Loading machine entrance safety control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of automatic control, and particularly provides a reversed loader entrance safety management and control method [1], system and device and a storage medium, and the method comprises the steps: obtaining detection signals of a plurality of laser positioning sensors disposed in a reversed loader entrance area; simulating a moving route of the detection object based on the position of the laser positioning sensor and the detection signal; if it is confirmed that the moving route passes through the reversed loader entrance area, alarm information is generated; acquiring the minimum distance between the detected object and the entrance of the loading machine and the identity information of the detected object through the mining wireless transceiving terminal; and if the identity information of the detection object has no authority and the minimum distance is smaller than a set distance threshold value, upgrading the alarm information into an emergency stop instruction, and controlling the reversed loader to stop running emergently based on the emergency stop instruction. The detection accuracy of personnel approaching the entrance of the reversed loader is improved, and the safety management and control quality is improved.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and specifically relates to a transfer machine entrance security control method, system, equipment and storage medium. Background Art

[0002] During the operation of the transfer machine on the working face, there is a risk of waste rock jumping out and injuring people when personnel pass through the transfer machine's feeding port. At the same time, there is a risk of personnel accidentally entering the transfer machine and causing injury when they are working at the transfer machine's feeding port.

[0003] Most of the current safety control methods are to install an emergency stop trigger device at the entrance of the transfer machine, such as an emergency stop pull wire. When a person is involved, the transfer machine is stopped by pulling the emergency stop pull wire. However, this method is the last remedial measure and still cannot eliminate the danger in advance.

[0004] Due to the particularity of the mine environment, the communication and detection effects of electronic devices are subject to certain interference. Therefore, how to accurately detect personnel passing through the transfer machine entrance and issue a warning in time is a technical problem that needs to be solved. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a method, system, device and storage medium for securely controlling the entrance of a transfer machine to solve the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a method for controlling the entrance security of a transfer machine, comprising: Acquire detection signals of multiple laser positioning sensors deployed at the entrance area of ​​the transfer machine; Simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor; If it is confirmed that the moving route passes through the entrance area of ​​the transfer machine, an alarm message is generated; The minimum distance between the detection object and the loader entrance and the identity information of the detection object are collected through the mine wireless transceiver terminal; If the identity information of the detected object has no authority and the minimum distance is less than the set distance threshold, the alarm information is upgraded to an emergency stop instruction, and the transfer machine is controlled to stop operating urgently based on the emergency stop instruction.

[0007] In an optional embodiment, obtaining detection signals of a plurality of laser positioning sensors deployed at the entrance area of ​​the transfer machine includes: The distance between the installation position of the laser positioning sensor and the entrance of the transfer machine, as well as the identity information of the laser positioning sensor are saved in advance to the device list, and multiple laser positioning sensors are arranged at equal intervals along the pedestrian passage at the entrance area of ​​the transfer machine; receiving a detection signal, wherein the detection signal includes identity information of a source laser positioning sensor and a distance between the source laser positioning sensor and a detection object; Based on the identity information of the source laser positioning sensor and the equipment list, the distance between the source laser positioning sensor and the entrance of the transfer machine is retrieved; Verify whether the distance between the source laser positioning sensor and the detection object is within the set distance range: If yes, the distance between the source laser positioning sensor and the transfer machine entrance is recorded as the distance between the detection object and the transfer machine entrance, and a timestamp is generated; If not, the detection signal is ignored.

[0008] In an optional embodiment, simulating the moving route of the detection object based on the position and detection signal of the laser positioning sensor includes: Arrange the distances between the detection objects with time stamps and the entrance of the transfer machine into a data queue in the order of time stamps; Calculate the time difference between adjacent timestamps, and if the time difference exceeds a set visual threshold, generate a segmentation mark between adjacent timestamps; Splitting the data queue into a plurality of data sequences based on the split flag; Keep the data sequence with the latest timestamp and delete other data sequences; Based on the retained data sequence, a moving route of the detection object is generated through the distance size, distance difference and time difference of adjacent data, and the moving route includes a moving direction and a moving speed.

