Personnel protection system and method applied to coal mine tunneling robot and medium

Abstract

The invention discloses a personnel protection system and method applied to a coal mine tunneling robot and a medium, mainly relates to the technical field of coal mine tunneling robots, and aims to solve the problems that existing personnel easily enter a robot operation area by mistake, personal protection equipment focuses on post-event protection and lacks the beforehand early warning and active protection capabilities, and in addition, the personnel protection efficiency is greatly improved. According to an existing scheme, only a single environment parameter or a robot state is concerned, and the influence of various environment factors and robot operation states on personnel safety is not comprehensively considered. Comprising the steps that a central processing module determines whether environment abnormity exists; according to the robot coordinate, the robot relative velocity vector, the position coordinate of the operator and the operator velocity vector, whether the operator is in a dangerous state is determined; determining whether the robot operates abnormally; obtaining an abnormal analysis result, and issuing the abnormal analysis result to a protection control module; and the protection control module is used for determining a corresponding preset protection processing program according to the exception analysis result.

Description

Technical Field

[0001] The present application relates to the technical field of coal mine excavation robots, and in particular to a personnel protection system, method and medium applied to a coal mine excavation robot. Background Art

[0002] During underground coal mine excavation operations, although the use of excavation robots has improved operating efficiency, there is still a risk of causing harm to surrounding personnel when the robots operate in the complex coal mine environment. For example, the robot's mechanical arm has a wide range of motion and great force, and may accidentally hit workers. At the same time, the dust and harmful gas generated during the excavation process, as well as the possible explosions, collapses and other secondary disasters caused by equipment failures, all pose a serious threat to the lives and safety of on-site personnel.

[0003] Therefore, an effective personnel protection scheme is needed to ensure the safety of personnel at coal mine excavation sites. The existing personnel protection schemes applied to coal mine excavation robots are mainly: first, strengthen the isolation and identification of the working area, and reduce the direct intersection between personnel and robot working areas by setting up obvious safety warning signs and physical isolation facilities; second, equip the staff with professional personal protective equipment, including dust masks, protective clothing, safety helmets, and portable gas detectors, etc., to deal with dust, harmful gases and emergencies.

[0004] However, the existing underground environment of coal mines is complex and changeable. It is difficult to completely prevent people from entering the robot operating area by relying solely on safety warning signs and physical isolation facilities. In addition, the personal protective equipment currently equipped mainly focuses on post-event protection. Therefore, there is an urgent need for a personnel protection system, method and medium applied to coal mine excavation robots to solve the existing problems that personnel can easily mistakenly enter the robot operating area, personal protective equipment focuses on post-event protection, and lacks the ability of prior warning and active protection. In addition, existing solutions often only focus on a single environmental parameter or robot status, and fail to comprehensively consider the impact of multiple environmental factors and robot operating status on personnel safety. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present application provides a personnel protection system, method and medium for coal mine excavation robots to solve the problems that personnel can easily mistakenly enter the robot's operating area, personal protective equipment focuses on post-event protection, and lacks the ability of prior warning and active protection. In addition, existing solutions often only focus on a single environmental parameter or robot status, but fail to comprehensively consider the impact of multiple environmental factors and the robot's operating status on personnel safety.

[0006] In a first aspect, the present application provides a personnel protection system applied to a coal mine excavation robot, the system comprising: An environmental monitoring module for real-time monitoring of environmental parameters at the coal mine tunneling operation site; among them, the environmental parameters at least include: dust concentration, preset harmful gas concentration, temperature, humidity, geological structure data; a robot status monitoring module installed on the tunneling robot body for obtaining the operating status of the robot; among them, the operating status at least includes: robot coordinates, robot relative velocity vector, robot power system parameters, robot electrical system parameters; a personnel positioning module for obtaining the position coordinates and personnel velocity vector of the operating personnel based on the positioning tags worn by the operating personnel and several positioning base stations arranged underground through signal interaction between the positioning tags and the positioning base stations; a central processing module for obtaining environmental parameters, operating status, and position coordinate information; determining whether there is an environmental anomaly according to the relationship between the environmental parameters and the preset safety conditions; determining whether the personnel are in a dangerous state according to the robot coordinates, robot relative velocity vector, position coordinates of the operating personnel, and personnel velocity vector; determining whether the robot is operating abnormally according to the relationship between the robot power system parameters, robot electrical system parameters and the preset parameter range; obtaining an anomaly analysis result and sending the anomaly analysis result to the protection control module; among them, the anomaly analysis result at least includes: whether there is an environmental anomaly, whether the personnel are in a dangerous state, whether the robot is operating abnormally; a protection control module for determining a corresponding preset protection processing program according to the anomaly analysis result.

