Anti-collision system for underground mine transporting truck
By installing UWB positioning base stations and MU main control units on underground mining trucks, combined with positioning tags and alarms, high-precision obstacle detection and active braking are achieved, solving the problem of collision accidents involving underground mining trucks and improving the safety of underground operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JINCHUAN GRP MACHINERY MFG
- Filing Date
- 2025-06-25
- Publication Date
- 2026-05-08
AI Technical Summary
In the underground mining environment, mining trucks are prone to collisions due to confined spaces, insufficient lighting, and complex terrain. Existing single-sensor detection has low accuracy and poses a high safety hazard.
The collision avoidance system, which combines a UWB positioning base station and a MU main control unit with positioning tags, sends wireless coded signals through the positioning tags. The UWB positioning base station detects and transmits the data to the MU main control unit, achieving high-precision ranging and active braking. In conjunction with an alarm, it alerts the driver and operators to ensure safety.
It improves the safety of underground mining trucks, reduces the probability of collisions, and significantly enhances the safety of underground operations through a two-way early warning mechanism.
Smart Images
Figure CN224211045U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of mine safety technology, and specifically relates to an anti-collision system for underground mining trucks. Background Technology
[0002] In the underground mining environment, ore trucks are essential transportation tools. Due to the confined space, insufficient lighting, complex terrain, and potentially harsh conditions such as dust and slippery surfaces, vehicles are prone to collisions during operation. Traditional collision avoidance methods rely primarily on the driver's experience and visual judgment, which poses significant safety hazards.
[0003] Existing technologies use a single sensor (such as an ultrasonic or infrared sensor) for obstacle detection, but the detection accuracy is low in the complex environment of underground mines, and there is still a high risk of collision. Utility Model Content
[0004] The purpose of this invention is to provide an anti-collision system for underground mining trucks, aiming to solve the problems existing in the prior art mentioned above.
[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:
[0006] A collision avoidance system for underground mining trucks includes a positioning tag, a UWB positioning base station and a MU main control unit installed on the underground mining truck;
[0007] The positioning tag is carried by the downhole worker and is used to send wireless coded signals;
[0008] At least one UWB positioning base station is set up. The UWB positioning base station is electrically connected to the MU main control unit, and the two transmit data through the RS485 communication protocol.
[0009] The MU main control unit is located in the cab of the mining truck. The mining truck is equipped with an intermediate relay, which is electrically connected to the MU main control unit and the parking valve of the mining truck. The MU main control unit is used to control the parking valve to de-energize and brake through the intermediate relay KM1.
[0010] The positioning tag is carried by the underground worker. Their identity information is pre-entered into the MU main control unit. The positioning tag sends a wireless coded signal to the UWB positioning base station. The UWB positioning base station transmits the signal to the MU main control unit. The MU main control unit analyzes and calculates the data to control the parking valve to lose power through the intermediate relay KM1, so that the mining truck can brake in time to prevent safety accidents.
[0011] Furthermore, the UWB positioning base station includes a UWB front positioning base station located at the front of the mining truck and a UWB rear positioning base station located at the rear of the mining truck. The UWB front positioning base station and the UWB rear positioning base station transmit data through the RS485 communication protocol.
[0012] The UWB front positioning base station and the UWB rear positioning base station detect positioning tags from the front and rear ends of the mining truck, respectively. After the UWB rear positioning base station detects the positioning tag, it transmits the wireless coded signal to the UWB front positioning base station, which then sends the wireless coded signal to the MU main control unit.
[0013] Furthermore, the detection range of the UWB positioning base station is 0.5-32m, and the MU main control unit is equipped with a warning zone and a braking zone. When the positioning tag is located in the braking zone, the MU main control unit controls the parking valve to lose power through the intermediate relay KM1, so that the mining truck brakes.
[0014] The range of the warning zone and braking zone can be set through the MU main control unit.
[0015] Furthermore, the cab of the mining truck is equipped with an alarm, which is electrically connected to the MU main control unit. When the positioning tag is in the warning zone, the alarm flashes; when the positioning tag is in the braking zone, the alarm sounds.
[0016] The alarm alerts the driver through flashing lights and a buzzing sound.
[0017] Furthermore, the warning zone is a range of 10m-32m away from the mining truck; the braking zone is a range of 0.5-10m away from the mining truck.
[0018] Furthermore, the positioning tag is used to receive and transmit wireless coded signals, and the positioning marker activates vibration and beeping after receiving the wireless coded signals.
[0019] The positioning tags alert underground workers to the presence of mining trucks through vibration and beeping.
[0020] The present invention has the following beneficial effects.
