A personnel approach warning system and method for a support transport vehicle

Abstract

This invention discloses a personnel proximity warning system and method for a support transport vehicle, relating to the field of intelligent early warning technology in coal mines. A first data collector is installed at a reference position; a second data collector is installed at a preset position. The installation position of a first signal generator is determined by the second data collector; the second signal generator is installed on the support transport vehicle; the remaining signal generators are carried by personnel, one signal generator per person. The controller transmits distance data to both the first and second data collectors. The controller has a built-in control program that calculates the relative position value between the support transport vehicle and the personnel based on the real-time measured distance data, and makes early warning judgments and alerts based on the relative position value. This invention accurately obtains the relative position value between the support transport vehicle and the personnel, and makes early warning judgments and alerts. It solves the problems of proximity warning technology in traditional electronic fence technology. No additional hardware cost is required, greatly reducing costs.

Description

Technical Field

[0001] This invention relates to the field of intelligent early warning technology in coal mines, and in particular to a personnel approach warning system and method for support transport vehicles. Background Technology

[0002] During the mining process, the transport roadways of the mining face are used for transporting equipment and materials, as well as for the passage of workers. In some mines, the support transport vehicles used for transporting equipment and materials are parked for extended periods within a predetermined range from the mining face in the transport roadways, and move synchronously with the mining process.

[0003] During the operation of the support transport vehicle, workers may simultaneously pass through the transport roadways of the longwall mining face. Given the high noise and poor visibility in the underground environment, real-time proximity warnings using sensor technology are necessary to ensure personnel safety. However, existing proximity warning systems based on various electronic fence technologies have several problems, such as: inability to cover the transport roadways, leading to false or missed warnings; and a lack of comprehensive systemic consideration of the spatial relationships within the longwall mining face. These issues make current proximity warning systems and methods unsuitable for use in the transport roadways of longwall mining faces. Summary of the Invention

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

[0005] This invention provides a personnel approach warning system for a support transport vehicle, which includes: a first data collector, a second data collector, multiple signal generators, and a controller;

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

[0007] The second collector is installed at a preset position. The first collector and the second collector are used to collect distance data from multiple signal generators, and to summarize, parse, and upload the distance data to the controller.

[0008] The installation of the first signal generator among the multiple signal generators is determined by the second data acquisition unit;

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

[0010] The remaining signal generators, excluding the first and second signal generators, are carried by personnel, with each personnel carrying one signal generator. Each signal generator is used to periodically send positioning signals to the first and second data collectors.

[0011] The controller transmits distance data to both the first and second data collectors. The controller has a built-in control program that calculates the relative position between the support transport vehicle and the personnel based on the distance data measured in real time, and makes early warning judgments and reminders based on the relative position values.

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

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

[0014] The first acquisition and aggregation unit and the second acquisition and aggregation unit are used to acquire distance data from multiple signal generators, and to aggregate and parse the distance data obtained by each unit and upload it to the packet transmission unit.

[0015] The packet transmission unit is used to packetize all received distance data and transmit it to the controller.

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

[0017] The second collector includes: a packet transmission unit and a second collection and aggregation unit;

[0018] The first acquisition and aggregation unit and the second acquisition and aggregation unit are used to acquire distance data from multiple signal generators, and to aggregate and parse the distance data obtained by each unit and upload it to the packet transmission unit.

[0019] The packet transmission unit is used to packetize all received distance data and transmit it to the controller.

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

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

[0022] The preset distance is M meters.

[0023] Optionally, the first signal generator is mounted on the second data acquisition unit; or,

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

[0025] This invention provides a method for early warning of personnel approach to a support transport vehicle. The method utilizes any of the aforementioned support transport vehicle personnel approach warning systems and includes:

[0026] The first collector collects distance data from the first signal generator, obtains first distance data between the first collector and the second collector through a filtering algorithm, and uploads the data to the controller after summarizing and parsing it.