[0007] In an implementation manner of the present application, the system further includes a warning module, for obtaining a processing result, and when the anomaly analysis result is that there is an environmental anomaly, the personnel are in a dangerous state or the robot is operating abnormally, sending a preset warning signal and uploading the anomaly analysis result to a preset monitoring center at the same time.

[0008] In an implementation manner of the present application, the protection control module includes a preset protection processing program calling unit, for when there is an environmental anomaly, based on specific anomaly data, calling a preset protection processing program corresponding to the specific anomaly data, and then starting a corresponding anomaly processing device through the preset protection processing program; when the personnel are in a dangerous state, calling a preset protection processing program corresponding to being in a dangerous state, and then controlling the specific operating parameters of the robot; among them, the specific operating parameters include: whether to immediately stop the actions of the robot, adjustment parameters of the robot's running trajectory, start data of preset protection equipment; when the robot is operating abnormally, calling a preset protection processing program corresponding to the robot operating abnormally, and then obtaining the corrected robot power system parameters and robot electrical system parameters.

[0009] In an implementation manner of the present application, the central processing module includes an environmental detection unit, To detect whether the currently collected dust concentration is greater than the preset dust concentration threshold, whether the preset harmful gas concentration is greater than the preset gas concentration threshold, whether the temperature is greater than the preset temperature threshold, whether the humidity is greater than the preset humidity threshold, and whether the geological structure data belongs to the preset robot operation area; when the currently collected dust concentration is greater than the preset dust concentration threshold, or the preset harmful gas concentration is greater than the preset gas concentration threshold, or the temperature is greater than the preset temperature threshold, or the humidity is greater than the preset humidity threshold, or the geological structure data belongs to the preset robot operation area, it is determined that there is an environmental anomaly; when the currently collected dust concentration is less than or equal to the preset dust concentration threshold, the preset harmful gas concentration is less than or equal to the preset gas concentration threshold, the temperature is less than or equal to the preset temperature threshold, the humidity is less than or equal to the preset humidity threshold, and the geological structure data does not belong to the preset robot operation area, it is determined that there is no environmental anomaly.

[0010] In one implementation of the present application, the central processing module includes a danger state calculation unit, for calculating the relative distance between the robot and the coordinate personnel through the formula: , where the robot coordinates are ( r , r , r ), and the position coordinates of the operator are ( p , p , p ); Through the formula: V rp = , calculate the magnitude of the relative velocity between the robot and the coordinate personnel; where the relative velocity vector of the robot is = ( , , ), and the velocity vector of the person is = ( , , ); Through the formula: , determine whether the person is in a dangerous state; When F = 1, it means the person is in a dangerous state; when F = 0, it means the person is not in a dangerous state; where, represents the preset safety distance threshold, Represents a preset safety relative speed threshold.

[0011] In an implementation manner of the present application, the preset parameter range at least includes the normal value range of the robot power system parameters and the normal value range of the robot electrical system parameters; The central processing module includes a robot operation analysis unit, which is used to determine that the robot is not operating abnormally when the robot power system parameters belong to the normal value range of the power system parameters and the robot electrical system parameters belong to the normal value range of the robot electrical system parameters, otherwise determine that the robot is operating abnormally.

[0012] In a second aspect, the present application provides a personnel protection method applied to a coal mine tunneling robot. The method includes: Real-time monitoring of the environmental parameters at the coal mine tunneling operation site; wherein, the environmental parameters at least include: dust concentration, preset harmful gas concentration, temperature, humidity, geological structure data; obtaining the operating state of the robot; wherein, the operating state at least includes: robot coordinates, robot relative speed vector, robot power system parameters, robot electrical system parameters; based on the positioning tags worn by the operating personnel and several positioning base stations arranged underground, through the signal interaction between the positioning tags and the positioning base stations, obtaining the position coordinates and personnel speed vector of the operating personnel; determining whether there is an environmental anomaly according to the relationship between the environmental parameters and the preset safety conditions; determining whether the personnel are in a dangerous state according to the robot coordinates, robot relative speed vector, position coordinates of the operating personnel, and personnel speed vector; determining whether the robot is operating abnormally according to the relationship between the robot power system parameters, robot electrical system parameters and the preset parameter range; obtaining an abnormal analysis result; wherein, the abnormal analysis result at least includes: whether there is an environmental anomaly, whether the personnel are in a dangerous state, whether the robot is operating abnormally; determining a corresponding preset protection processing program according to the abnormal analysis result.

