A two-way control method and control system for a mine vehicle barrier

Abstract

The present application relates to a two-way control method and control system for a mine car barrier, and relates to the field of mine tunnel safety. The method includes outputting a prompt message when a shuttle car is detected to have arrived at a first designated position of each car barrier, obtaining a first image of the connection between the shuttle car and the cable, a second image of the shuttle car compartment, and video information of various locations of the cable, determining the degree of abnormality of the shuttle car based on the first image, the second image, and the video information, determining a preset prompt message corresponding to the degree of abnormality, and outputting the preset prompt message at a second designated position of each car barrier. When the shuttle car is detected to have arrived at the second designated position of each car barrier and a worker is detected to have triggered a second switch of the two-way control device of the car barrier, obtaining the height values of multiple positions of the lowest railing of the car barrier to the mine ground and the horizontal value of the railing, and determining whether each car barrier is closed normally based on the height values and horizontal values. The present application has the effect of more timely detecting abnormalities in shuttle car transportation.

Description

Technical Field

[0001] The present application relates to the field of mine tunnel safety, and in particular to a two-way control method and control system for a mine vehicle barrier. Background Art

[0002] Coal mining operations often require shuttle cars to transport mined coal from underground to the surface. A winch is connected to the shuttle car via a wire rope, pulling it along the mine's sloped tunnels. However, wire rope breakage can occur during transport, leading to accidents in which the shuttle car runs away, resulting in casualties. Therefore, multiple barriers are installed within the mine to prevent the shuttle car from running away. However, monitoring the status of the shuttle car and the barriers while the shuttle car is moving within the mine is difficult, making it difficult to detect abnormalities based on their status. Therefore, finding anomalies in shuttle car transport more promptly is a challenge. Summary of the Invention

[0003] In order to detect abnormal situations in shuttle car transportation more promptly, the present application provides a two-way control method and control system for a mining vehicle barrier.

[0004] In the first aspect, the present application provides a two-way control method for a mining vehicle barrier, which adopts the following technical solution:

[0005] A two-way control method for a mine vehicle barrier, comprising:

[0006] When it is detected that the shuttle car reaches the first designated position of each barrier, a prompt message is output to enable the staff to trigger the first switch of the barrier bidirectional control device, so that the cylinder is actuated to drive the barrier to open;

[0007] Acquire a first image of the connection between the shuttle car and the cable, a second image of the shuttle car, and video information of various locations on the cable;

[0008] determining the degree of abnormality of the shuttle car based on the first image, the second image, and video information of various locations on the cable;

[0009] Determine the preset prompt information corresponding to the abnormality level and output the preset prompt information at the second designated position of each vehicle barrier;

[0010] When it is detected that the shuttle car reaches the second designated position of each car barrier and it is detected that the staff triggers the second switch of the car barrier's two-way control device, the height values of multiple positions of the lowest railing of the car barrier to the mine ground and the horizontal values of the railing are obtained, and it is judged whether each car barrier is closed normally based on the height values and horizontal values.

[0011] By adopting the above technical solution, when it is detected that the shuttle car reaches the first designated position of each car barrier, it indicates that the shuttle car needs to pass through the car barrier, so a prompt message is output to let the staff know in time that the car barrier needs to be opened. After the staff triggers the first switch, the car barrier opens, and the shuttle car passes through the car barrier. The first image, the second image and the video information of each part of the cable are obtained to facilitate the subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, the first image, the second image and the video information of each part of the cable can accurately analyze the situation of the shuttle car and the cable passing through each car barrier. The degree of abnormality when the car barrier is opened has different prompt information corresponding to different abnormalities. Therefore, the preset prompt information corresponding to the abnormality degree is determined and the preset prompt information is output at the second designated position of each car barrier, so that the staff can timely understand the abnormal conditions of the shuttle car and the cable. When the shuttle car passes the second designated position of each car barrier and it is detected that the staff triggers the second switch of the two-way control device of the car barrier, it means that the car barrier is closed, and the height values of multiple positions of the lowest railing of the car barrier to the mine ground and the horizontal values of the railing are obtained. It is judged whether each car barrier is closed normally based on the height value and the horizontal value. By analyzing the closing status of the shuttle car, cable and car barrier, it is possible to discover abnormal conditions in the shuttle car transportation more timely.

[0012] In another possible implementation, determining the abnormality level of the shuttle car based on the first image, the second image, and video information at various locations of the cable includes:

[0013] Performing feature recognition on the first image to obtain a plurality of feature points at the connection between the shuttle car and the cable;

[0014] Mapping the plurality of feature points into a preset coordinate system to obtain a current scatter plot, and obtaining a previous scatter plot of the shuttle, the previous scatter plot being a scatter plot of a plurality of feature points in a first image of the shuttle at a previous barrier;

[0015] determining a first outlier at a connection between the shuttle and the cable based on the current scatter plot and a previous scatter plot;

[0016] performing coal pile recognition on the second image to obtain coal pile features, and determining a center of gravity position of the coal pile features;

[0017] Based on a deviation value between the center of gravity position and a reference center of gravity position, the deviation value represents a second abnormal value;

[0018] Determining the width of the cable at each location from video information of the cable at each location, and determining the location of burrs on the cable;

[0019] determining a third abnormal value of the cable based on the widths at the various locations and the locations where the burrs exist;

[0020] A total abnormality value is determined based on the first abnormality value, the second abnormality value, and the third abnormality value, wherein the total abnormality value represents the abnormality degree of the shuttle car.

[0021] In another possible implementation, the plurality of feature points include a feature point of the free end of the cable and a plurality of feature points characterizing a cable joint component, and determining a first outlier at the connection between the shuttle and the cable based on the current scatter plot and a previous scatter plot includes:

[0022] Calculating a first similarity between the current scatter plot and a previous scatter plot;

[0023] Calculating a distance between a characteristic point of the free end of the cable and a preset characteristic point, wherein the preset characteristic point is any one of a plurality of characteristic points of the cable connector component;

[0024] sequentially connecting the plurality of characteristic points of the cable joint to obtain a broken line graph, and calculating a second similarity between the broken line graph and a preset broken line graph representing a standard state of the cable joint;

[0025] The first outlier is determined based on the first similarity, the distance, and the second similarity.

[0026] In another possible implementation, determining the third abnormal value of the cable based on the widths at various locations and the locations where the burrs exist includes:

[0027] Determining a target cable segment having a width less than a preset width threshold based on the widths at the various locations;

[0028] Calculate the total length and average width of all target cable segments, and determine the minimum width from the widths at various locations;

[0029] determining a first cable anomaly value for the cable based on the total length, the average width, and the minimum width;

[0030] Determine the number of burrs at each position and the average length of the burrs, and determine the product of the number of burrs at each position and the average length of the burrs;

[0031] determining a ratio of the product to the width of the cable at the corresponding position;

[0032] Determine the average of all ratios and the total number of locations on the cable where burrs are present;

[0033] determining a second cable anomaly value for the cable based on the average value and the total number;

[0034] The third outlier is determined based on the first cable outlier and the second cable outlier.