[0027] The first collector and the second collector each collect distance data from the second signal generator and the distance data from the other signal generators. They then obtain comprehensive distance data through the filtering algorithm, and upload the data to the controller after summarizing and parsing it.

[0028] The controller uses the control program to calculate the first distance data and the comprehensive distance data to obtain the relative position values ​​between the support transport vehicle and each of the personnel.

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

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

[0031] The target point location is the position where the location of the support transport vehicle intersects the target line perpendicularly, and the position where each of the personnel's positions intersects the target line perpendicularly;

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

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

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

[0035] The first collector collects distance data from the other signal generators, obtains distance data between the first collector and each person through the filtering algorithm, obtains multiple third distance data corresponding to all people, and uploads them to the controller after summarizing, parsing and processing.

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

[0037] The second collector collects distance data from the other signal generators, obtains distance data between the second collector and each person through the filtering algorithm, obtains multiple fifth distance data corresponding to all people, and uploads them to the controller after summarizing, parsing and processing.

[0038] The comprehensive distance data includes: the second distance data, the fourth distance data, multiple third distance data, and multiple 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 store the distance data of each signal generator in sequence;

[0041] For any given data acquisition unit, the distance data stored for each signal generator is L1, L2, L3...L... i-1 L i , ......L n ;

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

[0043] If the distance data between adjacent time points does not exceed H meters, then this set of data is retained, and the formula is as follows:

[0044] |L i -L i-1 |≤H

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

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

[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 the data is collected at a 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 calculate the first distance data and the comprehensive distance data to obtain the 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 the difference between the data value of the first distance data and the data value of the fourth distance data is within a threshold, then the position of the support 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 support transport vehicle from the reference position is equal to the data value of the second distance data.

[0052] If the sum of the data values ​​of the second distance data and the fourth distance data is equal to or the difference between the sum of ...

[0053] If the difference between the data value of the third distance data corresponding to the target person and the data value of the corresponding fifth distance data is equal to or the difference between the data value of the first distance data and the data value of the first distance data is within a 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.

[0054] If the sum of the third distance data value corresponding to the target person and the fifth distance data value corresponding to it is equal to or the difference between the sum of ...

[0055] The difference between the second distance data value and the third distance data value 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 utilizes the control program to perform the early warning judgment and reminder based on the relationship between the relative position value and the preset limit difference value, including:

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

[0058] The support transport vehicle performs an emergency stop and broadcasts a reminder based on the warning command.

[0059] The signal generator carried by the target personnel will sound a buzzer and vibrate according to the alarm command.

[0060] If the absolute value of the relative position between the target personnel and the support transport vehicle is not less than the preset limit difference, then the warning command and the alarm command will not be sent.

[0061] The present invention discloses a personnel approach warning system for a support transport vehicle, which can be applied to a longwall mining face, and can also be applied to other scenarios in similar longwall mining face working environments. It includes: a first data collector, a second data collector, multiple signal generators, and a controller.

[0062] The first data collector is installed at a reference position; the second data collector is installed at a preset position. The first and second data collectors are used to collect distance data from multiple signal generators, and then summarize, parse, and upload the distance data to the controller. The installation position of the first signal generator is determined by the second data collector; the second signal generator is mounted on a support transport vehicle; the remaining signal generators are carried by personnel, with each personnel carrying one signal generator. Each signal generator is used to periodically send positioning signals to the first and second data collectors.

[0063] The controller transmits distance data to both the first and second data collectors (usually via wired or wireless communication). The controller has a built-in control program that calculates the relative position between the support transport vehicle and personnel based on the real-time measured distance data, and makes early warning judgments and reminders based on the relative position values.