[0013] In an implementation manner of the present application, determining a corresponding preset protection processing program according to the abnormal analysis result specifically includes: When there is an environmental anomaly, based on the specific abnormal data, calling the preset protection processing program corresponding to the specific abnormal data, and then starting the corresponding abnormal processing device through the preset protection processing program; When the personnel are in a dangerous state, calling the preset protection processing program corresponding to the dangerous state, and then controlling the specific operating parameters of the robot; wherein, the specific operating parameters include: whether to immediately stop the actions of the robot, the adjustment parameters of the robot's running trajectory, the start data of the preset protection device; When the robot is operating abnormally, calling the preset protection processing program corresponding to the abnormal operation of the robot, and then obtaining the corrected robot power system parameters and robot electrical system parameters.

[0014] In one implementation of the present application, based on the robot coordinates, the relative velocity vector of the robot, the position coordinates of the operator, and the personnel velocity vector, it is determined whether the personnel are in a dangerous state, specifically including: Through the formula: , calculate the relative distance between the robot and the coordinate personnel; Among them, the robot coordinates are ([[$ r , r , r ), and the position coordinates of the operator are ([[$ p , p , p ); Through the formula: V rp = , calculate the magnitude of the relative velocity between the robot and the coordinate personnel; Among them, the relative velocity vector of the robot is = ([[$ , , ), and the personnel velocity vector is = ([[$ , , ); Through the formula: , determine whether the personnel are in a dangerous state; When F = 1, it indicates that the personnel are in a dangerous state; when F = 0, it indicates that the personnel are not in a dangerous state; Among them, represents the preset safety distance threshold, represents the preset safety relative velocity threshold.

[0015] In a third aspect, the present application provides a non-volatile computer storage medium, on which computer instructions are stored, and when the computer instructions are executed, a personnel protection method for a coal mine tunneling robot as described in any one of the above is implemented.

[0016] Those skilled in the art can understand that the present application has at least the following beneficial effects: 1. Achieve intelligent isolation of the operation areas for personnel and robots: By using a personnel positioning module to monitor the positions of operating personnel in real time, and combining with the robot coordinates and relative velocity vectors obtained by the robot status monitoring module, the central processing module can judge in real time whether personnel are approaching or entering the robot operation area, and issue early warnings or take protective measures to effectively avoid collision risks.

[0017] 2. Provide early warnings and active protection: By using an environmental monitoring module to monitor environmental parameters in real time, once anomalies are detected (such as excessive dust concentration, accumulation of harmful gases, etc.), the central processing module can issue early warnings and start corresponding protective measures through the protection control module, such as starting ventilation equipment, evacuating personnel, etc. At the same time, by monitoring the robot status in real time (parameters of the robot power system, parameters of the robot electrical system), robot failures can be detected and handled in a timely manner to avoid accidents caused by failures.

[0018] 3. Comprehensively monitor and analyze multiple factors: This application comprehensively considers the impacts of multiple factors such as environmental parameters, robot status, and personnel positions on personnel safety, and conducts intelligent analysis through the central processing module to improve the accuracy and comprehensiveness of safety protection.

[0019] 4. Establish an intelligent analysis and early warning system: This application can monitor and analyze environmental parameters, robot status, and personnel positions in real time, and automatically take protective measures according to the analysis results. It improves the efficiency and accuracy of safety protection, and also reduces the costs and risks of human intervention. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the internal structure of a personnel protection system applied to a coal mine tunneling robot provided by an embodiment of this application.

[0022] Figure 2 It is a flowchart of a personnel protection method applied to a coal mine tunneling robot provided by an embodiment of this application. Detailed Embodiments

[0023] Those skilled in the art should understand that the embodiments described below are only the preferred embodiments of the present disclosure, and do not mean that the present disclosure can only be implemented through these preferred embodiments. These preferred embodiments are only used to explain the technical principles of the present disclosure, rather than to limit the protection scope of the present disclosure. Based on the preferred embodiments provided by the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts should still fall within the protection scope of the present disclosure.

[0024] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or elements inherent to such process, method, commodity or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the element.

[0025] The technical solutions proposed in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0026] The present application Figure 1 provides a personnel protection system for a coal mine tunneling robot according to an embodiment of the present application. As Figure 1 shown, the system provided by the embodiment of the present application mainly includes: An environment monitoring module 110, which is used to monitor the environmental parameters at the coal mine tunneling operation site in real time.