[0009] In an optional implementation, if it is confirmed that the moving route passes through the transfer machine entrance area, an alarm message is generated, including: If the moving direction is toward the transfer machine entrance, an alarm message is generated and the sound and light alarm is controlled to start the alarm.

[0010] In an optional embodiment, the minimum distance between the detection object and the entrance of the loader and the identity information of the detection object are collected by the mine wireless transceiver terminal, including: By means of signal interaction between the mine wireless transceiver terminal installed at the transfer machine entrance and the plurality of handheld terminals, the distances between the plurality of handheld terminals and the transfer machine entrance and the identity information of the persons to whom the handheld terminals belong are generated. The identity information includes authority information, and the authority information is used to indicate whether there is authority to approach the transfer machine entrance. From the distances between multiple handheld terminals and the entrance of the transfer machine, the minimum value is selected as the minimum distance between the detection object and the entrance of the loader.

[0011] In an optional embodiment, the method further comprises: Receive the signal of the emergency stop trigger device to control the transfer machine to stop running urgently.

[0012] In a second aspect, the present invention provides a transfer machine entrance security management and control system, comprising: The first detection module is used to obtain detection signals of multiple laser positioning sensors deployed in the entrance area of ​​the transfer machine; A route generation module, used to simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor; An alarm generation module, used to generate an alarm message if the moving route passes through the transfer machine entrance area; The second detection module is used to collect the minimum distance between the detection object and the loader entrance and the identity information of the detection object through the mine wireless transceiver terminal; The emergency stop trigger module is used to upgrade the alarm information to an emergency stop instruction if the identity information of the detected object has no authority and the minimum distance is less than the set distance threshold, and control the transfer machine to stop running urgently based on the emergency stop instruction.

[0013] In a third aspect, a device is provided, including: A memory device for storing a transfer machine entrance safety control program; A processor is used to implement the steps of the transfer machine entrance security control method provided in the first aspect when executing the transfer machine entrance security control program.

[0014] In a fourth aspect, a computer-readable storage medium is provided, on which a transfer machine entrance security control program is stored. When the transfer machine entrance security control program is executed by a processor, the steps of the transfer machine entrance security control method provided in the first aspect are implemented.

[0015] The beneficial effect of the present invention is that the transfer machine entrance safety control method, system, device and storage medium provided by the present invention can judge the situation of personnel approaching the transfer machine entrance by integrating multi-source detection signals, thereby giving an alarm signal in time and controlling the transfer machine to stop in an emergency. The present invention improves the detection accuracy of personnel approaching the transfer machine entrance and improves the quality of safety control.

[0016] In addition, the invention has a reliable design principle, a simple structure and a very broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic flow chart of a method according to an embodiment of the present invention.

[0019] Figure 2 is a schematic block diagram of a system according to an embodiment of the present invention.

[0020] Figure 3 A schematic diagram of the structure of a device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0023] The transfer machine entrance security control method provided in the embodiment of the present invention is executed by a computer device, and accordingly, the transfer machine entrance security control system runs in the computer device.

[0024] Figure 1 is a schematic flow chart of a method according to an embodiment of the present invention. Figure 1 The execution subject may be a transfer machine entrance safety control system. According to different requirements, the order of the steps in the flowchart may be changed, and some may be omitted.

[0025] like Figure 1 As shown, the method includes: S1. Acquire detection signals of multiple laser positioning sensors deployed at the entrance area of ​​the transfer machine.

[0026] The detection signals are obtained in real time from multiple high-precision laser positioning sensors deployed at the entrance area of ​​the transfer machine. These sensors are precisely installed at key locations to ensure full coverage of the transfer machine entrance area and capture dynamic information of any object entering the area.

[0027] S2. Simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor.

