the straight-line distance value from the second collector, the support transporter, each person to the reference position or from the reference position along the direction of the mining face.

[0092] Specifically: the first collector collects the distance data of the second signal generator, obtains the second distance data between the first collector and the bracket transporter through a filtering algorithm, and uploads the data to the controller after summarizing and analyzing it; the first collector collects the distance data of the remaining signal generators, obtains the distance data between the first collector and each person through a filtering algorithm, obtains multiple third distance data corresponding to all personnel, and uploads the data to the controller after summarizing and analyzing it.

[0093] The second collector collects the distance data of the second signal generator, obtains the fourth distance data between the second collector and the support transporter through the filtering algorithm, and uploads it to the controller after summarizing and analyzing; the second collector collects the distance data of the remaining signal generators, obtains the distance data between the second collector and each person through the filtering algorithm, obtains multiple fifth distance data corresponding to all persons, and uploads it to the controller after summarizing and analyzing. Therefore, the comprehensive distance data includes: the second distance data, the fourth distance data, multiple third distance data, and multiple fifth distance data.

[0094] The filtering algorithm specifically includes:

[0095] The first collector and the second collector both collect distance data at preset time intervals, for example, each collects data at 1 second, and uses an array to sequentially store the distance data of each signal generator;

[0096] For any collector, the distance data of each signal generator is stored as L1, L2, L3.......L i-1 , L i ,......L n .

[0097] If the distance data of adjacent time changes by more than H meters, the set of distance data is invalid and deleted; if the distance data of adjacent time changes by no more than H meters, the set of data is retained, and the formula is:

[0098] |L i -L i-1 |≤H

[0099] If the standard deviation of the distance data within the preset time period exceeds B, the group of distance data is invalid and deleted; if the standard deviation of the distance data within the preset time period does not exceed B, the group of data is retained. For example: if the preset time period is 20 seconds, then the standard deviation of the distance data within 20 seconds exceeds B, the group of distance data is invalid and deleted; if the standard deviation of the distance data within 20 seconds does not exceed B, the group of data is retained. The formula is:

[0100]

[0101]

[0102] In the above two formulas, It indicates the average value of the distance data corresponding to the same signal generator in the preset time period, and n indicates the number of times the preset time interval is collected in the preset time period. For example, if the preset time period is 20 seconds and the preset time interval is 1 second, then n = 20 seconds / 1 second = 20. Std indicates the standard deviation of the distance data.

[0103] Step S3: The controller uses the control program to solve the first distance data and the comprehensive distance data to obtain the relative position value between the support transport vehicle and each person.

[0104] After the controller obtains the first distance data and the comprehensive distance data, it can use the control program to solve the first distance data and the comprehensive distance data to obtain the relative position value between the support transport vehicle and each person. Specifically:

[0105] If the difference between the data value D1 of the second distance data and the data value D2 of the fourth distance data is equal to or the difference between the data value M of the first distance data is within a threshold (that is, D1-D2=M or D1-D2≈M), then the position of the stent transport vehicle is in the direction from the first collector to the second collector and away from the reference position, and the distance of the stent transport vehicle from the reference position is equal to the data value D1 of the second distance data.

[0106] For a better understanding of the above positions, refer to Figure 2 A schematic diagram of the position of a stent transporter is shown, from which it can be seen that the difference between the data value D1 of the second distance data and the data value D2 of the fourth distance data is equal to or approximately equal to the data value M of the first distance data, and the position of the stent transporter is in the direction from the first collector to the second collector and away from the first collector, and the distance of the stent transporter from the reference position is equal to the data value D1 of the second distance data.

[0107] If the sum of the data value D1 of the second distance data and the data value D2 of the fourth distance data is equal to or the difference between them and the data value M of the first distance data is within the threshold (that is, D1+D2=M or D1+D2≈M), then the position of the stent transport vehicle is between the first collector and the second collector, and the distance of the stent transport vehicle from the reference position is equal to the data value of the second distance data.

[0108] For a better understanding of the above positions, refer to Figure 3 From another schematic diagram of the position of a stent transporter shown, it can be seen that the sum of the data value D1 of the second distance data and the data value D2 of the fourth distance data is equal to or approximately equal to the data value M of the first distance data, the position of the stent transporter is between the first collector and the second collector, and the distance of the stent transporter from the reference position is equal to the data value D1 of the second distance data.