[0021] 1. In this invention, a UWB positioning base station and a MU (Mechanical Unit) main control unit are installed on the underground mining truck. Underground workers carry positioning tags with their identity information pre-entered into the MU main control unit. The UWB positioning base station continuously monitors the positioning tags. The MU main control unit, based on the distance between the positioning tag and the mining truck, controls the parking valve via an intermediate relay KM1, thereby controlling the timely braking of the mining truck. Compared to existing single-sensor solutions, this invention uses UWB positioning technology, leveraging its high-precision ranging and anti-multipath interference characteristics, to achieve reliable detection in dusty and complex obstructed environments. Combined with active braking, it can significantly reduce the probability of underground safety accidents.
[0022] 2. When the positioning tag is in the warning zone, the alarm flashes to remind the driver; when the positioning tag is in the braking zone, the alarm flashes and sounds simultaneously. At the same time, the MU main control unit controls the parking valve to de-energize through the intermediate relay KM1, forcing the mining truck to brake; when the positioning tag receives the wireless coded signal, it activates the vibration and buzzer functions to remind underground workers to stay away from the mining truck in time, thereby achieving two-way early warning and further improving the safety of underground operations. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the anti-collision system of this utility model deployed on a mining truck.
[0024] Figure 2 This is a schematic diagram of the control relationship of the anti-collision system in this utility model.
[0025] Figure 3 This is a structural diagram of the warning zone and braking zone of the mining truck of this utility model.
[0026] In the diagram: 1. UWB front positioning base station; 2. UWB rear positioning base station; 3. MU main control unit; 4. Intermediate relay KM1; 5. Parking valve; 6. Positioning tag; 7. Alarm. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0028] Example 1
[0029] Reference Figure 1 and Figure 2 This embodiment discloses an anti-collision system for underground mining trucks, including a positioning tag 6, and a MU main control unit 3 and a UWB positioning base station installed on the underground mining truck.
[0030] Underground workers carry a positioning tag 6, which has a built-in programmable memory that supports writing personnel ID information. The MU main control unit 3 communicates with the positioning tag 6 via a built-in NFC module or a wired interface to record the worker's identification code. The positioning tag 6 is used to send and receive wireless coded signals (i.e., UWB signals). The positioning tag 6 has vibration and buzzer functions (existing technology) to alert underground workers to the presence of mining trucks within a certain distance. Specifically, when the positioning tag 6 is within a certain range of the mining truck, it can receive wireless coded signals sent by the UWB positioning base station and activate vibration and buzzer.
[0031] Reference Figure 1 At least one UWB positioning base station is installed on the mining truck. In this embodiment, two UWB positioning base stations are installed: a front UWB positioning base station 1 and a rear UWB positioning base station 2. The UWB positioning base stations adopt an IP67-rated waterproof and dustproof shell, which is suitable for the humid and dusty environment underground; the operating temperature range is -20℃ to 60℃, which meets the high and low temperature conditions in the mine.
[0032] UWB front positioning base station 1 is installed at the front end of the mining truck in the direction of travel. UWB front positioning base station 1 is electrically connected to MU main control unit 3. UWB front positioning base station 1 and MU main control unit 3 communicate and transmit data through RS485 bus with shielded twisted pair cable. UWB front positioning base station 1 is used to transmit and receive wireless coded signals.
[0033] UWB rear positioning base station 2 is installed at the rear end of the mining truck in the direction of travel. UWB rear positioning base station 2 is electrically connected to UWB front positioning base station 1 and transmits data via RS485 bus communication using shielded twisted pair cable. UWB rear positioning base station 2 is used to transmit and receive wireless coded signals.
[0034] The detection range of UWB front positioning base station 1 and UWB rear positioning base station 2 is 0.5-32m, meaning that both can be used to detect positioning tags 6 within 32m of the ore transport vehicle.
[0035] The MU main control unit 3 integrates a data processing module and a communication module. It receives signals transmitted from the UWB positioning base station, calculates the distance between the positioning tag 6 and the mining truck, and triggers a braking command according to a preset threshold. The MU main control unit 3 is installed in the cab of the mining truck and has an input terminal (input button). The personnel identity information corresponding to the positioning tag 6 can be entered into the MU main control unit 3 through the input terminal. The mining truck is equipped with an intermediate relay KM1 4, which is electrically connected to the MU main control unit 3 and the parking valve 5. The parking valve 5 is used for braking the mining truck. The parking valve 5 adopts a normally closed design of 'energized braking release, de-energized braking', which meets the PLd level safety requirements of ISO 13849-1, ensuring that the mechanical braking is automatically triggered when the system is powered off. When the intermediate relay KM1 4 is energized, the power supply to the parking valve is cut off, realizing emergency braking.
[0036] The MU main control unit 3 has a display screen for displaying the distance between the positioning tag 6 and the mining truck, as well as the personnel identity information of the personnel entering the positioning tag 6.
[0037] The working process of this embodiment:
[0038] The identity information of the downhole workers is entered into the positioning tag 6 through the MU main control unit 3, and the downhole workers carry the positioning tag 6 with them.