[0035] In another possible implementation, the method further includes:

[0036] If there is a target position where the ratio of the product to the width of the cable at the corresponding position reaches a preset ratio threshold, an alarm message is output.

[0037] In another possible implementation, judging whether each vehicle barrier is closed normally according to the height value and the level value includes:

[0038] determining whether the horizontal value is within a preset horizontal value interval, and if so, determining a minimum height value from the height values of the plurality of positions;

[0039] If the minimum height value is within the preset height value interval, it is determined that the barrier is closed normally.

[0040] In another possible implementation, the step of obtaining the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of various locations on the cable further includes:

[0041] The air jet device and / or the water jet device are controlled to operate so that the air jet device jets gas toward the cable and / or the water jet device jets water toward the cable.

[0042] In the second aspect, the present application provides a two-way control system for a mining vehicle barrier, which adopts the following technical solution:

[0043] A two-way control system for a mine vehicle barrier, comprising:

[0044] a camera device for collecting a first image of the connection between the shuttle car and the cable, a second image of the shuttle car, and video information of various locations on the cable;

[0045] A two-way control device for a vehicle barrier, comprising a first switch and a second switch, wherein the first switch is used to control the movement of a cylinder to drive the vehicle barrier to open, and the second switch is used to control the movement of a cylinder to drive the vehicle barrier to close, and the first switch and the second switch are respectively located on either side of the vehicle barrier in the mine;

[0046] Multiple distance sensors are used to collect the height values from multiple locations of the bottom rail of the vehicle barrier to the mine ground;

[0047] An angle sensor is provided on the railing of the vehicle barrier and is used to collect the horizontal value of the railing of the vehicle barrier;

[0048] An electronic device is communicatively connected to a camera device, a two-way control device for a car barrier, a plurality of distance sensors, and an angle sensor, and is used to output a prompt message when it is detected that the shuttle car has arrived at a first designated position of each car barrier, so that a staff member triggers a first switch of the two-way control device for the car barrier, so that the cylinder is actuated to drive the car barrier to open, obtain a first image of the connection between the shuttle car and the cable, a second image of the shuttle car compartment, and video information of various locations of the cable, determine the degree of abnormality of the shuttle car based on the first image, the second image, and the video information of various locations of the cable, determine a preset prompt message corresponding to the abnormality, and output the preset prompt message at a second designated position of each car barrier, and when it is detected that the shuttle car has arrived at the second designated position of each car barrier and it is detected that the staff member triggers the second switch of the two-way control device for the car barrier, obtain the height values of multiple positions of the lowest railing of the car barrier to the mine ground and the horizontal value of the railing, and judge whether each car barrier is closed normally based on the height value and the horizontal value.

[0049] By adopting the above technical solution, the camera device collects the first image, the second image and the video information. The barrier two-way control device includes a first switch and a second switch. The first switch is used to control the action of the cylinder to drive the barrier to open, and the second switch is used to control the action of the cylinder to drive the barrier to close. The first switch and the second switch are respectively located on both sides of the barrier in the mine. When it is detected that the shuttle car reaches the first designated position of each barrier, it indicates that the shuttle car needs to pass through the barrier, so a prompt message is output to enable the staff to know in time that the barrier needs to be opened. After the staff triggers the first switch, the barrier opens, and the shuttle car passes through the barrier. The first image, the second image and the video information of each part of the cable are obtained to facilitate the subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable. Therefore, according to the first image, the second image and the video information of each part of the cable, the abnormality degree of the shuttle car and the cable when passing through each car barrier can be accurately analyzed. Different abnormality degrees correspond to different prompt information. Therefore, the preset prompt information corresponding to the abnormality degree is determined and the preset prompt information is output at the second designated position of each car barrier, so that the staff can timely understand the abnormality of the shuttle car and the cable. When the shuttle car passes the second designated position of each car barrier and it is detected that the staff triggers the second switch of the two-way control device of the car barrier, it means that the car barrier is closed, and the height values of the multiple positions of the lowest railing of the car barrier to the mine ground collected by multiple distance sensors and the horizontal value of the railing collected by the angle sensor are obtained. It is judged whether each car barrier is closed normally according to the height value and the horizontal value. By analyzing the closing status of the shuttle car, cable and car barrier, it is possible to more timely discover abnormal conditions in shuttle car transportation.

[0050] In another possible implementation, the barrier two-way control device also includes an air supply duct, a first three-way pipe connected to the air supply duct, a first branch pipe and a second branch pipe respectively connected to the first three-way pipe, a second three-way pipe respectively connected to the first branch pipe and the second branch pipe, and the second three-way pipe is connected to the air inlet of the cylinder on the barrier body; the first switch is arranged on the first branch pipe, and the second switch is arranged on the second branch pipe.

[0051] By adopting the above technical solution, the first branch pipe and the second branch pipe are respectively connected to the air supply duct, that is, the air supply duct is divided into two branches at the barrier, so that it is convenient for the follower on the shuttle car to open and close the barrier while following the shuttle car.

[0052] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0053] An electronic device, comprising:

[0054] at least one processor;

[0055] Memory;

[0056] At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and at least one is configured to: execute a two-way control method for a mining vehicle barrier as shown in any possible implementation of the first aspect.

[0057] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0058] A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to execute a two-way control method for a mining vehicle barrier as described in any one of the first aspects.

[0059] In summary, this application includes at least one of the following beneficial technical effects:

[0060] When it is detected that the shuttle car reaches the first designated position of each car barrier, it indicates that the shuttle car needs to pass through the car barrier, so a prompt message is output to inform the staff in time that the car barrier needs to be opened. After the staff triggers the first switch, the car barrier opens, and the shuttle car passes through the car barrier. The first image, the second image and the video information of each part of the cable are obtained to facilitate the subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, the abnormality of the shuttle car and the cable when passing through each car barrier can be accurately analyzed based on the first image, the second image and the video information of each part of the cable. Different degrees of abnormality correspond to different prompt information, so the preset prompt information corresponding to the abnormality degree is determined and the preset prompt information is output at the second designated position of each car barrier, so that the staff can timely understand the abnormal conditions of the shuttle car and the cable. When the shuttle car passes the second designated position of each car barrier and it is detected that the staff triggers the second switch of the two-way control device of the car barrier, it means that the car barrier is closed, and the height values of multiple positions of the lowest railing of the car barrier to the mine ground and the horizontal values of the railing are obtained. It is judged whether each car barrier is closed normally based on the height value and the horizontal value. By analyzing the closing status of the shuttle car, cable and car barrier, it is possible to discover abnormal conditions in the shuttle car transportation more timely. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a flow chart of a two-way control method of a mining vehicle barrier in an embodiment of the present application.