[0064] The personnel proximity warning system for the support transport vehicle proposed in this invention differs from traditional electronic fence technologies. It uses a data collector, signal generator, and controller to accurately collect various distance data. The controller then calculates the relative position between the support transport vehicle and personnel based on this precise distance data, and finally issues a warning. Since the positions of the data collectors and signal generators are determined based on three-dimensional geodetic coordinates, the distance data collected in a unified coordinate system can yield accurate values, solving the problems of traditional electronic fence technologies' proximity warnings. Furthermore, the data collectors and signal generators can reuse equipment from existing electronic fence systems to achieve the same functions, eliminating the need for additional hardware investment and significantly reducing costs. Attached Figure Description

[0065] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0066] Figure 1 This is an architecture diagram of a preferred personnel approach warning system for a support transport vehicle applied to a longwall mining face, as described in an embodiment of the present invention.

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

[0068] Figure 3 This is another exemplary schematic diagram of the position of the support transport vehicle in an embodiment of the present invention. Detailed Implementation

[0069] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention, and are only some, not all, embodiments of the present invention, and are not intended to limit the present invention.

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

[0071] Question 1: Electronic fence technology is based on single-point, single-device monitoring and early warning, without considering the overall spatial relationship of the fully mechanized mining face. This makes it unable to accurately determine the relative position values ​​between the support transport vehicle and personnel.

[0072] Question 2: Due to the factors of sensor placement and installation location, electronic fence technology may fail to cover the transport roadways of the mining face, resulting in problems such as false alarms and missed alarms.

[0073] To address the aforementioned problems, the inventors have creatively proposed a personnel approach warning system and method for a support transport vehicle, as described in this application. The technical solution of this application is explained and described in detail below.

[0074] This invention discloses a personnel proximity warning system for a support transport vehicle, which can be applied to longwall mining faces and other similar working environments. The system includes a first data collector, a second data collector, multiple signal generators, and a controller.

[0075] The first data acquisition unit is installed at a reference position; the second data acquisition unit is installed at a preset position. The first and second data acquisition units are used to acquire distance data from multiple signal generators, and to summarize, parse, and upload the distance data to the controller.

[0076] The installation of the first signal generator among the multiple signal generators is determined by the second data acquisition unit; the second signal generator among the multiple signal generators is installed on the support transport vehicle; the remaining signal generators among the multiple signal generators, except for the first and second signal generators, are carried by personnel, with each personnel carrying one signal generator, and each signal generator is used to periodically send positioning signals to the first and second data acquisition units.

[0077] The controller transmits distance data to both the first and second data collectors. The controller has a built-in control program that calculates the relative position between the support transport vehicle and the personnel based on the distance data measured in real time, and makes early warning judgments and reminders based on the relative position values.

[0078] Preferably, the first data acquisition unit includes a packet transmission unit and a first data acquisition and aggregation unit; the second data acquisition unit includes a second data acquisition and aggregation unit; the first data acquisition and aggregation unit and the second data acquisition and aggregation unit are used to acquire distance data from multiple signal generators, and to aggregate and parse the distance data obtained by each unit and upload it to the packet transmission unit; the packet transmission unit is used to packetize all the received distance data and transmit it to the controller.

[0079] A more preferred structure is as follows: the first data acquisition unit includes a first data acquisition and aggregation unit; while the second data acquisition unit includes a packet transmission unit and a second data acquisition and aggregation unit. The first and second data acquisition and aggregation units are used to acquire distance data from multiple signal generators, and then aggregate and parse the distance data obtained by each unit before uploading it to the packet transmission unit. The packet transmission unit is used to packetize all the received distance data and transmit it to the controller. That is, either the first data acquisition unit or the second data acquisition unit can be responsible for transmitting all the packetized distance data to the controller. Of course, if cost and space constraints are not a concern, the packet transmission unit can be installed independently in a suitable location. In this case, each of the two data acquisition units is only responsible for acquiring its own distance data, aggregating and parsing the distance data obtained by each unit, and uploading it to the independently installed packet transmission unit, which then transmits it to the controller.

[0080] Ideally, the reference location can be determined based on the actual conditions of the application site. For example, if the application site is a longwall mining face haulage roadway, then the reference location would be the end frame position on the side of the longwall mining face haulage roadway. Reference locations for other application sites can be determined by technical personnel based on actual needs, and will not be elaborated upon here.