[0027] It should be noted that the environmental parameters at least include: dust concentration, preset harmful gas concentration, temperature, humidity, geological structure data.

[0028] Furthermore, the environment monitoring module 110: adopts a variety of high-precision sensors, such as laser dust sensors, electrochemical harmful gas sensors, temperature and humidity sensors, and ground penetrating radar sensors, etc., which are distributed at key positions in the operation site to ensure comprehensive and accurate collection of environmental information and transmit the data to the central processing module 140.

[0029] A robot status monitoring module 120, which is installed on the tunneling robot body and is used to obtain the running status of the robot.

[0030] It should be noted that the running status at least includes: robot coordinates, robot relative velocity vector, robot power system parameters, robot electrical system parameters.

[0031] Further supplementally, the robot status monitoring module 120 can obtain the robot coordinates, the robot relative velocity vector, the robot power system parameters, and the robot electrical system parameters in real time through various sensors such as encoders, accelerometers, pressure sensors, and current and voltage sensors, and transmit the data to the central processing module 140.

[0032] The personnel positioning module 130 is used to obtain the position coordinates and the personnel velocity vector of the operating personnel based on the positioning tags worn by the operating personnel and several positioning base stations arranged underground through the signal interaction between the positioning tags and the positioning base stations.

[0033] It should be noted that the personnel positioning module 130 can perform real-time positioning on the underground coal mine operating personnel based on the ultra-wideband positioning technology. Each operating personnel wears a positioning tag, and multiple positioning base stations are arranged underground. Through the signal interaction between the positioning base stations and the positioning tags, the position coordinates and the personnel velocity vector of the personnel are obtained and the data is transmitted to the central processing module 140.

[0034] The central processing module 140 is used to obtain environmental parameters, operating status, and position coordinate information; determine whether there is an environmental anomaly according to the relationship between the environmental parameters and the preset safety conditions; determine whether the personnel are in a dangerous state according to the robot coordinates, the robot relative velocity vector, the position coordinates of the operating personnel, and the personnel velocity vector; determine whether the robot is operating abnormally according to the relationship between the robot power system parameters, the robot electrical system parameters and the preset parameter range; obtain the abnormal analysis result and send the abnormal analysis result to the protection control module 150.

[0035] It should be noted that the abnormal analysis result at least includes: whether there is an environmental anomaly, whether the personnel are in a dangerous state, and whether the robot is operating abnormally.

[0036] As an example, determining whether there is an environmental anomaly according to the relationship between the environmental parameters and the preset safety conditions can specifically be: Through the environmental detection unit of the central processing module 140, it is detected whether the currently collected dust concentration is greater than the preset dust concentration threshold, whether the preset harmful gas concentration is greater than the preset gas concentration threshold, whether the temperature is greater than the preset temperature threshold, whether the humidity is greater than the preset humidity threshold, and whether the geological structure data belongs to the preset robot operation area; when the currently collected dust concentration is greater than the preset dust concentration threshold, or the preset harmful gas concentration is greater than the preset gas concentration threshold, or the temperature is greater than the preset temperature threshold, or the humidity is greater than the preset humidity threshold, or the geological structure data belongs to the preset robot operation area, it is determined that there is an environmental anomaly; when the currently collected dust concentration is less than or equal to the preset dust concentration threshold, and the preset harmful gas concentration is less than or equal to the preset gas concentration threshold, and the temperature is less than or equal to the preset temperature threshold, and the humidity is less than or equal to the preset humidity threshold, and the geological structure data does not belong to the preset robot operation area, it is determined that there is no environmental anomaly.

[0037] More specifically, it can be assumed that at a coal mine tunneling operation site, this personnel protection system has been installed and started. The system's preset dust concentration threshold is 10 mg / m³, the harmful gas concentration threshold is 0.5%, the temperature threshold is 35 °C, the humidity threshold is 80%, and a specific range of geological structure data is used as the boundary of the robot operation area.

[0038] At a certain moment, the data collected by the environmental monitoring module 110 is as follows: Dust concentration: 12 mg / m³, harmful gas concentration: 0.3%, temperature: 32 °C, humidity: 75%, geological structure data: shows that the current position is at the edge of the preset robot operation area but has not fully entered.

[0039] After receiving these data, the environmental monitoring module 110 starts to analyze: The dust concentration of 12 mg / m³ is greater than the preset threshold of 10 mg / m³, so the dust concentration is abnormal.