[0062] Figure 2 It is a structural schematic diagram of a two-way control system for a mining vehicle barrier according to an embodiment of the present application.

[0063] Figure 3 It is a schematic diagram of the specific structure of the two-way control device of the vehicle barrier in the embodiment of the present application.

[0064] Figure 4 It is a structural diagram of an electronic device according to an embodiment of the present application.

[0065] Description of the accompanying drawings: 1. Camera device; 2. Bidirectional control device for the car barrier; 21. First switch; 22. Second switch; 23. Air supply duct; 24. First three-way pipe; 25. First branch pipe; 26. Second branch pipe; 27. Second three-way pipe; 28. Cylinder; 3. Distance sensor; 4. Angle sensor; 5. Electronic device; 51. Processor; 52. Bus; 53. Memory; 54. Transceiver. DETAILED DESCRIPTION

[0066] The present application is further described in detail below with reference to the accompanying drawings.

[0067] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0068] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0069] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates an "or" relationship between the related objects.

[0070] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0071] The embodiment of the present application provides a two-way control method for a mining vehicle barrier, which is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication. The embodiment of the present application does not limit this. Figure 1 As shown, the method includes steps S101, S102, S103, S104 and S105, wherein:

[0072] S101, when it is detected that the shuttle car reaches the first designated position of each car barrier, a prompt message is output to enable the staff to trigger the first switch of the car barrier two-way control device to activate the cylinder to drive the car barrier to open.

[0073] In the embodiment of the present application, the shuttle car generally includes four load-bearing wheels and a carriage, and is pulled and moved by a winch at the mine entrance. Workers can install an infrared radiation device in the mine. The infrared radiation device includes an infrared emitting tube and an infrared receiving tube. The infrared emitting tube and the infrared receiving tube are respectively located on the side walls of the mine. The infrared radiation device is located at the position where the shuttle car is about to reach the barrier in the upward direction, that is, the first designated position. When the shuttle car reaches the first designated position, the shuttle car blocks the infrared light emitted by the infrared radiation tube. Therefore, the infrared receiving tube cannot receive the infrared light and outputs a detection signal. The infrared radiation device is connected to the electronic device through a wire, so that the electronic device receives the detection signal and then knows that the shuttle car has reached the first designated position.

[0074] A display screen or indicator light is installed on the side wall of the first designated position in the mine. The display screen or indicator light is connected to the electronic device through a wire. After the electronic device detects that the shuttle car has reached the first designated position, it can control the display screen to display a text prompt message "Please trigger the first switch" or control the indicator light to light up, so that the staff will know in time that the first switch needs to be triggered, and then open the barrier to allow the shuttle car to pass.

[0075] S102, acquiring a first image of the connection between the shuttle car and the cable, a second image of the shuttle car compartment, and video information of various locations on the cable.

[0076] For the embodiment of the present application, a camera device is also installed at the vehicle barrier inside the mine or at the top of the mine. The camera device is connected to the electronic device through a wire and is used to collect a first image of the connection between the shuttle car and the cable, a second image of the shuttle car, and video information at various locations on the cable.

[0077] S103: Determine the abnormality level of the shuttle car based on the first image, the second image, and the video information of various locations on the cable.

[0078] For the embodiment of the present application, the first image records the specific situation of the connection between the cable and the shuttle car, and the second image records the specific situation in the shuttle car. The camera device always collects video information of the cable passing through the barrier at various locations at the barrier. The video information at various locations of the cable records the specific situation at various locations of the cable. Therefore, the electronic device can accurately determine the degree of abnormality of the shuttle car based on the first image, the second image and the video information at various locations of the cable.

[0079] S104: Determine preset prompt information corresponding to the abnormality level and output the preset prompt information at a second designated position of each vehicle barrier.

[0080] In the embodiment of the present application, different preset prompt information corresponds to different abnormality levels. The electronic device stores preset prompt information corresponding to different abnormality levels. The electronic device can determine the corresponding preset prompt information based on the determined abnormality level. The second designated position is also equipped with a display screen or indicator light. The preset prompt information can be abnormality levels corresponding to different abnormality levels. The electronic device controls the display screen to display the abnormality level corresponding to the abnormality level, thereby facilitating the staff to promptly know the abnormality level of the current shuttle car. The preset prompt information can also be different colors. The electronic device can control the indicator light to light up according to the color corresponding to the abnormality level, which also facilitates the staff to promptly know the abnormality level of the current shuttle car.

[0081] S105, when it is detected that the shuttle car reaches the second designated position of each car barrier and it is detected that the staff triggers the second switch of the two-way control device of the car barrier, the height values of multiple positions of the lowest railing of the car barrier to the mine ground and the horizontal value of the railing are obtained, and it is judged whether each car barrier is closed normally based on the height value and the horizontal value.

[0082] In this embodiment of the present application, each barrier is also equipped with an infrared emitting device at the second designated position. Whether the shuttle car blocks the infrared light emitted by the infrared emitting tube can be used to determine whether the shuttle car has reached the second designated position. The second switch of the barrier's bidirectional control device can be connected to an electronic device via a wire. When a worker on the shuttle car triggers the second switch, the second switch outputs a detection signal. Upon receiving this detection signal, the electronic device detects that the barrier is closed. Once the electronic device detects that the shuttle car has reached the second designated position and that the worker has triggered the second switch, it indicates that the shuttle car has completely passed through the barrier and is about to close. An angle sensor is installed on the barrier's railing to measure the horizontal tilt angle of the railing. Similarly, multiple distance sensors are installed on the mine floor directly below the barrier to measure the distance from the lowest railing of the barrier to the mine floor, i.e., the height values at multiple locations. If the barrier's tilt angle is too large and a runaway car accident occurs, the barrier may not be able to fully block the shuttle car, causing it to continue moving downward. If the height value is too high or too low and a runaway accident occurs, the barrier may not be able to fully block the shuttle, causing the shuttle to continue moving downward. The electronic equipment can more accurately determine whether the barrier is closed properly based on the height and level values. By analyzing the closing status of the shuttle, cable, and barrier, abnormalities in shuttle transportation can be discovered more promptly.