[0028] Using advanced algorithms, based on the precise location of each laser positioning sensor and the detection signals they transmit in real time, the moving route of the detection object is dynamically simulated. This process involves processing and analyzing signal data, including timestamp matching, signal strength analysis, and spatial coordinate conversion, so as to construct the three-dimensional movement trajectory of the detection object.

[0029] S3. If it is confirmed that the moving route passes through the transfer machine entrance area, an alarm message is generated.

[0030] Then, it is determined whether the simulated moving route directly or indirectly passes through the transfer machine entrance area. Once it is confirmed that the route intersects or approaches the transfer machine entrance, the system immediately triggers an alarm message, which contains key data such as the moving direction, speed and expected contact time of the detected object, so that preventive measures can be taken in time.

[0031] S4. Collect the minimum distance between the detection object and the loader entrance and the identity information of the detection object through the mine wireless transceiver terminal.

[0032] While the alarm information is being generated, the system further collects the minimum safe distance between the detection object and the loader entrance through the mine wireless transceiver terminal (with explosion-proof and anti-interference characteristics), and attempts to identify the identity information of the detection object, such as personnel ID card, vehicle identification code, etc. This process ensures the accuracy and real-time nature of the data, providing a reliable basis for subsequent decision-making.

[0033] S5. If the identity information of the detected object has no authority and the minimum distance is less than the set distance threshold, the alarm information is upgraded to an emergency stop instruction, and the transfer machine is controlled to stop operating urgently based on the emergency stop instruction.

[0034] According to the preset security rules and permission database, verify whether the identity information of the detected object has the permission to enter the transfer machine entrance area. If the identity information verification fails, it means that the detected object is an unauthorized object, and when the minimum safety distance is less than the emergency distance threshold set by the system, the system will automatically upgrade the alarm information to an emergency stop command. This command is sent to the control system of the transfer machine through a high-priority communication channel, immediately triggering the emergency stop function of the transfer machine to ensure the safety of personnel and equipment. At the same time, the system records the entire event process, including time, location, objects involved and measures taken, for subsequent analysis and auditing.

[0035] In an embodiment of the present invention, based on step S1, a possible embodiment is given below to illustrate its specific implementation scheme in a non-limiting manner.

[0036] First, detailed preparations were made: the installation location of each laser positioning sensor and its precise distance to the transfer machine entrance were recorded in advance, and the identity information of these laser positioning sensors (such as unique identifier, model, installation date, etc.) was saved in a device list. This step is crucial because it provides the basis for subsequent data processing and decision-making. These laser positioning sensors are carefully arranged and arranged at equal intervals along the pedestrian walkway in the transfer machine entrance area to ensure that there are no blind spots in the monitoring range and any objects approaching or entering the area can be captured.

[0037] Next, the system begins to receive detection signals from these laser positioning sensors. These signals contain the identity information of the source laser positioning sensor and the real-time distance between the sensor and the detection object (such as a person, vehicle or other obstacle). The real-time and accuracy of these data are crucial for subsequent processing.

[0038] Once the detection signal is received, the system will search and retrieve the distance between the sensor and the entrance of the transfer machine in the device list based on the identity information of the source laser positioning sensor. This step realizes the mapping from the sensor to the actual physical location, providing a basis for subsequent distance calculation and risk assessment.

[0039] The system will then verify the detection signal to determine whether the distance between the source laser positioning sensor and the detection object is within the set safety distance range. This safety distance range is set based on a comprehensive consideration of factors such as the actual working environment, safety standards and potential risks.

[0040] If the verification result shows that the distance is within the set range, the system will regard the distance between the source laser positioning sensor and the transfer machine entrance as the distance between the detection object and the transfer machine entrance, and generate a timestamp to record the specific time when this event occurred. This distance and timestamp are very important for subsequent event tracking and data analysis.