[0081] Once the reference position is determined, the preset position can be determined. The preset position is the location at a preset distance from the end frame. For example, taking the application site as a transport roadway in a longwall mining face as an example, the preset position can generally be set to a position of about M meters from the end frame, with an optimal value of M being 50.

[0082] Ideally, the first signal generator can be directly installed on the second data acquisition unit, i.e., integrated with it. Alternatively, the first signal generator can be installed near the second data acquisition unit, as close as possible. For example, if the first signal generator is not integrated but installed near the second data acquisition unit, then the closer it is to the second data acquisition unit, the more accurate the distance between the first and second data acquisition units will be. If the preset location is 50 meters from the endpoint, then the distance between the first and second data acquisition units measured by the first data acquisition unit should be 50 meters (assuming the first signal generator is integrated with the second data acquisition unit) for the most accurate result. However, if the first signal generator is installed more than 5 meters away from the second data acquisition unit, then the distance measured by the first data acquisition unit will be 55 meters, which is significantly different from the actual distance and could lead to incorrect proximity warnings. Therefore, integrating the first signal generator with the second data acquisition unit is optimal. If, due to various factors, integration is not possible, then the closer the first signal generator is to the second data acquisition unit, the better.

[0083] To better understand the aforementioned personnel approach warning system for support transport vehicles applied in longwall mining faces, refer to... Figure 1 The diagram shows an optimized architecture for a personnel approach warning system for a support transport vehicle used in longwall mining faces. Figure 1 The example shows a goaf, a longwall face, a mining area, a longwall face transport roadway, a support transport vehicle, personnel 1, personnel 2, ... personnel N.

[0084] The first data collector is installed at the end frame position on the side of the transport roadway in the longwall mining face. The second data collector, integrated with the first signal generator, is installed 50 meters away from the first data collector. The packing and transmission unit is installed independently at any position between the two. The second signal generator ( Figure 1 (Not shown) The installation position is on the support transport vehicle, and the remaining signal generators are carried by personnel 1, 2, ... N, with each personnel carrying one signal generator. Each signal generator periodically sends its own positioning signal to the first and second data collectors.

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

[0086] Based on the aforementioned personnel approach warning system for support frame transport vehicles, this invention also proposes a personnel approach warning method for support frame transport vehicles. This method can utilize any of the aforementioned personnel approach warning systems to provide early warning of personnel approaching the support frame transport vehicle. The personnel approach warning method for support frame transport vehicles includes:

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

[0088] First, the first data collector collects distance data from the first signal generator. Then, through a filtering algorithm, it obtains the first distance data between the first and second data collectors. Finally, it summarizes, parses, and uploads the data to the controller.

[0089] Step S2: The first and second collectors each collect distance data from the second signal generator and the distance data from the other signal generators. They obtain comprehensive distance data through a filtering algorithm, and then upload the data to the controller after summarizing and parsing it.

[0090] In addition to collecting distance data from the first signal generator and obtaining the first distance data through a filtering algorithm, the first data collector also collects distance data from the second signal generator (i.e., the distance data between the first data collector and the support transport vehicle) and distance data from the other signal generators (i.e., the distance data between the first data collector and each person). At the same time, the second data collector also collects distance data from the second signal generator (i.e., the distance data between the second data collector and the support transport vehicle) and distance data from the other signal generators (i.e., the distance data between the second data collector and each person).

[0091] In this comprehensive distance data, each distance value is a projected distance value. A projected distance value refers to the distance between the target point and the reference point. The target point refers to the position where the support transport vehicle intersects the target line perpendicularly, and the position where each person's position intersects the target line perpendicularly. The target line refers to the line connecting the first and second data collectors (e.g.,...). Figure 1 (As shown in the diagram). That is to say, whether it is the first distance data or the comprehensive distance data, it essentially refers to the distance value of the second collector, the support transport vehicle, and each person from the reference position or the straight-line distance value of the reference position along the direction of the longwall mining face.