[0083] In one possible implementation of the embodiment of the present application, step S103 determines the abnormality of the shuttle based on the first image, the second image, and the video information of each portion of the cable, specifically including steps S1031 (not shown in the figure), step S1032 (not shown in the figure), step S1033 (not shown in the figure), step S1034 (not shown in the figure), step S1035 (not shown in the figure), step S1036 (not shown in the figure), step S1037 (not shown in the figure), and step S1038 (not shown in the figure), wherein:

[0084] S1031: Perform feature recognition on the first image to obtain multiple feature points at the connection between the shuttle and the cable.

[0085] In this embodiment of the present application, the electronic device inputs the first image into a trained network model for feature recognition, thereby identifying multiple characteristic points at the connection between the shuttle and the cable. These characteristic points include characteristic points at the cable joint and characteristic points of the joint components on the shuttle. By analyzing the characteristic points at the cable joint and the characteristic points of the joint components, the degree of abnormality between the cable and the joint can be determined. Specifically, the network model can be a convolutional neural network model, a recurrent neural network model, or other types of network models, which are not limited here.

[0086] S1032: Map the multiple feature points into a preset coordinate system to obtain a current scatter plot, and obtain a previous scatter plot of the shuttle.

[0087] The previous scatter plot is a scatter plot of multiple feature points in the first image of the shuttle at the previous barrier.

[0088] In this embodiment of the present application, the preset coordinate system is a plane rectangular coordinate system. The electronic device maps multiple feature points into the preset coordinate system to obtain a scatter plot of the current state of the cable and joint, namely, the current scatter plot. As the shuttle passes each barrier, it captures a first image and generates a scatter plot of the cable and joint. The electronic device obtains the scatter plot of the previous barrier passed by the shuttle and compares it with the current scatter plot to analyze whether the state of the cable and joint has changed since the previous passage, thereby determining the degree of abnormality in the cable and joint.

[0089] S1033: Determine a first abnormal value at the connection between the shuttle and the cable based on the current scatter plot and the previous scatter plot.

[0090] In the embodiment of the present application, the electronic device can determine the difference between the current scatter plot and the previous scatter plot by comparing the two scatter plots. Therefore, the electronic device can determine the first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot.

[0091] S1034: Perform coal pile recognition on the second image to obtain coal pile features, and determine the center of gravity position of the coal pile features.

[0092] In this embodiment of the present application, the electronic device can input the second image into a trained network model to perform coal pile recognition. After identifying the coal pile features, the center of gravity of the coal pile features can be determined. The electronic device can segment the coal pile features into multiple simple shapes (such as rectangles, triangles, etc.), calculate the center of gravity of each simple shape, and finally calculate the overall center of gravity according to the following formula:

[0093]

[0094] in, and is the coordinate of the overall center of gravity of the coal pile characteristics, is the area of each simple shape, and are the coordinates of the center of gravity of each simple shape. Indicates starting from the first simple graph. Represents the last simple graph, which is divided into indivual.

[0095] S1035, based on the deviation value between the center of gravity position and the reference center of gravity position.

[0096] The deviation value represents the second abnormal value.

[0097] For the embodiment of the present application, the reference center of gravity position can be a certain center of gravity reference point on the shuttle car. The electronic device can calculate the distance between the center of gravity position of the coal pile characteristic and the reference center of gravity position through the distance formula between the two points, that is, the deviation value. The larger the deviation value, the greater the possibility of a sports car accident and the higher the degree of abnormality. Therefore, the deviation value represents the second abnormal value of the center of gravity of the shuttle car.

[0098] S1036, determining the width of the cable at each location from the video information of the cable at each location, and determining the location of the burr on the cable.

[0099] In the embodiment of the present application, the electronic device performs edge detection on each frame of the video information of each part of the cable to segment the cable image. The electronic device can determine the width of the cable at each part by calculating the number of pixels in the width of the cable image. The smaller the width, the lower the strength of the cable, and the more likely it is to cause a sports car accident. The electronic device performs burr feature recognition on each cable image through a trained network model to identify whether there are burrs on the cable. If there are burrs, the position of the burrs on the cable is determined. The appearance of burrs indicates that a single steel wire of the cable is broken, resulting in lower strength of the cable and an increased risk of sports car accidents.

[0100] S1037: Determine a third abnormal value of the cable based on the widths at various locations and the locations where the burrs exist.

[0101] In the embodiment of the present application, the width of the cable at various locations and the location of the burrs are key factors affecting the degree of cable abnormality. Therefore, the electronic device can determine the third abnormal value of the cable based on the width of the cable at various locations and the location of the burrs.

[0102] S1038: Determine a total outlier value based on the first outlier value, the second outlier value, and the third outlier value.

[0103] Among them, the total abnormal value represents the abnormality degree of the shuttle car.

[0104] In the embodiments of the present application, the first, second, and third abnormal values are all abnormal values of the shuttle and cable determined from different perspectives. The electronic device can sum these three abnormal values to obtain a total abnormal value, which is used to represent the abnormality level of the entire shuttle. The abnormality level obtained by comprehensively considering the above factors is more accurate.

[0105] In a possible implementation of the embodiment of the present application, the multiple feature points include feature points of the free end of the cable and multiple feature points representing the cable joint components. In step S1033, a first outlier at the connection between the shuttle car and the cable is determined based on the current scatter plot and the previous scatter plot, specifically including step S1 (not shown in the figure), step S2 (not shown in the figure), step S3 (not shown in the figure), and step S4 (not shown in the figure), wherein:

[0106] S1, calculating the first similarity between the current scatter plot and the previous scatter plot.

[0107] In this embodiment of the present application, the electronic device can calculate the cosine distance between the current scatter plot and the previous scatter plot, and use the cosine distance to represent the first similarity. A higher first similarity indicates that the state of the connection between the cable and the shuttle car has changed less since passing through the previous barrier, indicating a smaller degree of abnormality.

[0108] S2, calculating the distance between the characteristic point of the free end of the cable and the preset characteristic point.

[0109] The preset feature point is any one of a plurality of feature points of the cable joint component.

[0110] Corresponding to the embodiment of the present application, the cable joint component is arranged at the front of the shuttle car to fix the cable, such as a wedge-shaped joint. The preset characteristic point can be the end point of the cable joint component away from the shuttle car. The electronic device can calculate the distance between the characteristic point of the free end of the cable and the preset characteristic point through the distance formula between the two points. The shorter the distance, the closer the free end of the cable is to the cable joint component, and the greater the possibility of the cable falling off the cable joint component, which further indicates that the possibility of a sports car accident is greater and the degree of abnormality is higher.

[0111] S3, connecting multiple characteristic points of the cable joint in sequence to obtain a broken line graph, and calculating a second similarity between the broken line graph and a preset broken line graph representing a standard state of the cable joint.