[0041] However, if the verification result shows that the distance is not within the set range, the system will ignore the detection signal and will not perform subsequent processing. This is because, in this case, the detected object may not pose a direct threat to the transfer machine entrance, or its location is beyond the effective monitoring range of the sensor.

[0042] In summary, this series of operating procedures ensures that the laser positioning sensor can accurately and in real time monitor the situation at the entrance area of ​​the transfer machine, and provide key safety information when necessary, providing strong support for workplace safety management.

[0043] In an embodiment of the present invention, based on step S2, a possible embodiment is given below to illustrate its specific implementation scheme in a non-limiting manner.

[0044] S201. Construction of data queue First, the system will arrange the distance between the detected object and the transfer machine entrance with timestamps in the order of timestamps to form an orderly data queue. This data queue is the basis for subsequent analysis, which records the relative position relationship between the detected object and the transfer machine entrance at different time points.

[0045] S202. Generation of segmentation mark In order to more accurately analyze the movement of the detected object, the system needs to identify whether the movement of the detected object is continuous in different time periods. To this end, the system calculates the time difference between adjacent timestamps. If this time difference exceeds the set visual threshold (that is, the system believes that the detected object may have moved or stayed significantly during this period of time), a segmentation mark will be generated between adjacent timestamps. This visual threshold is usually set according to the actual application scenario and monitoring requirements.

[0046] S203. Data sequence segmentation Based on the generated segmentation marks, the system will segment the entire data queue into multiple data sequences. Each data sequence represents the movement of the detected object in a continuous period of time. The advantage of this is that the complex movement process can be decomposed into multiple stages that are easier to analyze.

[0047] S204. Screening of data series In order to save storage space and improve analysis efficiency, the system will retain the data sequence with the latest timestamp (i.e. the latest movement) and delete other data sequences. This is because, in most cases, we are more concerned about the current movement of the detected object, while the past movement may not be so important for current analysis and decision-making.

[0048] S205. Generation of movement route Finally, based on the retained data sequence, the system will generate the movement route of the detection object through the distance size, distance difference and time difference of adjacent data. This movement route includes not only the movement direction of the detection object (i.e. the change trend of the distance), but also the movement speed (i.e. the ratio of the distance difference to the time difference). With this information, we can intuitively understand the movement of the detection object in the transfer machine entrance area, so as to make corresponding safety judgments and decisions.

[0049] In a specific example, the method of generating a line includes: The following is a simplified data sequence example, which records the change in the distance between a detected object (such as a person) and the transfer machine entrance over a period of time:

[0050] Calculate the distance difference and time difference: First, calculate the distance difference and time difference between adjacent data points. For example, the distance difference from the first data point to the second data point is 2 meters (20-18), and the time difference is 5 seconds (10:00:05-10:00:00).

[0051] The distance difference and time difference between each data point and its previous data point are calculated in turn.

[0052] Determine the direction and speed of movement: The moving direction is determined by observing the positive and negative values ​​of the distance difference. If the distance difference is positive, it means that the detected object is moving away from the transfer machine entrance; if the distance difference is negative, it means that the detected object is approaching the transfer machine entrance.

[0053] The movement speed can be calculated by the ratio of the distance difference to the time difference. For example, the movement speed in the first time period (10:00:00-10:00:05) is -0.4 m / s (because the distance difference is -2 m and the time difference is 5 s).

[0054] Generate movement route: The moving direction and speed of each time period are connected to form the moving route of the detection object. For example, in the above data sequence, the detection object first approaches the transfer machine entrance at a speed of -0.4 m / s, then stays between 10:00:15 and 10:00:30 (because the distance does not change), then moves away from the transfer machine entrance at a speed of 0.4 m / s, and finally moves away at a speed of 0.4 m / s between 10:00:45 and 10:01:00.

[0055] In an embodiment of the present invention, based on step S3, a possible embodiment is given below to illustrate its specific implementation scheme in a non-limiting manner.

[0056] If the detected object continues to approach the entrance of the transfer machine at a high speed, an alarm will be triggered to alert the operator to potential safety risks.