[0040] The harmful gas concentration of 0.3% is less than the preset threshold of 0.5%, so the harmful gas concentration is normal.

[0041] The temperature of 32 °C is less than the preset threshold of 35 °C, so the temperature is normal.

[0042] The humidity of 75% is less than the preset threshold of 80%, so the humidity is normal.

[0043] Although the geological structure data is close, it has not fully entered the preset robot operation area, so the geological structure data is judged to be normal.

[0044] Since the dust concentration exceeds the preset threshold, the environmental monitoring module 110 determines that there is an environmental anomaly.

[0045] As an example 2, to determine whether a person is in a dangerous state based on the robot coordinates, the relative velocity vector of the robot, the position coordinates of the operator, and the personnel velocity vector, specifically, the danger state calculation unit in the central processing module 140 can be used. Through the formula: , calculate the relative distance between the robot and the coordinate personnel; Among them, the robot coordinates are ( r , r , r ), and the position coordinates of the operator are ([[]] p , p , p ); Through the formula: V rp = , calculate the magnitude of the relative velocity between the robot and the coordinate personnel; Among them, the relative velocity vector of the robot is = ([[]] , , ), and the personnel velocity vector is = ([[]] , , ); Through the formula: , determine whether the person is in a dangerous state; When F = 1, it means the person is in a dangerous state; when F = 0, it means the person is not in a dangerous state; Among them, represents the preset safety distance threshold, represents the preset safety relative velocity threshold.

[0046] As an example 3, the preset parameter range at least includes the normal value range of the robot power system parameters and the normal value range of the robot electrical system parameters; based on the relationship between the robot power system parameters, the robot electrical system parameters and the preset parameter range, to determine whether the robot is operating abnormally, specifically, it can be: Through the robot operation analysis unit in the central processing module 140, when the robot power system parameters belong to the normal value range of the power system parameters and the robot electrical system parameters belong to the normal value range of the robot electrical system parameters, it is determined that the robot is not operating abnormally, otherwise it is determined that the robot is operating abnormally.

[0047] More specifically, in a coal mine tunneling operation site, this system has been deployed. During the tunneling operation, the system real-time monitors the following robot parameters: Power system parameters: motor operating temperature is 50 °C, motor speed is 1500 rpm, and hydraulic oil pressure is 20 MPa; Electrical system parameters: battery voltage is 24 V, current is 10 A, and controller temperature is 45 °C.

[0048] Meanwhile, the normal value ranges preset by the system for the robot power system parameters are: motor operating temperature 30 °C - 60 °C, motor speed 1200 rpm - 1800 rpm, and hydraulic oil pressure 18 MPa - 22 MPa; for the electrical system parameters, the normal value ranges are: battery voltage 22 V - 26 V, current 8 A - 12 A, and controller temperature 35 °C - 50 °C.

[0049] The robot operation analysis unit in the central processing module 140 immediately compares and analyzes these real-time monitored parameters with the preset normal value ranges. After analysis, it is found that all power system parameters and electrical system parameters are within the preset normal value ranges, that is: The motor operating temperature of 50 °C is within the range of 30 °C - 60 °C; The motor speed of 1500 rpm is within the range of 1200 rpm - 1800 rpm; The hydraulic oil pressure of 20 MPa is within the range of 18 MPa - 22 MPa; The battery voltage of 24 V is within the range of 22 V - 26 V; The current of 10 A is within the range of 8 A - 12 A; The controller temperature of 45 °C is within the range of 35 °C - 50 °C.

[0050] Therefore, the robot operation analysis unit determines that the robot is not operating abnormally and continues to monitor the robot's operating status.

[0051] The protection control module 150 is used to determine the corresponding preset protection processing program according to the abnormal analysis result.

[0052] As an example, the protection control module 150 includes a preset protection processing program calling unit, which is used to, when there is an environmental anomaly, based on the specific anomaly data, call the preset protection processing program corresponding to the specific anomaly data, and then start the corresponding anomaly processing device through the preset protection processing program; When a person is in a dangerous state, a preset protection processing program corresponding to the dangerous state is called to control the specific operating parameters of the robot; among them, the specific operating parameters include: whether to immediately stop the actions of the robot, the adjustment parameters of the robot's running trajectory, and the startup data of the preset protection equipment. When the robot runs abnormally, a preset protection processing program corresponding to the abnormal operation of the robot is called to obtain the corrected parameters of the robot's power system and the robot's electrical system.

