A mine cage intelligent safety hoisting control system and method based on multi-sensor fusion

Abstract

This invention relates to an intelligent safety hoisting control system and method for mine cages based on multi-sensor fusion, belonging to the field of mine hoisting equipment safety control technology. The system includes a data acquisition module, a control module, and an execution module: the data acquisition module collects real-time data on cage load, personnel safety equipment wearing status, dangerous goods being carried, and the number of passengers through cage position sensors, weighing sensors, intelligent personnel monitoring cameras, photoelectric switches, and intelligent security gates; the control module uses a PLC control box to perform logical judgments on the multi-source data, triggering interlock control when dangerous goods are detected, safety equipment is not worn, or the load / number of passengers exceeds limits; the execution module broadcasts the type of violation through a voice alarm box and controls the opening and closing of the safety gate. This invention, through multi-sensor data fusion and PLC collaborative control, solves the problems of single function, high false alarm rate, and lack of intelligent linkage in existing technologies, achieving full-process safety management of mine hoisting operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of safety control of mine hoisting equipment, and mainly relates to an intelligent safety hoisting control system and method for mine cages based on multi-sensor fusion. Background Art

[0002] In mine production, as a key equipment for personnel and materials to go up and down the well, the safety of cage hoisting is directly related to the life safety of operators. The existing mine cage hoisting control system has the following technical defects:

[0003] 1. Single function: Traditional systems mostly use single sensors, such as load cells or photoelectric switches, which can only detect overloading or the number of personnel, and cannot synchronously monitor the wearing conditions of safety equipment such as safety helmets, miner's lamps, and self-rescuers, nor can they identify the carrying of dangerous items such as metal tools and fireworks. The safety monitoring dimension is not comprehensive.

[0004] 2. High false alarm rate: When relying on traditional photoelectric switches for personnel counting, it is easily affected by environmental factors such as dust and light changes in the mine, resulting in misjudgment of the number of people; moreover, the detection results of single sensors lack cross-verification, further increasing the risk of false alarms.

[0005] 3. Lack of intelligent linkage: When detecting overloading or violations, it can only trigger simple audible and visual alarms, and does not form a forced interlock control with equipment such as cage safety doors and hoisting machines, resulting in potential safety hazards of continuing operations by ignoring the alarms.

[0006] Existing related technologies only monitor single safety elements, do not involve multi-sensor collaboration and full-process safety control, and cannot meet the high safety requirements of mine hoisting. Therefore, there is an urgent need for a technical solution that integrates multi-sensor data fusion and intelligent linkage control to solve the above problems. Summary of the Invention

[0007] In order to overcome the above deficiencies, the present invention provides an intelligent safety hoisting control system and method for mine cages based on multi-sensor fusion, which realizes the collaborative acquisition, logical judgment and execution control of multi-source data through modular design, and comprehensively improves the safety and reliability of mine cage hoisting.

[0008] The technical solution adopted by the present invention to solve its technical problems:

[0009] An intelligent safety hoisting control system for mine cages based on multi-sensor fusion, comprising an acquisition module, a control module and an execution module connected modularly:

[0010] The acquisition module includes a status acquisition sub-module, a load acquisition sub-module, a personnel safety acquisition sub-module and a dangerous goods detection sub-module, wherein:

[0011] The status acquisition submodule is a cage position sensor, used to acquire cage position signals;

[0012] The load acquisition submodule is a weighing sensor used to collect real-time load data of the cage;

[0013] The personnel safety data collection submodule includes: a personnel monitoring smart camera and a photoelectric switch. The personnel monitoring smart camera is used to collect information on the wearing status of safety equipment and the number of people in the tank, while the photoelectric switch is used to assist in collecting information on the number of people in the tank.

[0014] The hazardous materials detection submodule is an intelligent security gate used to collect information on hazardous materials carried by personnel;

[0015] The control module, a PLC control box, communicates with the data acquisition module and is used to perform logical judgments on the acquired data according to priority.

[0016] The information from the hazardous materials detection submodule is evaluated first; if hazardous materials are present, a first control signal is generated.

[0017] The second priority is to judge the information of the personnel safety collection submodule. If there is no safety equipment being worn or the number of people exceeds the limit, a second control signal is generated.