[0057] If the detected object stays near the transfer machine entrance for too long, an alarm will be triggered to prevent possible illegal intrusion or malfunction.

[0058] The alarm uses an audible and visual alarm, which gives both sound and light to enhance the warning effect. Light can be more easily noticed in a dark environment, while sound can serve as a reminder in a noisy environment.

[0059] In an embodiment of the present invention, based on step S4, a possible embodiment is given below to illustrate its specific implementation scheme in a non-limiting manner.

[0060] In a modern working environment, advanced mine wireless communication technology is used to improve working efficiency and ensure safety. Specifically, by installing a high-performance mine wireless transceiver terminal at the entrance of the transfer machine and interacting with the handheld terminals held by multiple staff members in real time, accurate positioning and monitoring of personnel and equipment can be achieved.

[0061] This signal interaction mechanism not only allows the system to calculate the precise distance between each handheld terminal and the transfer machine entrance in real time, but also reads and identifies the identity information of the person associated with the handheld terminal. This identity information is not just a simple name or number, but more importantly, it contains the person's authority information. Authority information is a key safety factor that clearly indicates whether each person has the right to work near the transfer machine entrance. This design is intended to prevent unauthorized personnel from mistakenly entering dangerous areas, thereby effectively reducing the risk of safety accidents.

[0062] In actual operation, the system continuously receives and processes distance data from various handheld terminals. In order to determine which handheld terminal (i.e. which person) is closest to the loader entrance, the system selects the minimum value from all received distance data. This minimum value represents the minimum distance between the current detection object (i.e. the closest person) and the loader entrance.

[0063] Through this mechanism, not only can the dynamic location of personnel be monitored in real time, but potential security risks can also be warned based on their permission information. For example, if the system detects that a person who does not have permission to approach the transfer machine entrance is approaching the area quickly, it can immediately trigger an alarm to notify relevant personnel to take necessary precautions.

[0064] In summary, this monitoring system based on the signal interaction between the mine wireless transceiver terminal and the handheld terminal not only improves the efficiency of the operation, but also provides a strong guarantee for the safety of the staff. By obtaining and analyzing the location and authority information of personnel in real time, it can more effectively manage the work site and ensure that all operations are carried out in a safe and orderly environment.

[0065] In an embodiment of the present invention, based on step S5, a possible embodiment is given below to illustrate its specific implementation in a non-limiting manner.

[0066] S501. Triggering conditions for emergency stop command In the working environment, safety always comes first. Therefore, when the system detects that the identity information of a detection object (i.e. the person associated with the handheld terminal) is not authorized to approach the transfer machine entrance, and the minimum distance between the detection object and the transfer machine entrance is less than the system preset distance threshold, the system will consider this as a serious safety risk. This distance threshold is set after comprehensive consideration of factors such as the actual situation of the transfer machine entrance area, safety standards and potential risks.

[0067] S502. Generation and execution of emergency stop command Once the above conditions are triggered, the system will immediately generate an emergency stop command. This command is a high-priority signal that requires the transfer machine to stop running immediately to prevent unauthorized personnel from entering the dangerous area and possibly causing safety accidents.

[0068] In order to ensure that the emergency stop command can be executed quickly and accurately, the system will communicate with the transfer machine's control system in real time. When receiving the emergency stop command, the transfer machine's control system will immediately cut off the power supply or take other necessary measures to stop the transfer machine. At the same time, the system will also record relevant information about this event, including the time when the emergency stop command was triggered, the identity information of the detected object, the minimum distance, and the status of the transfer machine, etc., for subsequent analysis and investigation.

[0069] S503. Security measures upgrade and response In addition to triggering the emergency stop command, the system will also take a series of other safety measures to deal with this emergency. For example, the system will send an emergency notification to relevant personnel through wireless communication technology to inform them that an unauthorized person is approaching the transfer machine entrance and has triggered the emergency stop command. In this way, relevant personnel can quickly rush to the scene, understand the specific situation and take further measures.