[0053] More specifically, when the environment is abnormal (such as too high temperature), the protection control module 150 will call the "high-temperature environment processing program". This program will start the cooling equipment (such as air conditioners or fans) and adjust their working modes to quickly reduce the environmental temperature to a safe range.

[0054] If a person is in a dangerous state (such as approaching a dangerous area), the "personnel dangerous state processing program" will be called. This program will control the robot to immediately stop its actions, adjust its running trajectory to avoid approaching the dangerous area further, and start the preset protection equipment (such as safety doors or alarm systems) to ensure the safety of the personnel.

[0055] When the robot runs abnormally (such as overheating of the motor), the "robot abnormal operation processing program" will be called. This program will analyze the abnormal data, obtain the corrected parameters of the robot's power system (such as reducing the motor speed), and adjust the electrical system parameters (such as reducing the current supply) to ensure that the robot can continue to run in a safe state or perform necessary repairs.

[0056] In addition, in order to detect problems early, the present application can also perform alarm processing. Specifically, The system further includes a warning module. The warning module can obtain the processing result. When the abnormal analysis result indicates environmental abnormality, a person is in a dangerous state, or the robot runs abnormally, a preset warning signal is issued, and at the same time, the abnormal analysis result is uploaded to a preset monitoring center.

[0057] In addition, in order to realize data communication between devices such as the environmental monitoring module 110, the robot status monitoring module 120, the personnel positioning module 130, the central processing module 140, and the protection control module 150. The present application combines wireless communication technologies (such as Wi-Fi, 4G / 5G, etc.) and wired communication technologies (such as industrial Ethernet) to ensure the stability and reliability of data transmission. Multiple wireless access points are arranged underground to ensure that the signal covers the entire operation area, and at the same time, important data is transmitted to the monitoring center above the well through the wired network for storage and analysis.

[0058] In addition to this, the embodiment provides a personnel protection method applied to a coal mine tunneling robot, such as Figure 2As shown in the figure, the method provided by the embodiment of the present application mainly includes the following steps: Step 210: Monitor the environmental parameters at the coal mine tunneling operation site in real time; obtain the operating status of the robot; based on the positioning tags worn by the operators and several positioning base stations arranged underground, obtain the position coordinates and personnel velocity vectors of the operators through signal interaction between the positioning tags and the positioning base stations.

[0059] Among them, the environmental parameters at least include: dust concentration, preset harmful gas concentration, temperature, humidity, geological structure data; the operating status at least includes: robot coordinates, robot relative velocity vector, robot power system parameters, robot electrical system parameters.

[0060] Step 220: Determine whether there is an environmental anomaly according to the relationship between the environmental parameters and the preset safety conditions; determine whether the personnel are in a dangerous state according to the robot coordinates, the robot relative velocity vector, the position coordinates of the operators, and the personnel velocity vectors; determine whether the robot is operating abnormally according to the relationship between the robot power system parameters, the robot electrical system parameters and the preset parameter ranges; obtain the abnormal analysis result.

[0061] Among them, the abnormal analysis result at least includes: whether there is an environmental anomaly, whether the personnel are in a dangerous state, and whether the robot is operating abnormally.

[0062] In some embodiments, determining whether the personnel are in a dangerous state according to the robot coordinates, the robot relative velocity vector, the position coordinates of the operators, and the personnel velocity vectors may specifically be: Through the formula: , calculate the relative distance between the robot and the coordinate personnel; Among them, the robot coordinates are ([[]] r , r , r ), and the position coordinates of the operator are ([[]] p , p , p ); Through the formula: V rp = , calculate the magnitude of the relative velocity between the robot and the coordinate personnel; Among them, the robot relative velocity vector is = ([[]] , , ), and the personnel velocity vector is = ( , , ); Through the formula: , determine whether the person is in a dangerous state; When F = 1, it means the person is in a dangerous state; when F = 0, it means the person is not in a dangerous state; Among them, represents the preset safety distance threshold, represents the preset safety relative speed threshold.

[0063] Step 230: Determine the corresponding preset protection processing program according to the abnormal analysis result.

[0064] In some embodiments, this step may be specifically: When there is an environmental anomaly, based on the specific anomaly data, call the preset protection processing program corresponding to the specific anomaly data, and then start the corresponding anomaly processing device through the preset protection processing program; when the person is in a dangerous state, call the preset protection processing program corresponding to the dangerous state, and then control the specific operating parameters of the robot; among them, the specific operating parameters include: whether to immediately stop the robot's action, the adjustment parameters of the robot's running trajectory, the start data of the preset protection device; when the robot runs abnormally, call the preset protection processing program corresponding to the robot's abnormal operation, and then obtain the corrected parameters of the robot's power system and the robot's electrical system.