[0018] Finally, the information from the load acquisition submodule is checked, and if the load exceeds the limit, a third control signal is generated.

[0019] The execution module, which communicates with the control module, includes an alarm submodule and a safety submodule, wherein:

[0020] The alarm submodule is an intelligent voice alarm box, used to broadcast the corresponding violation type based on the first, second, and third control signals;

[0021] The safety submodule is a safety door, which is used to keep open and locked according to the first and second control signals, and close only when there is no control signal to allow the cage to run.

[0022] The personnel monitoring smart camera is a wide dynamic range explosion-proof camera with a built-in lightweight target detection algorithm, which is used to output the number of heads and the identification results of safety equipment wearing, and the number of heads is cross-validated with the counting results of photoelectric switches.

[0023] The photoelectric switch is a through-beam infrared photoelectric switch array. The PLC control box obtains the initial number of people by counting the number of signal transitions when the beam is blocked. When the difference between the initial number of people and the number of heads output by the personnel monitoring smart camera exceeds the threshold, a delayed verification mechanism is activated.

[0024] A method for intelligent safety hoisting control of mine cages based on multi-sensor fusion, including the aforementioned intelligent safety hoisting control system for mine cages based on multi-sensor fusion, includes the following specific steps:

[0025] S1: After the status acquisition submodule detects that the cage is in place, it triggers the safety door to open;

[0026] S2: The hazardous materials detection submodule screens personnel for hazardous materials. If hazardous materials are detected, the alarm submodule of the execution module broadcasts the violation information, and the safety submodule locks the safety door open and prohibits the cage from running. If no hazardous materials are detected, proceed to step S3.

[0027] S3: The personnel safety data collection submodule uses photoelectric switches to count the initial number of people, while the personnel monitoring smart camera identifies the number of people and the status of safety equipment wearing. The two are cross-validated.

[0028] If safety equipment is not worn or the number of people exceeds the limit, the alarm submodule will broadcast the violation information, and the safety submodule will lock the safety door open state to prohibit the cage from operating.

[0029] If all safety equipment is worn and the number of people is within the limit, proceed to step S4;

[0030] S4: The load acquisition submodule detects the load of the cage. If the load exceeds the limit, the alarm submodule broadcasts the violation information and prohibits the cage from running; if the load does not exceed the limit, proceed to step S5.

[0031] S5: When all safety conditions are met, the safety submodule closes the safety door, and the control module sends a signal to the hoist to allow operation.

[0032] The cross-validation in step S3 includes:

[0033] S31: The photoelectric switch outputs a beam blocking signal, and the PLC control box counts the number of signal jumps to obtain a preliminary number of people.

[0034] S32: The intelligent camera for personnel monitoring captures images when the photoelectric switch is triggered, and uses a target detection algorithm to identify the number of heads to correct the number of people.

[0035] S33: When the difference between the initial number of people and the revised number of people exceeds the threshold, a 3-second delay verification is initiated, and the number of people is verified by taking a second shot through the personnel monitoring smart camera.

[0036] Due to the adoption of the technical solution described above, the present invention has the following advantages:

[0037] 1. Comprehensive Functions: Through a modular design that integrates multiple sensors, it simultaneously achieves the detection of hazardous materials, identification of safety equipment, personnel counting, and load monitoring, covering all safety elements of the mine hoisting process and solving the problem of limited functionality in existing technologies.

[0038] 2. Reduce false alarms: The use of photoelectric switches and intelligent personnel monitoring cameras to cross-verify the number of people, combined with a delayed verification mechanism, effectively reduces false judgments caused by environmental interference, and the accuracy of actual number of people count can reach over 98%.

[0039] 3. Intelligent linkage: The PLC control box enables mandatory interlocking between violations and safety doors and hoists, ensuring "no operation if it is unsafe", thus completely solving the safety hazards of the lack of intelligent linkage in existing technologies.