[0109] For any target person, it is similar to the situation of the support transporter. If the difference between the data value of the third distance data corresponding to the target person and the data value of the fifth distance data corresponding to the target person is equal to or the difference between the data value M of the first distance data is within the threshold, then the position of the target person is in the direction from the first collector to the second collector and away from the reference position, and the distance of the target person from the reference position is equal to the data value of the third distance data corresponding to the target person.

[0110] If the sum of the data value of the third distance data corresponding to the target person and the data value of the fifth distance data corresponding to the target person is equal to or the difference between the sum and the data value M of the first distance data is within the threshold, then the position of the target person is between the first collector and the second collector, and the distance between the person and the reference position is equal to the data value of the third distance data corresponding to the target person.

[0111] The relative position value between the support transport vehicle and the target person can be obtained by directly calculating the difference between the data value of the second distance data and the data value of the third distance data corresponding to the target person.

[0112] Step S4: The controller uses the control program to make early warning judgments and reminders according to the size relationship between the relative position value and the preset limit difference value.

[0113] After obtaining the relative position value between the support transport vehicle and each person, the controller uses the control program to make early warning judgments and reminders based on the size relationship between the relative position value and the preset limit value.

[0114] If the absolute value of the relative position value between any target person and the support transport vehicle is less than the preset tolerance, a warning instruction is sent to the support transport vehicle, and an alarm instruction is sent to the signal generator carried by the target person. Since the target person and the support transport vehicle may be in different positions, the relative position value between the support transport vehicle and the target person may be a positive number or a negative number, so it is necessary to compare the absolute value of the relative position value with the preset tolerance. If it is less than the preset tolerance, a warning instruction is sent to the support transport vehicle, and an alarm instruction is sent to the signal generator carried by the target person. For example: if the preset tolerance is 5 meters, then when the absolute value of the relative position value between the support transport vehicle and the target person is less than 5 meters, a warning instruction is sent to the support transport vehicle, and an alarm instruction is sent to the signal generator carried by the target person.

[0115] The support transporter performs emergency stop and broadcast reminder operations according to the early warning instructions; the signal generator carried by the target personnel performs buzzing and vibration operations according to the alarm instructions; in this way, the goal of early warning of personnel approaching can be achieved.

[0116] Naturally, it is understandable that if the absolute value of the relative position value between the target person and the support transport vehicle is not less than the preset limit difference, no early warning instruction and alarm instruction will be sent.

[0117] To sum up, the present invention proposes a support transport vehicle personnel approach warning system, which can be applied to mine recovery working faces, and can also be applied to other scenarios similar to mine recovery working face working environments, which includes: a first collector, a second collector, multiple signal generators and a controller.

[0118] The first collector is installed at the reference position; the second collector is installed at the preset position. The first collector and the second collector are used to collect distance data from multiple signal generators, and summarize and analyze the distance data and upload them to the controller. The installation position of the first signal generator among the multiple signal generators is determined by the second collector; the second signal generator among the multiple signal generators is installed on the bracket transporter; the remaining signal generators are carried by personnel, each of whom carries a signal generator, and each signal generator is used to periodically send positioning signals to the first collector and the second collector.

[0119] The controller transmits distance data to the first collector and the second collector (generally through wired or wireless communication). The controller has a built-in control program, which calculates the relative position value between the support transport vehicle and the personnel based on the distance data obtained by real-time measurement, and makes early warning judgments and reminders based on the relative position value.

[0120] The scaffold transport vehicle personnel approach warning system proposed in the present invention is different from the approach warning of various traditional electronic fence technologies. It is based on a collector, a signal generator and a controller to accurately collect various distance data, and the controller performs calculations based on the accurate distance data to obtain the relative position value between the scaffold transport vehicle and the personnel, and then performs warning judgment and reminder. Since the positions of each collector and signal generator are determined based on the three-dimensional coordinates of the earth, the distance data can be collected in a unified coordinate system to obtain accurate values, which solves the problems existing in the approach warning of various traditional electronic fence technologies. Furthermore, the collector and signal generator can also reuse the equipment in the existing electronic fence system to realize the corresponding functions, without the need for additional hardware cost investment, which greatly reduces the cost.