[0092] Specifically: The first data collector collects distance data from the second signal generator, and obtains the second distance data between the first data collector and the support transport vehicle through a filtering algorithm. After summarizing and parsing, the data is uploaded to the controller. The first data collector collects distance data from the remaining signal generators, and obtains the distance data between the first data collector and each person through a filtering algorithm. Multiple third distance data corresponding to all personnel are obtained, and after summarizing and parsing, the data is uploaded to the controller.

[0093] The second data acquisition unit collects distance data from the second signal generator, and uses a filtering algorithm to obtain fourth distance data between the second data acquisition unit and the support transport vehicle. This data is then aggregated, parsed, and uploaded to the controller. The second data acquisition unit also collects distance data from the remaining signal generators, and uses a filtering algorithm to obtain distance data between the second data acquisition unit and each person, resulting in multiple fifth distance data points for all personnel. These fifth distance data points are then aggregated, parsed, and uploaded to the controller. Therefore, the comprehensive distance data includes: second distance data, fourth distance data, multiple third distance data points, and multiple fifth distance data points.

[0094] The filtering algorithms specifically include:

[0095] Both the first and second data collectors collect distance data at preset time intervals, for example, at 1 second each, and use an array to store the distance data of each signal generator sequentially.

[0096] For any given data acquisition unit, the distance data stored for each signal generator is L1, L2, L3...L... i-1 L i , ......L n .

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

[0098] |L i -L i-1 |≤H

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

[0100]

[0101]

[0102] In the above two equations, This represents the average distance data from the same signal generator within a preset time period, where n represents the number of times data is collected at preset time intervals within that 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 represents the standard deviation of the distance data.

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

[0104] After obtaining the initial distance data and the combined distance data, the controller can use the control program to calculate the relative position values ​​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 the threshold (i.e., D1-D2=M or D1-D2≈M), then the position of the support 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 support transport vehicle from the reference position is equal to the data value D1 of the second distance data.

[0106] To better understand the above positions, refer to Figure 2 The diagram shows the position of a support transport vehicle. 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. The position of the support transport vehicle is in the direction from the first collector to the second collector and away from the first collector. The distance of the support transport vehicle from the reference position is equal to the data value D1 of the second distance data.

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

[0108] To better understand the above positions, refer to Figure 3 The diagram shows another position of the support transport vehicle. 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 support transport vehicle is between the first collector and the second collector. The distance of the support transport vehicle from the reference position is equal to the data value D1 of the second distance data.

[0109] For any target person, similar to the case of the support transport vehicle, if the difference between the data value of the third distance data corresponding to the target person and the data value of the corresponding fifth distance data 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 third distance data value corresponding to the target person and the fifth distance data value corresponding to it is equal to or the difference between the fifth distance data value and the first distance data value M is within the threshold, then the target person's position is between the first collector and the second collector, and the distance between the person and the reference position is equal to the third distance data value corresponding to the target person.

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

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

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

[0114] If the absolute value of the relative position between any target person and the support transport vehicle is less than a preset limit, a warning command is sent to the support transport vehicle, and an alarm command 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 them may be positive or negative. Therefore, it is necessary to compare the absolute value of the relative position value with the preset limit. If it is less than the preset limit, a warning command is sent to the support transport vehicle, and an alarm command is sent to the signal generator carried by the target person. For example, if the preset limit is 5 meters, then when the absolute value of the relative position between the support transport vehicle and the target person is less than 5 meters, a warning command is sent to the support transport vehicle, and an alarm command is sent to the signal generator carried by the target person.

[0115] The support transport vehicle performs an emergency stop and broadcasts a reminder based on the warning command; the signal generator carried by the target personnel sounds a buzzer and vibrates based on the alarm command; thus, the target can be warned when personnel approach.

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

[0117] In summary, the present invention proposes a personnel approach warning system for a support transport vehicle, which can be applied to a mine longwall face and other similar working environments. It includes: a first data collector, a second data collector, multiple signal generators, and a controller.