[0065] In addition, the embodiment of the present application also provides a non - volatile computer storage medium, on which executable instructions are stored, and when the executable instructions are executed, the personnel protection method for a coal mine tunneling robot as described above is implemented.

[0066] So far, the technical solutions of the present disclosure have been described in combination with multiple previous embodiments. However, it is easy for those skilled in the art to understand that the protection scope of the present disclosure is not limited to these specific embodiments. Without departing from the technical principle of the present disclosure, those skilled in the art can split and combine the technical solutions in the above - mentioned various embodiments, and can also make equivalent changes or replacements to the relevant technical features. Any changes, equivalent replacements, improvements, etc. made within the technical concept and / or technical principle of the present disclosure will fall within the protection scope of the present disclosure.

Claims

1. A personnel protection system applied to a coal mine tunneling robot, characterized in that, The system includes: An environmental monitoring module for real-time monitoring of environmental parameters at the coal mine tunneling operation site; among them, the environmental parameters at least include: dust concentration, preset harmful gas concentration, temperature, humidity, geological structure data; A robot status monitoring module installed on the tunneling robot body for obtaining the operating status of the robot; among them, the operating status at least includes: robot coordinates, robot relative velocity vector, robot power system parameters, robot electrical system parameters; A personnel positioning module for obtaining the position coordinates and personnel velocity vector of the operating personnel based on the positioning tags worn by the operating personnel and several positioning base stations arranged underground through signal interaction between the positioning tags and the positioning base stations; A central processing module for obtaining environmental parameters, operating status and position coordinate information; determining whether there is an environmental anomaly according to the relationship between the environmental parameters and the preset safety conditions; determining whether the personnel are in a dangerous state according to the robot coordinates, robot relative velocity vector, position coordinates of the operating personnel, and personnel velocity vector; determining whether the robot is operating abnormally according to the relationship between the robot power system parameters, robot electrical system parameters and the preset parameter range; obtaining an abnormal analysis result and sending the abnormal analysis result to the protection control module; among them, the abnormal analysis result at least includes: whether there is an environmental anomaly, whether the personnel are in a dangerous state, whether the robot is operating abnormally; A protection control module for determining a corresponding preset protection processing program according to the abnormal analysis result.

2. The personnel protection system applied to a coal mine tunneling robot according to claim 1, wherein The system further includes an early warning module, for obtaining the processing result, when the abnormal analysis result is that there is an environmental anomaly, the personnel are in a dangerous state or the robot is operating abnormally, sending a preset early warning signal, and at the same time uploading the abnormal analysis result to a preset monitoring center.

3. The personnel protection system applied to a coal mine tunneling robot according to claim 1, characterized in that, The protection control module includes a preset protection processing program calling unit, for when there is an environmental anomaly, based on the specific abnormal data, calling the preset protection processing program corresponding to the specific abnormal data, and then starting the corresponding abnormal processing equipment through the preset protection processing program; when the personnel are in a dangerous state, calling the preset protection processing program corresponding to the dangerous state, and then controlling the specific operating parameters of the robot; among them, the specific operating parameters include: whether to immediately stop the actions of the robot, the adjustment parameters of the robot's running trajectory, the start data of the preset protection equipment; when the robot is operating abnormally, calling the preset protection processing program corresponding to the abnormal operation of the robot, and then obtaining the corrected robot power system parameters and robot electrical system parameters.

4. The personnel protection system applied to the coal mine tunneling robot according to claim 1, characterized in that, The central processing module includes an environmental detection unit, It is used to detect whether the currently collected dust concentration is greater than the preset dust concentration threshold, whether the preset harmful gas concentration is greater than the preset gas concentration threshold, whether the temperature is greater than the preset temperature threshold, whether the humidity is greater than the preset humidity threshold, and whether the geological structure data belongs to the preset robot operation area; when the currently collected dust concentration is greater than the preset dust concentration threshold, or the preset harmful gas concentration is greater than the preset gas concentration threshold, or the temperature is greater than the preset temperature threshold, or the humidity is greater than the preset humidity threshold, or the geological structure data belongs to the preset robot operation area, it is determined that there is an environmental anomaly; when the currently collected dust concentration is less than or equal to the preset dust concentration threshold, and the preset harmful gas concentration is less than or equal to the preset gas concentration threshold, and the temperature is less than or equal to the preset temperature threshold, and the humidity is less than or equal to the preset humidity threshold, and the geological structure data does not belong to the preset robot operation area, it is determined that there is no environmental anomaly.