[0040] 4. High practicality: The sensors and equipment are designed to be explosion-proof, making them suitable for the complex environment of mines; the voice alarm accurately indicates the type of violation, facilitating rapid rectification and improving work efficiency. Attached Figure Description

[0041] Figure 1 This is a system architecture diagram of the present invention;

[0042] Figure 2 This is the control logic flowchart of the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Combined with appendix Figure 1 The illustrated intelligent safety hoisting control system for mine cages, based on multi-sensor fusion, includes modularly connected acquisition, control, and execution modules. These modules work collaboratively to achieve safety management.

[0045] The data acquisition module is used to acquire various safety-related data in real time during the mine cage hoisting process, including the following sub-modules:

[0046] Status acquisition submodule: It adopts a cage position sensor, which is installed at the cage's docking position to collect signals of whether the cage has reached the designated position, and serves as the trigger condition for the safety door to open.

[0047] Load acquisition submodule: Employs a weighing sensor installed at the bottom of the cage to collect the cage's load data in real time and determine if there is an overload.

[0048] Personnel safety data acquisition submodule: includes intelligent personnel monitoring cameras and photoelectric switches, wherein:

[0049] The personnel monitoring intelligent camera adopts a wide dynamic range explosion-proof camera, which is installed on the top of the cage or the side of the entrance. It has a built-in lightweight target detection algorithm to identify the wearing status of safety helmets, miner lamps and self-rescue devices of the personnel in the cage, and counts the number of people in the cage by recognizing the number of heads.

[0050] The photoelectric switch uses a through-beam infrared photoelectric switch array, which is installed on both sides of the cage entrance to form a "beam array". By counting the number of signal transitions when personnel enter and exit and block the beam, the number of people in the cage can be counted, and the count results can be cross-validated with the count results of the camera.

[0051] Hazardous materials detection submodule: An intelligent security gate is installed in front of the cage entrance to detect whether personnel entering the cage are carrying dangerous items such as metal tools or fireworks.

[0052] The control module is a PLC control box, which connects to the acquisition module via wired or wireless communication, receives data collected by each sub-module, and performs logical judgments according to preset priorities.

[0053] Prioritize judging the information from the hazardous materials detection submodule: if a hazardous material is detected, immediately generate the first control signal;

[0054] The second priority is to judge the information from the personnel safety collection submodule: if it is detected that safety equipment is not being worn or the number of passengers in the tank exceeds the limit, a second control signal is generated;

[0055] Finally, the information from the load acquisition submodule is evaluated: if the load exceeds the limit, a third control signal is generated.

[0056] The execution module is communicatively connected to the control module and is used to receive and execute control signals. It includes the following sub-modules:

[0057] Alarm submodule: It adopts an intelligent voice alarm box, which broadcasts the corresponding violation type according to the first, second and third control signals, such as "Danger items are prohibited, cage start is prohibited", "Please wear safety equipment, cage start is prohibited", "Cage is overloaded, please reduce personnel", so as to achieve accurate prompts;

[0058] Safety submodule: An electromagnetically controlled safety door is installed at the cage entrance. It remains open and locked according to the first and second control signals, and closes only when no control signal is received, i.e., when all safety conditions are met, allowing the cage to operate.

[0059] like Figure 1As shown, the signal output terminals of the tank position sensor, intelligent security gate, personnel monitoring intelligent camera, photoelectric switch, and weighing sensor in the acquisition module are all connected to the signal input terminal of the PLC control box via signal lines; the control terminals of the intelligent voice alarm box and electromagnetic safety gate in the execution module are connected to the signal output terminal of the PLC control box via control lines, forming a complete control link.

[0060] like Figure 2 As shown, a method for intelligent safety hoisting control of mine cages based on multi-sensor fusion, and a control system for intelligent safety hoisting of mine cages based on the above-mentioned multi-sensor fusion, include the following steps:

[0061] S1: After the status acquisition submodule detects that the cage has reached the designated position, it sends a position signal to the control module. The control module then triggers the safety submodule of the execution module to open, allowing personnel to enter.

[0062] S2: Before entering the cage, personnel must pass through the hazardous materials detection submodule, and the security gate will inspect the items carried by the personnel.

[0063] If metal tools or hazardous materials are detected, the control module generates a first control signal, triggering the alarm submodule to broadcast the violation information and controlling the safety submodule to lock the safety door open state, prohibiting the cage from operating;

[0064] If no hazardous materials are detected, proceed to step S3.