[0118] The first data collector is installed at a reference position; the second data collector is installed at a preset position. The first and second data collectors are used to collect distance data from multiple signal generators, and then summarize, parse, and upload the distance data to the controller. The installation position of the first signal generator is determined by the second data collector; the second signal generator is mounted on a support transport vehicle; the remaining signal generators are carried by personnel, with each personnel carrying one signal generator. Each signal generator is used to periodically send positioning signals to the first and second data collectors.

[0119] The controller transmits distance data to both the first and second data collectors (usually via wired or wireless communication). The controller has a built-in control program that calculates the relative position between the support transport vehicle and personnel based on the real-time measured distance data, and makes early warning judgments and reminders based on the relative position values.

[0120] The personnel proximity warning system for the support transport vehicle proposed in this invention differs from traditional electronic fence technologies. It uses a data collector, signal generator, and controller to accurately collect various distance data. The controller then calculates the relative position between the support transport vehicle and personnel based on this precise distance data, and finally issues a warning. Since the positions of the data collectors and signal generators are determined based on three-dimensional geodetic coordinates, the distance data collected in a unified coordinate system can yield accurate values, solving the problems of traditional electronic fence technologies' proximity warnings. Furthermore, the data collectors and signal generators can reuse equipment from existing electronic fence systems to achieve the same functions, eliminating the need for additional hardware investment and significantly reducing costs.

[0121] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0122] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0123] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope 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 includes: a first data collector, a second data collector, multiple signal generators, and a controller; The first data collector is installed at the reference position; The second collector is installed at a preset position. The first collector and the second collector are used to collect distance data from multiple signal generators, and to summarize, parse, and upload the distance data to the controller. The installation of the first signal generator among the multiple signal generators is determined by the second data acquisition unit; The second signal generator among the plurality of signal generators is mounted on the bracket transport vehicle; The remaining signal generators, excluding the first and second signal generators, are carried by personnel, with each personnel carrying one signal generator. Each signal generator is used to periodically send positioning signals to the first and second data collectors. The controller transmits distance data to both the first and second data collectors. The controller has a built-in control program that calculates the relative position between the support transport vehicle and the personnel based on the real-time measured distance data, and makes early warning judgments and reminders based on the relative position values.

2. The personnel approach warning system for the support transport vehicle according to claim 1, characterized in that, The first collector includes: a packet transmission unit and a first collection and aggregation unit; The second data collector includes: a second data collection and aggregation unit; The first acquisition and aggregation unit and the second acquisition and aggregation unit are used to acquire distance data from multiple signal generators, and to aggregate and parse the distance data obtained by each unit and upload it to the packet transmission unit. The packet transmission unit is used to packetize all received distance data and transmit it to the controller.

3. The personnel approach warning system for the support transport vehicle according to claim 1, characterized in that, The first data collector includes: a first data collection and aggregation unit; The second collector includes: a packet transmission unit and a second collection and aggregation unit; The first acquisition and aggregation unit and the second acquisition and aggregation unit are used to acquire distance data from multiple signal generators, and to aggregate and parse the distance data obtained by each unit and upload it to the packet transmission unit. The packet transmission unit is used to packetize all received distance data and transmit it to the controller.

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

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

6. A method for early warning of personnel approach to a support transport vehicle, characterized in that, The personnel approach warning method for the support transport vehicle is implemented using the personnel approach warning system for the support transport vehicle according to any one of claims 1-5, and the personnel approach warning method for the support transport vehicle includes: The first collector collects distance data from the first signal generator, obtains first distance data between the first collector and the second collector through a filtering algorithm, and uploads the data to the controller after summarizing and parsing it. The first collector and the second collector each collect distance data from the second signal generator and the distance data from the other signal generators. They then obtain comprehensive distance data through the filtering algorithm, and upload the data to the controller after summarizing and parsing it. The controller uses the control program to calculate the first distance data and the comprehensive distance data to obtain the relative position values ​​between the support transport vehicle and each of the personnel. The controller uses the control program to make the early warning judgment and reminder based on the relationship between the relative position value and the preset limit difference value; Wherein, each distance value in the comprehensive distance data is a projected distance value, and the projected distance value is the distance between the target point position and the reference position; The target point location is the position where the location of the support transport vehicle intersects the target line perpendicularly, and the position where each of the personnel's positions intersects the target line perpendicularly; The target line is the line connecting the first collector and the second collector.