[0070] In addition, the system can also be linked with other security systems (such as video surveillance, intrusion alarm, etc.) to form a more complete security protection system. When a security incident occurs in a certain area, these systems can cooperate with each other and respond together, thereby more effectively ensuring the safety of the work site.

[0071] In summary, when the identity information of the detected object has no authority and its distance from the transfer machine entrance is less than the set distance threshold, the system will trigger an emergency stop command and control the transfer machine to stop running urgently. This measure is an important part of the monitoring system based on the signal interaction between the mine wireless transceiver terminal and the handheld terminal. It can effectively prevent the occurrence of safety accidents at critical moments and provide strong protection for the safety of the work site. By continuously optimizing and improving this system, the safety and efficiency of the operation can be further improved, making greater contributions to the sustainable development of the enterprise.

[0072] In some embodiments, the transfer machine entrance security control system may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the transfer machine entrance security control system may be stored in the memory of a computer device and executed by at least one processor to perform (see Figure 1 Description) The function of security control at the entrance of the transfer machine.

[0073] In this embodiment, the transfer machine entrance security management and control system can be divided into multiple functional modules according to the functions it performs, such as Figure 2 As shown. The functional modules of the system 200 may include: a first detection module 210, a route generation module 220, an alarm generation module 230, a second detection module 240 and an emergency stop trigger module 250. The module referred to in the present invention refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0074] The first detection module is used to obtain detection signals of multiple laser positioning sensors deployed in the entrance area of ​​the transfer machine; A route generation module, used to simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor; An alarm generation module, used to generate an alarm message if the moving route passes through the transfer machine entrance area; The second detection module is used to collect the minimum distance between the detection object and the loader entrance and the identity information of the detection object through the mine wireless transceiver terminal; The emergency stop trigger module is used to upgrade the alarm information to an emergency stop instruction if the identity information of the detected object has no authority and the minimum distance is less than the set distance threshold, and control the transfer machine to stop running urgently based on the emergency stop instruction.

[0075] Optionally, as an embodiment of the present invention, obtaining detection signals of multiple laser positioning sensors deployed in the entrance area of ​​the transfer machine includes: The distance between the installation position of the laser positioning sensor and the entrance of the transfer machine, as well as the identity information of the laser positioning sensor are saved in advance to the device list, and multiple laser positioning sensors are arranged at equal intervals along the pedestrian passage at the entrance area of ​​the transfer machine; receiving a detection signal, wherein the detection signal includes identity information of a source laser positioning sensor and a distance between the source laser positioning sensor and a detection object; Based on the identity information of the source laser positioning sensor and the equipment list, the distance between the source laser positioning sensor and the entrance of the transfer machine is retrieved; Verify whether the distance between the source laser positioning sensor and the detection object is within the set distance range: If yes, the distance between the source laser positioning sensor and the transfer machine entrance is recorded as the distance between the detection object and the transfer machine entrance, and a timestamp is generated; If not, the detection signal is ignored.

[0076] Optionally, as an embodiment of the present invention, simulating the moving route of the detection object based on the position and detection signal of the laser positioning sensor includes: Arrange the distances between the detection objects with time stamps and the entrance of the transfer machine into a data queue in the order of time stamps; Calculate the time difference between adjacent timestamps, and if the time difference exceeds a set visual threshold, generate a segmentation mark between adjacent timestamps; Splitting the data queue into a plurality of data sequences based on the split flag; Keep the data sequence with the latest timestamp and delete other data sequences; Based on the retained data sequence, a moving route of the detection object is generated through the distance size, distance difference and time difference of adjacent data, and the moving route includes a moving direction and a moving speed.

[0077] Optionally, as an embodiment of the present invention, when it is confirmed that the moving route passes through the transfer machine entrance area, an alarm message is generated, including: If the moving direction is toward the transfer machine entrance, an alarm message is generated and the sound and light alarm is controlled to start the alarm.