[0065] S3: When personnel enter the cage, the personnel safety data collection submodule initiates dual monitoring and verification:

[0066] The photoelectric switch obtains a preliminary number of people by counting the number of signal transitions when the light beam is blocked.

[0067] The intelligent personnel monitoring camera captures images when the photoelectric switch is triggered, identifies the number of heads through a built-in algorithm to correct the number of people, and simultaneously identifies the wearing status of safety equipment;

[0068] If the difference between the two counts exceeds a preset threshold, a 3-second delay verification mechanism is activated to verify the number of people by taking a second photo with the camera.

[0069] If safety equipment is not worn or the number of people exceeds the set threshold, the control module generates a second control signal, triggers the alarm submodule to broadcast the violation information, and controls the safety submodule to lock the safety door open state, prohibiting the cage from running;

[0070] If all safety equipment is worn and the number of people is within the limit, proceed to step S4.

[0071] S4: The load acquisition submodule detects the real-time load of the cage.

[0072] If the load exceeds the set threshold, the control module generates a third control signal, triggering the alarm submodule to broadcast the violation information and prohibit the cage from operating.

[0073] If the load limit is not exceeded, proceed to step S5.

[0074] S5: When all safety conditions are met, such as no dangerous goods, complete safety equipment, and no exceedance of the number of people and load limits, the control module controls the safety submodule to close the safety door and sends a permission signal to the hoist, and the cage starts hoisting.

[0075] The specific working process of this invention is as follows:

[0076] 1. After the system is powered on and initialized, the PLC control box scans the status of each sensor in real time. When the cage position sensor detects that the cage has stopped in place, the signal is "0", and the PLC immediately outputs a control signal to open the electromagnetic safety door.

[0077] 2. Passengers on the tank pass through the intelligent security gate in sequence:

[0078] If the security gate detects metal tools, such as controlled knives or fireworks, the built-in relay will activate and send a "dangerous item" signal (high level) to the PLC. After receiving the signal, the PLC will drive the intelligent voice alarm box to announce "Dangerous items are prohibited, cage start is prohibited" and at the same time output a locking signal to keep the electromagnetic safety gate open and prevent it from closing.

[0079] If no hazardous materials are detected, personnel may enter the cage.

[0080] 3. When personnel enter the cage:

[0081] Infrared photoelectric switches are installed on both sides of the cage entrance to form a "beam array". When a person enters, the photoelectric switch sends a jump signal (rising edge + falling edge) to the PLC once each time the beam is blocked. The PLC obtains the initial number of people by counting the number of jumps. Every 2 jumps correspond to 1 person. If 20 jumps are counted, the initial number of people is 10.

[0082] The personnel monitoring smart camera captures an image when the photoelectric switch is triggered. It triggers once for each person detected. The lightweight target detection algorithm identifies the number of heads in the image and corrects the number of people and the wearing status of safety helmets, miners' lamps, and self-rescue devices. For example, if nine safety helmets are detected, it is determined that one person is not wearing one.

[0083] If the difference between the initial count of 10 people and the corrected count of 9 people is 1, which exceeds the threshold of 0, the PLC will start a 3-second delay. The camera will then capture a second image and re-identify the person within 3 seconds, ultimately confirming that the number of people is 9, thus correcting the error.

[0084] If any personnel are found not wearing safety helmets, the PLC-driven intelligent voice alarm box will announce "Please wear safety equipment, do not start the cage" and lock the safety door.

[0085] 4. After all personnel have entered, the weighing sensor detects the total weight of the cage:

[0086] If a weight threshold is set, the PLC-driven intelligent voice alarm box will announce "Cage overloaded, please reduce personnel" and prohibit sending start signals to the hoist.

[0087] If the weight is less than the set threshold, the number of people is not greater than the set threshold, and all safety equipment is worn, the PLC outputs a signal to close the electromagnetic safety door and sends a "start allowed" signal to the hoist control system, and the cage begins to be hoisted.

[0088] The parts not detailed above are existing technologies and therefore have not been described in detail.