[0112] In this embodiment of the present application, the multiple characteristic points of the cable connector component may represent the outer contour of the cable connector component. The electronic device may sequentially connect the multiple characteristic points of the cable connector in the scatter plot to generate a line graph representing the outer contour of the cable connector component. The electronic device calculates a second similarity between the line graph and a preset line graph. A higher second similarity indicates that the state of the cable connector is closer to the standard state of the cable connector component when it is secure, which in turn indicates a lower likelihood of an abnormality in the cable connector component and a lower likelihood of a sports car accident.

[0113] S4: Determine a first outlier based on the first similarity, the distance, and the second similarity.

[0114] For the embodiments of the present application, in summary, the first similarity, distance and second similarity are all key factors for characterizing the degree of abnormality at the connection between the cable and the shuttle car, and have different degrees of influence on the degree of abnormality. Therefore, the staff can set corresponding coefficients for the first similarity, distance and second similarity and store them in the local storage medium in the electronic device. After the electronic device determines the first similarity, distance and second similarity, it calls the corresponding coefficients to perform weighted calculation to obtain the first abnormality value of the connection between the cable and the shuttle car. The first abnormality value determined by comprehensively determining the first similarity and other features is more accurate.

[0115] In a possible implementation of the embodiment of the present application, step S1037 determines the third abnormal value of the cable based on the width of each location and the location where the burr exists, specifically including step Sa (not shown in the figure), step Sb (not shown in the figure), step Sc (not shown in the figure), step Sd (not shown in the figure), step Se (not shown in the figure), step Sf (not shown in the figure), step Sg (not shown in the figure), and step Sh (not shown in the figure), wherein:

[0116] Sa, a target cable segment having a width smaller than a preset width threshold is determined based on the widths at various locations.

[0117] For the embodiment of the present application, the preset width threshold serves as the dividing point for whether the cable width is too small. If the cable width is less than the preset width threshold, it indicates that the possibility of cable breakage is greater. Therefore, the electronic device compares the width at each location with the preset width threshold to determine the target cable segment, that is, the cable segment with a smaller width.

[0118] Sb, calculate the total length and average width of all target cable segments, and determine the minimum width from the widths at various locations.

[0119] In this embodiment of the present application, the electronic device calculates the total length of all target cable segments using a summation formula. A longer total length indicates a greater proportion of smaller cable widths, and a higher likelihood of breakage. The electronic device then uses an average calculation formula to calculate the average width of all target cable segments. This average width more accurately represents the width of all target cable segments as a whole. The electronic device then sorts the widths at each location to determine the minimum width, which is also a key factor influencing the likelihood of cable breakage.

[0120] Sc, a first cable anomaly value regarding the cable is determined based on the total length, the average width, and the minimum width.

[0121] For the embodiment of the present application, the total length, average width and minimum width of the target cable segment are all key factors in characterizing the degree of abnormality of the cable itself, and the degree of influence on the degree of abnormality is different. Therefore, the staff can set corresponding coefficients for the total length, average width and minimum width and store them in the local storage medium of the electronic device. After the electronic device determines the total length, average width and minimum width, it calls the corresponding coefficients for weighted calculation to obtain the first cable abnormality value that characterizes the state of the cable itself from the aspect of cable width. The first cable abnormality value determined by comprehensively considering characteristics such as the total length is more accurate.

[0122] Sd, determine the number of burrs and the average length of the burrs at each position, and determine the product of the number of burrs and the average length of the burrs at each position.

[0123] In the embodiment of the present application, the electronic device counts the burrs at each location to obtain the number of burrs at each location. The greater the number of burrs at a certain location, the greater the number of broken wires, and the greater the possibility of the cable breaking at that location. The electronic device calculates the average length of the burrs at each location using an average value calculation formula. The longer the average length of the burrs at a certain location, the more obvious the burrs at that location, the more severe the spread of the wire rope, and the lower the strength of the cable at that location. The electronic device multiplies the number of burrs at each location by the average length of the burrs to obtain the product. The larger the product at a certain location, the higher the degree of burr abnormality at that location.

[0124] Se, determine the ratio of the product to the width of the cable at the corresponding position.

[0125] In the embodiment of the present application, the electronic device determines the product of the burr at each location and divides the product by the cable width at the corresponding location to obtain a ratio. Since the product is inversely proportional to the cable strength, and the width is directly proportional to the cable strength, a larger ratio at a certain location indicates a higher degree of abnormality at that location and a higher risk of breakage, and vice versa. In other words, the ratio represents the magnitude of the abnormal characteristic value at the location where the burr is located on the cable.

[0126] Sf, determine the average value of all ratios and the total number of all locations on the cable where burrs are present.

[0127] For the embodiment of the present application, after the electronic device determines the ratio of all the locations where burrs exist, it averages all the ratios to obtain the average value of all the ratios, and uses the average value to overall represent the abnormality degree of all the locations where burrs exist on the cable. The electronic device counts the locations where burrs exist to obtain the total number of locations where burrs exist.

[0128] Sg, a second cable outlier value regarding the cable is determined based on the average value and the total number.

[0129] For the embodiment of the present application, the larger the average value, the greater the abnormality of the cable itself, and the more locations where burrs are present, the greater the abnormality of the cable itself. In summary, the average value and the total number are both key factors in characterizing the abnormality of the cable itself, and have different degrees of influence on the abnormality. Therefore, the staff can set corresponding coefficients for the average value and the total number and store them in the local storage medium of the electronic device. After the electronic device determines the average value and the total number, it calls the corresponding coefficients for weighted calculation to obtain a second cable abnormality value that characterizes the state of the cable itself from the perspective of cable burrs. The second cable abnormality value determined by comprehensively considering the characteristics such as the number of burrs and the ratio is more accurate.

[0130] Sh, a third abnormal value is determined based on the first cable abnormal value and the second cable abnormal value.

[0131] In this embodiment of the present application, after the electronic device determines the first and second cable abnormality values, it can sum the first and second cable abnormality values to obtain a total abnormality value. This total abnormality value is the third abnormality value representing the cable. The electronic device can more accurately determine the third abnormality value of the cable by comprehensively determining the third abnormality value based on the cable width and burrs.

[0132] In a possible implementation of the embodiment of the present application, step Se further includes step Si (not shown in the figure), wherein:

[0133] Si, if there is a target position where the ratio of the product to the width of the cable at the corresponding position reaches a preset ratio threshold, an alarm message is output.

[0134] For the embodiment of the present application, a preset ratio threshold is used as a dividing point for an excessively large ratio. If the ratio at a certain position reaches the preset ratio threshold, it means that the width of the cable at that position is too small but the abnormal degree of the burr is too large. The possibility that the cable is about to break at that position is greater, and the possibility of an impending sports car accident is also greater. Therefore, the electronic device outputs an alarm message. Specifically, the electronic device can send a text message or make a phone call to the terminal device of the staff on the shuttle car, that is, the follower, so that the follower is informed of the impending sports car accident in a timely manner.