[0078] Optionally, as an embodiment of the present invention, collecting the minimum distance between the detection object and the entrance of the loader and the identity information of the detection object through the mine wireless transceiver terminal includes: By means of signal interaction between the mine wireless transceiver terminal installed at the transfer machine entrance and the plurality of handheld terminals, the distances between the plurality of handheld terminals and the transfer machine entrance and the identity information of the persons to whom the handheld terminals belong are generated. The identity information includes authority information, and the authority information is used to indicate whether there is authority to approach the transfer machine entrance. From the distances between multiple handheld terminals and the entrance of the transfer machine, the minimum value is selected as the minimum distance between the detection object and the entrance of the loader.

[0079] Optionally, as an embodiment of the present invention, it further includes: Receive the signal of the emergency stop trigger device to control the transfer machine to stop running urgently.

[0080] Figure 3The transfer machine entrance security control method provided for the embodiment of the present application can be applied to the device. It can be understood by those skilled in the art that the device structure involved in the embodiment of the present invention does not constitute a limitation on the device, and the device may include more or fewer components than shown, or combine certain components, or arrange different components. In an embodiment of the present invention, the device includes but is not limited to a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described and / or required herein.

[0081] The device 300 may include: a processor 310, a memory 320 and a communication unit 330. These components communicate via one or more buses. Those skilled in the art will appreciate that the server structure shown in the figure does not limit the present invention, and it may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0082] The memory 320 may be used to store the execution instructions of the processor 310, and the memory 320 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. When the execution instructions in the memory 320 are executed by the processor 310, the device 300 is enabled to perform some or all of the steps in the following method embodiments.

[0083] The processor 310 is the control center of the storage device, and uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 320, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of a plurality of packaged ICs with the same or different functions. For example, the processor 310 can include only a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0084] The communication unit 330 is used to establish a communication channel so that the storage device can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0085] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0086] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, including several instructions for enabling a computer device (which can be a personal computer, a server, or a second device, a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0087] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

[0088] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or modules, which can be electrical, mechanical or other forms.

[0089] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0091] Although the present invention has been described in detail with reference to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention.

Claims

1. A method for controlling the entrance safety of a transfer machine, characterized in that: include: Acquire detection signals of multiple laser positioning sensors deployed at the entrance area of ​​the transfer machine; Simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor; If it is confirmed that the moving route passes through the entrance area of ​​the transfer machine, an alarm message is generated; The minimum distance between the detection object and the loader entrance and the identity information of the detection object are collected through the mine wireless transceiver terminal; If the identity information of the detected object has no authority and the minimum distance is less than the set distance threshold, the alarm information is upgraded to an emergency stop instruction, and the transfer machine is controlled to stop operating urgently based on the emergency stop instruction.

2. The method according to claim 1, characterized in that Acquire detection signals of multiple laser positioning sensors deployed at the entrance area of ​​the transfer machine, including: The distance between the installation position of the laser positioning sensor and the entrance of the transfer machine, as well as the identity information of the laser positioning sensor are saved in advance to the device list, and multiple laser positioning sensors are arranged at equal intervals along the pedestrian passage at the entrance area of ​​the transfer machine; receiving a detection signal, wherein the detection signal includes identity information of a source laser positioning sensor and a distance between the source laser positioning sensor and a detection object; Based on the identity information of the source laser positioning sensor and the equipment list, the distance between the source laser positioning sensor and the entrance of the transfer machine is retrieved; Verify whether the distance between the source laser positioning sensor and the detection object is within the set distance range: If yes, the distance between the source laser positioning sensor and the transfer machine entrance is recorded as the distance between the detection object and the transfer machine entrance, and a timestamp is generated; If not, the detection signal is ignored.