Claims

1. A mine cage intelligent safety hoisting control system based on multi-sensor fusion, characterized in that, It includes modularly connected acquisition, control, and execution modules: The data acquisition module includes a status acquisition submodule, a load acquisition submodule, a personnel safety acquisition submodule, and a hazardous materials detection submodule, among which: The status acquisition submodule is a cage position sensor, used to acquire cage position signals; The load acquisition submodule is a weighing sensor used to collect real-time load data of the cage; The personnel safety data collection submodule includes: a personnel monitoring smart camera and a photoelectric switch. The personnel monitoring smart camera is used to collect information on the wearing status of safety equipment and the number of people in the tank, while the photoelectric switch is used to assist in collecting information on the number of people in the tank. The hazardous materials detection submodule is an intelligent security gate used to collect information on hazardous materials carried by personnel; The control module, a PLC control box, communicates with the data acquisition module and is used to perform logical judgments on the acquired data according to priority. The information from the hazardous materials detection submodule is evaluated first; if hazardous materials are present, a first control signal is generated. The second priority is to judge the information of the personnel safety collection submodule. If there is no safety equipment being worn or the number of people exceeds the limit, a second control signal is generated. Finally, the information from the load acquisition submodule is checked, and if the load exceeds the limit, a third control signal is generated. The execution module, which communicates with the control module, includes an alarm submodule and a safety submodule, wherein: The alarm submodule is an intelligent voice alarm box, used to broadcast the corresponding violation type based on the first, second, and third control signals; The safety submodule is a safety door, which is used to keep open and locked according to the first and second control signals, and close only when there is no control signal to allow the cage to operate.

2. The intelligent safety hoisting control system for mine cages based on multi-sensor fusion as described in claim 1, characterized in that, The personnel monitoring smart camera is a wide dynamic range explosion-proof camera with a built-in lightweight target detection algorithm, which is used to output the number of heads and the identification results of safety equipment wearing, and the number of heads is cross-validated with the counting results of photoelectric switches.

3. The intelligent safety hoisting control system for mine cages based on multi-sensor fusion according to claim 1, characterized in that, The photoelectric switch is a through-beam infrared photoelectric switch array. The PLC control box obtains the initial number of people by counting the number of signal transitions when the beam is blocked. When the difference between the initial number of people and the number of heads output by the personnel monitoring smart camera exceeds the threshold, a delayed verification mechanism is activated.

4. A method for intelligent safety hoisting control of mine cages based on multi-sensor fusion, characterized in that, The intelligent safety hoisting control system for mine cages, comprising the multi-sensor fusion system as described in any one of claims 1-3, comprises the following specific steps: S1: After the status acquisition submodule detects that the cage is in place, it triggers the safety door to open; S2: The hazardous materials detection submodule screens personnel for hazardous materials. If hazardous materials are detected, the alarm submodule of the execution module broadcasts the violation information, and the safety submodule locks the safety door open and prohibits the cage from running. If no hazardous materials are detected, proceed to step S3. S3: The personnel safety data collection submodule uses photoelectric switches to count the initial number of people, while the personnel monitoring smart camera identifies the number of people and the status of safety equipment wearing. The two are cross-validated. If safety equipment is not worn or the number of people exceeds the limit, the alarm submodule will broadcast the violation information, and the safety submodule will lock the safety door open state to prohibit the cage from operating. If all safety equipment is worn and the number of people is within the limit, proceed to step S4; S4: The load acquisition submodule detects the load of the cage. If the load exceeds the limit, the alarm submodule broadcasts the violation information and prohibits the cage from running; if the load does not exceed the limit, proceed to step S5. S5: When all safety conditions are met, the safety submodule closes the safety door, and the control module sends a signal to the hoist to allow operation.

5. The intelligent safety hoisting control method for mine cages based on multi-sensor fusion according to claim 4, characterized in that, The cross-validation in step S3 includes: S31: The photoelectric switch outputs a beam blocking signal, and the PLC control box counts the number of signal jumps to obtain a preliminary number of people. S32: The intelligent camera for personnel monitoring captures images when the photoelectric switch is triggered, and uses a target detection algorithm to identify the number of heads to correct the number of people. S33: When the difference between the initial number of people and the revised number of people exceeds the threshold, a 3-second delay verification is initiated, and the number of people is verified by taking a second shot through the personnel monitoring smart camera.

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