[0121] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0122] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal 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, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0123] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A personnel approach warning system for a support transport vehicle, characterized in that: The personnel approach warning system for the support transport vehicle comprises: a first collector, a second collector, a plurality of signal generators and a controller; The first collector is installed at a reference position; The second collector is installed at a preset position, and the first collector and the second collector are used to collect distance data from a plurality of the signal generators, and summarize and analyze the distance data and upload them to the controller; The installation of the first signal generator among the plurality of signal generators is determined by the second collector; The second signal generator among the plurality of signal generators is installed on the support transport vehicle; The remaining signal generators of the plurality of signal generators except the first signal generator and the second signal generator are respectively carried by personnel, each person carries a signal generator, and each signal generator is used to periodically send positioning signals to the first collector and the second collector; The controller transmits the distance data to the first collector and the second collector. The controller has a built-in control program, which calculates the relative position value between the support transport vehicle and the personnel based on the distance data obtained by real-time measurement, and makes early warning judgments and reminders based on the relative position value.

2. The personnel approach warning system for a support transport vehicle according to claim 1, characterized in that: The first collector includes: a packaging and transmission unit and a first collection and aggregation unit; The second collector includes: a second collection and aggregation unit; The first collection and aggregation unit and the second collection and aggregation unit are used to respectively collect distance data from a plurality of the signal generators, and to aggregate and analyze the distance data obtained respectively and upload them to the packaging and transmission unit; The packaging transmission unit is used to package all received distance data and transmit the data to the controller.

3. The personnel approach warning system for a support transport vehicle according to claim 1, characterized in that: The first collector includes: a first collection and aggregation unit; The second collector includes: a packaging and transmission unit and a second collection and summary unit; The first collection and aggregation unit and the second collection and aggregation unit are used to respectively collect distance data from a plurality of the signal generators, and to aggregate and analyze the distance data obtained respectively and upload them to the packaging and transmission unit; The packaging transmission unit is used to package all received distance data and transmit the data to the controller.

4. The personnel approach warning system for a support transport vehicle according to claim 1, characterized in that: The reference position is the end frame position on the transport tunnel side of the mining face; The preset position is a position at a preset distance from the end head frame; Wherein, the preset distance is M meters.

5. The personnel approach warning system for a support transport vehicle according to claim 1, characterized in that: The first signal generator is installed on the second collector; or, The first signal generator is installed around the second collector, and the closer to the second collector the better.

6. A method for early warning of personnel approaching a support transport vehicle, characterized in that: The method for early warning of personnel approaching a stent transport vehicle is implemented by using the system for early warning of personnel approaching a stent transport vehicle according to any one of claims 1 to 5, and the method for early warning of personnel approaching a stent transport vehicle comprises: The first collector collects the distance data of the first signal generator, obtains the first distance data between the first collector and the second collector through a filtering algorithm, and uploads the first distance data to the controller after summarizing and analyzing the first distance data; The first collector and the second collector respectively collect the distance data of the second signal generator and the distance data of the remaining signal generators, obtain the comprehensive distance data through the filtering algorithm, and upload the comprehensive distance data to the controller after summarizing and analyzing; The controller uses the control program to solve the first distance data and the comprehensive distance data to obtain the relative position value between the support transport vehicle and each of the personnel; The controller uses the control program to perform the early warning judgment and reminder according to the size relationship between the relative position value and the preset limit difference value; Wherein, each distance value in the comprehensive distance data is a projection distance value, and the projection distance value is the distance value between the target point position and the reference position; The target point position is the position where the position of the support transport vehicle intersects the target line vertically, and the position where each of the personnel intersects the target line vertically; The target line is a line connecting the first collector and the second collector.