3. The method according to claim 2, characterized in that Simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor, including: Arrange the distances between the detection objects with time stamps and the entrance of the transfer machine into a data queue in the order of time stamps; Calculate the time difference between adjacent timestamps, and if the time difference exceeds a set visual threshold, generate a segmentation mark between adjacent timestamps; Splitting the data queue into a plurality of data sequences based on the split flag; Keep the data sequence with the latest timestamp and delete other data sequences; Based on the retained data sequence, a moving route of the detection object is generated through the distance size, distance difference and time difference of adjacent data, and the moving route includes a moving direction and a moving speed.

4. The method according to claim 3, characterized in that If it is confirmed that the moving route passes through the transfer machine entrance area, an alarm message is generated, including: If the moving direction is toward the transfer machine entrance, an alarm message is generated and the sound and light alarm is controlled to start the alarm.

5. The method according to claim 1, characterized in that The minimum distance between the detection object and the loader entrance and the identity information of the detection object are collected through the mine wireless transceiver terminal, including: By means of signal interaction between a mine wireless transceiver terminal installed at the transfer machine entrance and a plurality of handheld terminals, the distances between the plurality of handheld terminals and the transfer machine entrance and the identity information of the persons to whom the handheld terminals belong are generated. The identity information includes authority information, and the authority information is used to indicate whether there is authority to approach the transfer machine entrance. From the distances between multiple handheld terminals and the entrance of the transfer machine, the minimum value is selected as the minimum distance between the detection object and the entrance of the loader.

6. The method according to claim 1, characterized in that The method further comprises: Receive the signal of the emergency stop trigger device to control the transfer machine to stop running urgently.

7. A transfer machine entrance safety control system, characterized in that: include: The first detection module is used to obtain detection signals of multiple laser positioning sensors deployed in the entrance area of ​​the transfer machine; A route generation module, used to simulate the moving route of the detection object based on the position and detection signal of the laser positioning sensor; An alarm generation module, used to generate an alarm message if the moving route passes through the transfer machine entrance area; The second detection module is used to collect the minimum distance between the detection object and the loader entrance and the identity information of the detection object through the mine wireless transceiver terminal; The emergency stop trigger module is used to upgrade the alarm information to an emergency stop instruction if the identity information of the detected object has no authority and the minimum distance is less than the set distance threshold, and control the transfer machine to stop running urgently based on the emergency stop instruction.

8. The system according to claim 7, characterized in that The first detection module comprises: A list pre-storage unit is used to save the distance between the installation position of the laser positioning sensor and the entrance of the transfer machine, as well as the identity information of the laser positioning sensor, to the device list in advance, and multiple laser positioning sensors are arranged at equal intervals along the pedestrian passage in the entrance area of ​​the transfer machine; A signal receiving unit, used to receive a detection signal, wherein the detection signal includes the identity information of the source laser positioning sensor and the distance between the source laser positioning sensor and the detection object; A list matching unit, used for retrieving the distance between the source laser positioning sensor and the entrance of the transfer machine based on the identity information of the source laser positioning sensor and the device list; A signal verification unit is used to verify whether the distance between the source laser positioning sensor and the detection object is within a set distance range: A signal recording unit, for recording the distance between the source laser positioning sensor and the transfer machine entrance as the distance between the detection object and the transfer machine entrance if the distance between the source laser positioning sensor and the detection object is within a set distance range, and generating a timestamp; The signal ignoring unit is used to ignore the detection signal if the distance between the source laser positioning sensor and the detection object is not within a set distance range.

9. A device, characterized in that: include: A memory device for storing a transfer machine entrance safety control program; A processor is used to implement the steps of the transfer machine entrance security control method as described in any one of claims 1-6 when executing the transfer machine entrance security control program.

10. A computer-readable storage medium storing a computer program, characterized in that: The readable storage medium stores a transfer machine entrance security control program, and when the transfer machine entrance security control program is executed by the processor, the steps of the transfer machine entrance security control method as described in any one of claims 1-6 are implemented.

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