7. The personnel approach warning method for the support transport vehicle according to claim 6, characterized in that, The first collector and the second collector each collect distance data from the second signal generator and the distance data from the remaining signal generators, and obtain comprehensive distance data through the filtering algorithm, including: The first data collector collects distance data from the second signal generator, obtains second distance data between the first data collector and the support transport vehicle through the filtering algorithm, and uploads the data to the controller after summarizing and parsing. The first collector collects distance data from the other signal generators, obtains distance data between the first collector and each person through the filtering algorithm, obtains multiple third distance data corresponding to all people, and uploads them to the controller after summarizing, parsing and processing. The second collector collects distance data from the second signal generator, obtains fourth distance data between the second collector and the support transport vehicle through the filtering algorithm, and uploads the data to the controller after summarizing, parsing and analyzing it. The second collector collects distance data from the other signal generators, obtains distance data between the second collector and each person through the filtering algorithm, obtains multiple fifth distance data corresponding to all people, and uploads them to the controller after summarizing, parsing and processing. The comprehensive distance data includes: the second distance data, the fourth distance data, multiple third distance data, and multiple fifth distance data.

8. The personnel approach warning method for the 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 store the distance data of each signal generator in sequence; For any given data acquisition unit, the distance data stored for each signal generator is L1, L2, L3... , , ......L n ; If the distance data changes by more than H meters between adjacent time periods, the set of distance data is invalid and deleted; If the distance data between adjacent time points does not exceed H meters, then this set of data is retained, and the formula is as follows: If the standard deviation of the distance data within the preset time period exceeds B, then the distance data set is invalid and deleted. If the standard deviation of the distance data within the preset time period does not exceed B, then the data set is retained, and the formula is as follows: In the above two equations, This represents the average distance data corresponding to the same signal generator within the preset time period, where n represents the number of times the data is collected at preset time intervals within the preset time period, and Std represents the standard deviation of the distance data.

9. The personnel approach warning method for the support transport vehicle according to claim 7, characterized in that, The controller uses the control program to calculate 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 the difference between the data value of the first distance data and the data value of the fourth distance data is within a threshold, then the position of the support 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 support transport vehicle from the reference position is equal to the data value of the second distance data. If the sum of the data values ​​of the second distance data and the fourth distance data is equal to or the difference between the sum of ... If the difference between the data value of the third distance data corresponding to the target person and the data value of the corresponding fifth distance data is equal to or the difference between the data value of the first distance data and the data value of the first distance data is within a 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. If the sum of the third distance data value corresponding to the target person and the fifth distance data value corresponding to it is equal to or the difference between the sum of ... The difference between the second distance data value and the third distance data value corresponding to the target person is calculated to obtain the relative position value between the support transport vehicle and the target person.

10. The personnel approach warning method for the support transport vehicle according to claim 9, characterized in that, The controller utilizes the control program to perform the early warning judgment and reminder based on the relationship between the relative position value and the preset limit difference value, including: If the absolute value of the relative position between the target person and the support transport vehicle is less than the preset limit difference, a warning command is sent to the support transport vehicle and an alarm command is sent to the signal generator carried by the target person. The support transport vehicle performs an emergency stop and broadcasts a reminder based on the warning command. The signal generator carried by the target personnel will sound a buzzer and vibrate according to the alarm command. If the absolute value of the relative position between the target personnel and the support transport vehicle is not less than the preset limit difference, then the warning command and the alarm command will not be sent.

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