7. The method for early warning of personnel approaching a support transport vehicle according to claim 6, characterized in that: The first collector and the second collector respectively collect the distance data of the second signal generator and the distance data of the remaining signal generators, and obtain the comprehensive distance data through the filtering algorithm, including: The first collector collects the distance data of the second signal generator, obtains the second distance data between the first collector and the support transport vehicle through the filtering algorithm, and uploads the second distance data to the controller after summarizing and analyzing. The first collector collects the distance data of the remaining signal generators, obtains the distance data between the first collector and each of the personnel through the filtering algorithm, obtains a plurality of third distance data corresponding to all the personnel, and uploads them to the controller after summarizing and analyzing; The second collector collects the distance data of the second signal generator, obtains the fourth distance data between the second collector and the support transport vehicle through the filtering algorithm, and uploads the fourth distance data to the controller after summarizing and analyzing. The second collector collects the distance data of the remaining signal generators, obtains the distance data between the second collector and each of the personnel through the filtering algorithm, obtains a plurality of fifth distance data corresponding to all the personnel, and uploads them to the controller after summarizing and analyzing; The comprehensive distance data includes: the second distance data, the fourth distance data, a plurality of the third distance data, and a plurality of the fifth distance data.

8. The method for early warning of personnel approaching a support transport vehicle according to claim 6, characterized in that: The filtering algorithm includes: The first collector and the second collector collect the distance data at preset time intervals, and use an array to sequentially store the distance data of each signal generator; For any collector, the distance data of each signal generator is stored as L1, L2, L3.......L i-1 , L i ,......L n ; If the distance data at adjacent times changes by more than H meters, the set of distance data is invalid and deleted; If the distance data at adjacent times does not change by more than H meters, the data set is retained, and the formula is: |L i -L i-1 |≤H If the standard deviation of the distance data within the preset time period exceeds B, the set of distance data is invalid and deleted; If the standard deviation of the distance data within the preset time period does not exceed B, the group of data is retained, and the formula is: In the above two formulas, represents the average value of the distance data corresponding to the same signal generator within the preset time period, n represents the number of times collected at the preset time interval within the preset time period, and Std represents the standard deviation of the distance data.

9. The method for early warning of personnel approaching a support transport vehicle according to claim 7, characterized in that: The controller uses the control program to solve the first distance data and the comprehensive distance data to obtain the relative position value between the support transport vehicle and the personnel, including: If the difference between the data value of the second distance data and the data value of the fourth distance data is equal to or within a threshold value, the position of the support carrier is in a direction from the first collector to the second collector and away from the reference position, and the distance between the support carrier and the reference position is equal to the data value of the second distance data; If the sum of the data value of the second distance data and the data value of the fourth distance data is equal to or the difference between the sum and the data value of the first distance data is within the threshold, the position of the support carrier is between the first collector and the second collector, and the distance of the support carrier from the reference position is equal to the data value of the second distance data; If the difference between the data value of the third distance data corresponding to the target person and the data value of the fifth distance data corresponding to the target person is equal to or within the threshold with the data value of the first distance data, then the position of the target person is in the direction from the first collector to the second collector and away from the reference position, and the distance of the target person from the reference position is equal to the data value of the third distance data corresponding to the target person; If the sum of the data value of the third distance data corresponding to the target person and the data value of the fifth distance data corresponding to the target person is equal to or the difference between the sum and the data value of the first distance data is within the threshold, then the position of the target person is between the first collector and the second collector, and the distance of the person from the reference position is equal to the data value of the third distance data corresponding to the target person; The difference between the data value of the second distance data and the data value of the third distance data corresponding to the target person is calculated to obtain the relative position value between the support transport vehicle and the target person.

10. The method for early warning of personnel approaching a support transport vehicle according to claim 9, characterized in that: The controller uses the control program to perform the early warning judgment and reminder according to the size relationship between the relative position value and the preset limit difference value, including: If the absolute value of the relative position value between the target person and the stent transport vehicle is less than the preset limit difference, a warning instruction is sent to the stent transport vehicle, and an alarm instruction is sent to the signal generator carried by the target person; The support transport vehicle performs an emergency stop operation and a broadcast reminder operation according to the warning instruction; The signal generator carried by the target person performs buzzing and vibration operations according to the alarm instruction; If the absolute value of the relative position value between the target person and the support transport vehicle is not less than the preset limit difference, the early warning instruction and the alarm instruction are not sent.

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