[0135] In a possible implementation of the embodiment of the present application, in step S105, it is determined whether each barrier is closed normally according to the height value and the level value, which specifically includes step S1051 (not shown in the figure) and step S1052 (not shown in the figure), wherein:

[0136] S1051, determining whether the horizontal value is within a preset horizontal value interval; if it is within the preset horizontal value interval, determining a minimum height value from the height values of the multiple positions.

[0137] S1052: If the minimum height value is within the preset height value range, it is determined that the barrier is closed normally.

[0138] In the embodiment of the present application, the electronic device compares the horizontal value with a preset horizontal value interval, such as [-10°, 10°]. If the horizontal value is within the preset horizontal value interval, it indicates that the horizontal posture of the barrier bar meets the requirements. Therefore, the electronic device further determines the minimum height value from the height values of multiple positions. The preset height value interval serves as the interval for determining whether the lowest barrier bar of the barrier bar meets the height requirements. The preset height value interval is, for example, [20cm, 30cm]. If the minimum height value is within the preset height value interval, it indicates that the height of the barrier bar meets the requirements. If the height of the lowest barrier bar is too high or too low, the shuttle car cannot be effectively blocked, causing the shuttle car to continue to move downward into the mine. Similarly, if the barrier bar horizontal value is not within the preset horizontal value interval, it indicates that the barrier bar is too tilted and cannot effectively block the shuttle car. Therefore, if the horizontal value is not within the preset horizontal value interval, it is determined that the barrier bar is abnormally closed. If the horizontal value is within the preset horizontal value interval but the height value is not within the preset height value interval, it is determined that the barrier bar is abnormally closed. The electronic device determines more accurately whether the barrier is closed normally through the horizontal value and height value of the barrier.

[0139] In a possible implementation of the embodiment of the present application, step S102 is preceded by step 1, wherein:

[0140] Step 1: Control the air jet device and / or the water jet device to operate so that the air jet device sprays gas toward the cable and / or the water jet device sprays water toward the cable.

[0141] For the embodiments of the present application, the electronic device is connected to the jet device and / or water spray device through a wire. The jet device and / or water spray device are arranged under the ground of the mine, with the jet port and / or water spray port facing upward. The electronic device sends a control instruction to the jet device and / or water spray device, so that the jet device and / or water spray device is operated to spray high-speed gas or high-speed water flow to the cable, so as to clear the floating dust or coal ash attached to the surface of the cable, thereby making the cable clearer in the first image and the video information of various parts of the cable, reducing the impact of impurities such as floating dust or coal ash on the cable analysis.

[0142] The above embodiment introduces a two-way control method of a mine vehicle barrier from the perspective of method flow. The following embodiment introduces a two-way control system of a mine vehicle barrier. Please refer to the following embodiment for details.

[0143] The embodiment of the present application provides a two-way control system for a mine vehicle barrier, such as Figure 2 As shown, a two-way control system for a mine vehicle barrier may specifically include:

[0144] The camera device 1 is used to collect a first image of the connection between the shuttle car and the cable, a second image of the shuttle car, and video information of various parts of the cable;

[0145] The vehicle barrier bidirectional control device 2 includes a first switch 21 and a second switch 22. The first switch 21 is used to control the movement of the cylinder 28 to drive the vehicle barrier to open, and the second switch 22 is used to control the movement of the cylinder 28 to drive the vehicle barrier to close. The first switch 21 and the second switch 22 are respectively located on both sides of the vehicle barrier in the mine;

[0146] Multiple distance sensors 3, used to collect height values from multiple locations of the bottom rail of the vehicle barrier to the mine ground;

[0147] An angle sensor 4, provided on the railing of the barrier, for collecting the horizontal value of the railing of the barrier;

[0148] The electronic device 5 is communicatively connected to the camera device 1, the vehicle barrier bidirectional control device 2, the multiple distance sensors 3, and the angle sensor 4, and is used to execute a bidirectional control method for a mining vehicle barrier in the above embodiment.

[0149] In this embodiment of the present application, a camera device 1 is installed in the mine above each barrier. This device is used to capture real-time video information of the cable, a first image of the connection between the cable and the shuttle car as the shuttle car passes through the barrier, and a second image of the shuttle car body. When the shuttle car passes through the barrier and reaches a first designated position, the shuttle car's driver triggers a first switch 21 on the barrier's two-way control device 2, thereby opening the barrier. When the shuttle car completely passes through the barrier and reaches a second designated position, the driver triggers a second switch 22 on the barrier's two-way control device 2, thereby closing the barrier. After the barrier is closed, multiple distance sensors 3 measure the height from multiple locations of the barrier's lowest railing to the mine floor. In other embodiments, multiple distance sensors 3 can also be evenly spaced on the barrier's lowest railing and facing the mine floor. An angle sensor 4 measures the horizontal value of the barrier's railing. Based on the multiple height and horizontal values, it is determined whether the barrier is closed properly. Electronic device 5 analyzes the first image, the second image, and the video information at various locations on the cable according to the method described in the above-mentioned method embodiment to determine the degree of abnormality of the shuttle vehicle. Electronic device 5 detects that the driver triggers second switch 22, indicating that the barrier is closed. Electronic device 5 then determines whether the barrier is closed normally according to the method disclosed in steps S1051 and S1052 of the above-mentioned method embodiment.

[0150] The electronic device 5 can be connected to the camera device 1 , the second switch 22 of the vehicle barrier two-way control device 2 , the multiple distance sensors 3 , and the angle sensor 4 through wires.

[0151] A possible implementation of an embodiment of the present application is that the two-way control device 2 for the car barrier also includes an air supply duct 23, a first three-way pipe 24 connected to the air supply duct 23, a first branch pipe 25 and a second branch pipe 26 respectively connected to the first three-way pipe 24, a second three-way pipe 27 respectively connected to the first branch pipe 25 and the second branch pipe 26, and the second three-way pipe 27 is connected to the air inlet of the cylinder 28 on the car barrier body; the first switch 21 is arranged on the first branch pipe 25, and the second switch 22 is arranged on the second branch pipe 26.