5. The personnel protection system applied to the coal mine tunneling robot according to claim 1, wherein, The central processing module includes a danger state calculation unit, for passing through the formula: , the relative distance between the computer robot and the coordinate personnel; Among them, the coordinates of the robot are ( r , r , r ), and the position coordinates of the operator are ( p , p , p ); Through the formula: V rp = , the relative speed magnitude between the robotic computer and the coordinate personnel; Among them, the relative velocity vector of the robot is = ([[]] , , ), and the velocity vector of the person is = ([[]] , , ); Through the formula: , determine whether the person is in a dangerous state; When F = 1, it indicates that the person is in a dangerous state; when F = 0, it indicates that the person is not in a dangerous state; Among them, represents a preset safety distance threshold value, represents a preset relative safety speed threshold value.

6. The personnel protection system applied to a coal mine tunneling robot according to claim 1, characterized in that, The preset parameter range at least includes the normal value range of the robot power system parameters and the normal value range of the robot electrical system parameters; The central processing module includes a robot operation analysis unit, for determining that the robot is not operating abnormally when the robot power system parameters belong to the normal value range of the power system parameters and the robot electrical system parameters belong to the normal value range of the robot electrical system parameters, otherwise determining that the robot is operating abnormally.

7. A personnel protection method applied to a coal mine tunneling robot, characterized in that, The method includes: Real-time monitoring of the environmental parameters at the coal mine tunneling operation site; among them, the environmental parameters at least include: dust concentration, preset harmful gas concentration, temperature, humidity, geological structure data; Obtaining the operating state of the robot; among them, the operating state at least includes: robot coordinates, robot relative velocity vector, robot power system parameters, robot electrical system parameters; Based on the positioning tags worn by the operators and several positioning base stations arranged underground, through the signal interaction between the positioning tags and the positioning base stations, obtaining the position coordinates and the personnel velocity vector of the operators; According to the relationship between the environmental parameters and the preset safety conditions, determining whether there is an environmental anomaly; according to the robot coordinates, the robot relative velocity vector, the position coordinates of the operator, and the personnel velocity vector, determining whether the person is in a dangerous state; according to the relationship between the robot power system parameters, the robot electrical system parameters and the preset parameter range, determining whether the robot is operating abnormally; obtaining an abnormal analysis result; among them, the abnormal analysis result at least includes: whether there is an environmental anomaly, whether the person is in a dangerous state, whether the robot is operating abnormally; According to the abnormal analysis result, determining the corresponding preset protection processing program.

8. The personnel protection method applied to a coal mine tunneling robot according to claim 7, characterized in that, According to the abnormal analysis result, determining the corresponding preset protection processing program, specifically including: When there is an environmental anomaly, based on the specific abnormal data, calling the preset protection processing program corresponding to the specific abnormal data, and then starting the corresponding abnormal processing equipment through the preset protection processing program; When a person is in a dangerous state, a preset protection processing program corresponding to the dangerous state is called, and then the specific operating parameters of the robot are controlled; wherein, the specific operating parameters include: whether to immediately stop the actions of the robot, the adjustment parameters of the running trajectory of the robot, and the startup data of the preset protection equipment; When the robot runs abnormally, a preset protection processing program corresponding to the abnormal running of the robot is called, and then the corrected parameters of the robot power system and the robot electrical system are obtained.

9. The personnel protection method applied to a coal mine tunneling robot according to claim 7, characterized in that Determine whether a person is in a dangerous state according to the robot coordinates, the robot relative velocity vector, the position coordinates of the operator, and the person velocity vector, specifically including: Through the formula: , the relative distance between the robotic computer and the coordinate personnel; Among them, the coordinates of the robot are ( r , r , r ), and the position coordinates of the operator are ( p , p , p ); Through the formula: V rp = , the relative speed magnitude between the robotic machine and the coordinate personnel; wherein, the relative velocity vector of the robot is = ([[]] , , ), and the velocity vector of the personnel is = ([[]] , , ); Through the formula: , determine whether the person is in a dangerous state; When F = 1, it means that the person is in a dangerous state; when F = 0, it means that the person is not in a dangerous state; Among them, represents a preset safety distance threshold value, represents a preset relative safety speed threshold value.

10. A non-volatile computer storage medium, characterized in that, It stores computer instructions, and the computer instructions, when executed, implement a personnel protection method for a coal mine tunneling robot as described in any one of claims 7-9.

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