[0152] Reference Figure 3The air supply duct 23 is laid along the mine's excavation direction and can be located at the mine's roof. A first tee 24 is installed at each barrier in the air supply duct 23. Each barrier corresponds to a first branch 25 and a second branch 26. The first branch 25 and the second branch 26 are connected to the first tee 24, respectively. A first switch 21 is installed on the first branch 25, and a second switch 22 is installed on the second branch 26. The first and second switches 21 and 22 can be solenoid valves. A second tee 27 is also connected to the ends of the first and second branches 25 and 26, distal from the air supply duct 23. The second tee 27 is connected to the air inlet of the cylinder 28 in the barrier body. When the shuttle car reaches the first designated position, the shuttle car's driver triggers the first switch 21 to open the barrier without having to dismount. When the shuttle car passes through the barrier and reaches the second designated position, the driver triggers the second switch 22 to close the barrier, providing convenient operation for the driver.

[0153] It should be noted that the car barrier includes two bases arranged on the ground of the mine, and multiple elastic ribs are fixed on each base. The end of each elastic rib away from the base is fixedly connected to a railing. The two bases are respectively located on both sides of the shuttle car's travel direction in the mine passage. The railing can be a "U"-shaped structure. Each elastic rib on the two bases is respectively fixed at both ends of each railing. Multiple railings are arranged horizontally and in parallel. Support rods perpendicular to the railings are fixed on multiple railings to fix the multiple railings into a whole. The number of cylinders can be two. The cylinder body of the cylinder is arranged at the top of the mine. The telescopic rod of the cylinder is fixedly connected to the railing. When the telescopic rod of the cylinder is shortened, the cylinder drives the railing to move toward the top of the mine to leave space for the shuttle car to pass through. When the telescopic rod of the cylinder is extended, the cylinder drives the railing to move to the bottom of the mine to close the car barrier.

[0154] In other embodiments, the vehicle barrier can be a pneumatic transverse vehicle barrier comprising two load-bearing columns installed on the mine floor, one of which is located on either side of the mine passage in the direction of travel of the shuttle car. A railing is rotatably connected to one of the load-bearing columns, and the railing can rotate horizontally along the load-bearing column. When the railing rotates to the other load-bearing column, the other load-bearing column acts as a limiter, preventing the railing from further rotation, and the railing is limited to rotating on the side near the mine entrance. A cylinder is installed at the top of the load-bearing column to which the railing is mounted, and the cylinder body is rotatably connected to the load-bearing column. The telescopic rod of the cylinder is fixedly connected to the top of the railing. The extension and retraction of the cylinder telescopic rod drives the railing to rotate and open and close the railing. Due to the complex geological environment in the mine, the vibrations generated by geological activities or mechanical operation may cause the load-bearing columns to loosen and then tilt. If the car barrier is a horizontal car barrier, an angle sensor can be installed at the rotating shaft of the railing or at the cylinder body of the cylinder and the rotating shaft of the load-bearing column. By combining the rotation angle of the railing, the height between the railing and the ground, and the horizontal angle value, it can be determined whether the car barrier is closed normally. When the shuttle car runs away, the railing blocks the shuttle car, making it difficult for the shuttle car to continue to slide down the mine. The above two structures of the car barrier are clear to technicians in the field, so they are no longer explained through the drawings.

[0155] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described two-way control system of a mining vehicle barrier can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0156] An electronic device is provided in an embodiment of the present application, such as Figure 4 As shown, Figure 4 The electronic device 5 shown includes a processor 51 and a memory 53. The processor 51 and the memory 53 are connected, for example, via a bus 52. Optionally, the electronic device 5 may further include a transceiver 54. It should be noted that in actual applications, the number of transceivers 54 is not limited to one, and the structure of the electronic device 5 does not constitute a limitation on the embodiments of the present application.

[0157] The processor 51 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor 51 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, or a combination of a DSP and a microprocessor.

[0158] The bus 52 may include a path for transmitting information between the above components. The bus 52 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 52 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus.

[0159] The memory 53 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0160] The memory 53 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 51. The processor 51 is used to execute the application code stored in the memory 53 to implement the content shown in the above method embodiment.

[0161] Electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. They may also include servers, etc. Figure 4 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0162] The embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content of the aforementioned method embodiment. Compared with the related art, in the embodiment of the present application, when it is detected that the shuttle car reaches the first designated position of each car barrier, it indicates that the shuttle car needs to pass through the car barrier, so a prompt message is output to let the staff know in time that the car barrier needs to be opened. After the staff triggers the first switch, the car barrier opens, and the shuttle car passes through the car barrier. The first image, the second image and the video information of each part of the cable are obtained to facilitate the subsequent monitoring of the status of the shuttle car and the cable. Since the first image records the specific situation of the connection between the cable and the shuttle car, the second image records the specific situation of the shuttle car compartment, and the video information of each part of the cable records the specific situation of each part of the entire cable, the first image, the second image and the video information of each part of the cable can accurately analyze the situation of the shuttle car and the cable in the passage. The degree of abnormality when passing through each barrier is different, and the prompt information corresponding to different degrees of abnormality is different. Therefore, the preset prompt information corresponding to the degree of abnormality is determined and the preset prompt information is output at the second designated position of each barrier, so that the staff can timely understand the abnormal conditions of the shuttle car and the cable. When the shuttle car passes the second designated position of each barrier and it is detected that the staff triggers the second switch of the two-way control device of the barrier, it means that the barrier is closed, and the height values of multiple positions of the lowest railing of the barrier to the mine ground and the horizontal values of the railing are obtained. It is judged whether each barrier is closed normally based on the height value and the horizontal value. By analyzing the closing status of the shuttle car, cable and barrier, it is possible to discover abnormal conditions in the shuttle car transportation more timely.

[0163] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0164] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A two-way control method for a mine vehicle barrier, characterized in that: include: When it is detected that the shuttle car reaches the first designated position of each barrier, a prompt message is output to enable the staff to trigger the first switch of the barrier bidirectional control device, so that the cylinder is actuated to drive the barrier to open; Acquire a first image of the connection between the shuttle car and the cable, a second image of the shuttle car, and video information of various locations on the cable; determining the degree of abnormality of the shuttle car based on the first image, the second image, and video information of various locations on the cable; Determine the preset prompt information corresponding to the abnormality level and output the preset prompt information at the second designated position of each vehicle barrier; When it is detected that the shuttle car reaches the second designated position of each car barrier and it is detected that the staff triggers the second switch of the car barrier two-way control device, the height values of multiple positions of the lowermost railing of the car barrier to the mine ground and the horizontal value of the railing are obtained, and it is determined whether each car barrier is closed normally based on the height values and the horizontal values; The determining of the abnormality level of the shuttle car based on the first image, the second image, and the video information of various locations of the cable includes: Performing feature recognition on the first image to obtain a plurality of feature points at the connection between the shuttle car and the cable; Mapping the plurality of feature points into a preset coordinate system to obtain a current scatter plot, and obtaining a previous scatter plot of the shuttle, the previous scatter plot being a scatter plot of a plurality of feature points in a first image of the shuttle at a previous barrier; determining a first outlier at a connection between the shuttle and the cable based on the current scatter plot and a previous scatter plot; performing coal pile recognition on the second image to obtain coal pile features, and determining a center of gravity position of the coal pile features; Based on a deviation value between the center of gravity position and a reference center of gravity position, the deviation value represents a second abnormal value; Determining the width of the cable at each location from video information of the cable at each location, and determining the location of burrs on the cable; determining a third abnormal value of the cable based on the widths at the various locations and the locations where the burrs exist; A total abnormality value is determined based on the first abnormality value, the second abnormality value, and the third abnormality value, wherein the total abnormality value represents the abnormality degree of the shuttle car.

2. A two-way control method for a mine vehicle barrier according to claim 1, characterized in that: The plurality of feature points include a feature point of the free end of the cable and a plurality of feature points representing cable joint components. Determining a first abnormal value at the connection between the shuttle car and the cable based on the current scatter plot and the previous scatter plot includes: Calculating a first similarity between the current scatter plot and a previous scatter plot; Calculating a distance between a characteristic point of the free end of the cable and a preset characteristic point, wherein the preset characteristic point is any one of a plurality of characteristic points of the cable connector component; sequentially connecting the plurality of characteristic points of the cable joint to obtain a broken line graph, and calculating a second similarity between the broken line graph and a preset broken line graph representing a standard state of the cable joint; The first outlier is determined based on the first similarity, the distance, and the second similarity.

3. A two-way control method for a mine vehicle barrier according to claim 1, characterized in that: The determining of the third abnormal value of the cable based on the widths at various locations and the locations where the burrs exist comprises: Determining a target cable segment having a width less than a preset width threshold based on the widths at the various locations; Calculate the total length and average width of all target cable segments, and determine the minimum width from the widths at various locations; determining a first cable anomaly value for the cable based on the total length, the average width, and the minimum width; Determine the number of burrs at each position and the average length of the burrs, and determine the product of the number of burrs at each position and the average length of the burrs; determining a ratio of the product to the width of the cable at the corresponding position; Determine the average of all ratios and the total number of locations on the cable where burrs are present; determining a second cable anomaly value for the cable based on the average value and the total number; The third outlier is determined based on the first cable outlier and the second cable outlier.

4. A two-way control method for a mine vehicle barrier according to claim 3, characterized in that: The method further comprises: If there is a target position where the ratio of the product to the width of the cable at the corresponding position reaches a preset ratio threshold, an alarm message is output.

5. A two-way control method for a mine vehicle barrier according to claim 1, characterized in that: The step of judging whether each barrier is closed normally according to the height value and the level value includes: determining whether the horizontal value is within a preset horizontal value interval, and if so, determining a minimum height value from the height values of the plurality of positions; If the minimum height value is within the preset height value interval, it is determined that the barrier is closed normally.

6. A two-way control method for a mining vehicle barrier according to claim 1, characterized in that: The step of obtaining the first image of the connection between the shuttle car and the cable, the second image of the shuttle car compartment, and the video information of various locations on the cable also includes: The air jet device and / or the water jet device are controlled to operate so that the air jet device jets gas toward the cable and / or the water jet device jets water toward the cable.

7. A two-way control system for a mine vehicle barrier, characterized in that: include: a camera device for collecting a first image of the connection between the shuttle car and the cable, a second image of the shuttle car, and video information of various locations on the cable; A two-way control device for a vehicle barrier, comprising a first switch and a second switch, wherein the first switch is used to control the movement of a cylinder to drive the vehicle barrier to open, and the second switch is used to control the movement of a cylinder to drive the vehicle barrier to close, and the first switch and the second switch are respectively located on either side of the vehicle barrier in the mine; Multiple distance sensors are used to collect the height values from multiple locations of the bottom rail of the vehicle barrier to the mine ground; An angle sensor is provided on the railing of the vehicle barrier and is used to collect the horizontal value of the railing of the vehicle barrier; an electronic device, communicatively connected to a camera device, a two-way control device for a car barrier, a plurality of distance sensors, and an angle sensor, for outputting a prompt message when detecting that a shuttle car has arrived at a first designated position of each car barrier, so that a staff member triggers a first switch of the two-way control device for the car barrier, so that a cylinder is actuated to drive the car barrier to open, obtaining a first image of a connection between the shuttle car and the cable, a second image of the shuttle car carriage, and video information of various locations of the cable, determining a degree of abnormality of the shuttle car based on the first image, the second image, and the video information of various locations of the cable, determining a preset prompt message corresponding to the degree of abnormality, and outputting the preset prompt message at a second designated position of each car barrier, obtaining height values of multiple positions of the lowest barrier of the car barrier to the mine ground and a horizontal value of the barrier at multiple locations when detecting that the shuttle car has arrived at the second designated position of each car barrier and detecting that a staff member has triggered the second switch of the two-way control device for the car barrier, and judging whether each car barrier is closed normally based on the height value and the horizontal value; The determining of the abnormality level of the shuttle car based on the first image, the second image, and the video information of various locations of the cable includes: Performing feature recognition on the first image to obtain a plurality of feature points at the connection between the shuttle car and the cable; Mapping the plurality of feature points into a preset coordinate system to obtain a current scatter plot, and obtaining a previous scatter plot of the shuttle, the previous scatter plot being a scatter plot of a plurality of feature points in a first image of the shuttle at a previous barrier; determining a first outlier at a connection between the shuttle and the cable based on the current scatter plot and a previous scatter plot; performing coal pile recognition on the second image to obtain coal pile features, and determining a center of gravity position of the coal pile features; Based on a deviation value between the center of gravity position and a reference center of gravity position, the deviation value represents a second abnormal value; Determining the width of the cable at each location from video information of the cable at each location, and determining the location of burrs on the cable; determining a third abnormal value of the cable based on the widths at the various locations and the locations where the burrs exist; A total abnormality value is determined based on the first abnormality value, the second abnormality value, and the third abnormality value, wherein the total abnormality value represents the abnormality degree of the shuttle car.

8. A two-way control system for a mining vehicle barrier according to claim 7, characterized in that: The two-way control device for the car barrier also includes an air supply duct, a first three-way pipe connected to the air supply duct, a first branch pipe and a second branch pipe respectively connected to the first three-way pipe, a second three-way pipe respectively connected to the first branch pipe and the second branch pipe, and the second three-way pipe is connected to the air inlet of the cylinder on the car barrier body; the first switch is arranged on the first branch pipe, and the second switch is arranged on the second branch pipe.

9. An electronic device, characterized in that: It includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is used to execute a two-way control method for a mining vehicle barrier according to any one of claims 1 to 6.

Images