[0039] When the mining truck is operating underground, the UWB front positioning base station 1 and the UWB rear positioning base station 2 detect the positioning tag 6 within 32m of the mining truck.
[0040] When the worker carrying the positioning tag 6 is within 32m of the ore truck, the UWB positioning base station sends a wireless coded signal to the positioning tag 6. The positioning tag 6 receives the signal and activates vibration and buzzer to remind the worker to stay away from the ore truck. At the same time, the positioning tag 6 sends a wireless coded signal to the UWB positioning base station, which in turn sends a wireless coded signal to the MU main control unit 3. The MU main control unit 3 receives the signal, analyzes and calculates it, and displays the distance between the positioning tag 6 and the ore truck, as well as the worker's identity information, on the display screen.
[0041] When the positioning tag 6 is close to the mining truck, the MU main control unit 3 sends a braking signal to the intermediate relay KM1 4. The intermediate relay KM1 4 is activated, the parking valve 5 is de-energized, and the mining truck brakes. A manual brake release button is provided in the cab. After confirming that the surrounding environment of the mining truck is safe, the driver manually controls the MU main control unit 3 to send a signal to the intermediate relay KM1 4. The intermediate relay KM1 4 is de-energized, the parking valve 5 is energized, and the mining truck brakes are released.
[0042] Example 2
[0043] This embodiment discloses an anti-collision system for underground mining trucks. The underground mining truck is equipped with an alarm 7, which has flashing and buzzing functions.
[0044] Reference Figure 2 Alarm 7 is installed in the driver's cab and is electrically connected to the MU main control unit 3.
[0045] Reference Figure 3 The detection range of UWB front positioning base station 1 and UWB rear positioning base station 2 is divided into a warning zone and a braking zone. The range of the warning zone and the braking zone can be entered by the MU main control unit 3. In this embodiment, the range of the warning zone is 10m-32m and the range of the braking zone is 0.5m-10m. The distance division between the warning zone and the braking zone is based on the braking distance test data of underground mining trucks to ensure that the vehicle can stop in time within the braking zone.
[0046] When location tag 6 is located in the warning zone, alarm 7 will activate and flash to alert the driver.
[0047] When the location tag 6 is located in the braking zone, the alarm 7 will simultaneously activate the flashing light and beeping sound to remind the driver.
[0048] When the positioning tag 6 is located in the braking zone, the MU main control unit 3 issues a braking command, the intermediate relay KM14 is energized, the normally closed contact is disconnected, the parking valve 5 is de-energized, and the mining truck is braked in time.
[0049] The working process of this embodiment follows that of Embodiment 1, and is specifically described as follows:
[0050] When the positioning tag 6 is located in the warning zone 10m-32m away from the mining truck, the MU main control unit 3 controls the alarm 7 to flash to remind the driver to pay attention;
[0051] When the positioning tag 6 is located in the braking zone 0.5-10m away from the mining truck, the MU main control unit 3 controls the alarm 7 to flash and beep to remind the driver. At the same time, the MU main control unit 3 controls the parking valve 5 to lose power through the intermediate relay KM1 4, forcing the mining truck to brake in time.
[0052] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A collision avoidance system for underground mining trucks, characterized in that, This includes positioning tags, as well as UWB positioning base stations and MU main control units installed on underground mining trucks; The positioning tag is carried by the downhole worker and is used to send wireless coded signals; At least one UWB positioning base station is set up. The UWB positioning base station is electrically connected to the MU main control unit, and the two transmit data through the RS485 communication protocol. The MU main control unit is located in the cab of the mining truck. The mining truck is equipped with an intermediate relay KM1, which is electrically connected to both the MU main control unit and the parking valve of the mining truck. The MU main control unit is used to control the parking valve to de-energize and brake via the intermediate relay KM1.
2. The anti-collision system as described in claim 1, characterized in that, Two UWB positioning base stations are set up: a UWB front positioning base station located at the front of the mining truck and a UWB rear positioning base station located at the rear of the mining truck. The UWB front positioning base station and the UWB rear positioning base station transmit data through the RS485 communication protocol.
3. The anti-collision system as described in claim 2, characterized in that, The detection range of the UWB positioning base station is 0.5-32m. The MU main control unit is equipped with a warning zone and a braking zone. When the positioning tag is located in the braking zone, the MU main control unit controls the parking valve to lose power through the intermediate relay KM1, so that the mining truck brakes.
4. The anti-collision system as described in claim 3, characterized in that, The cab of the mining truck is equipped with an alarm, which is electrically connected to the MU main control unit. When the positioning tag is in the warning zone, the alarm flashes; when the positioning tag is in the braking zone, the alarm sounds.
5. The anti-collision system as described in claim 3, characterized in that, The warning zone is a range of 10m-32m away from the mining truck; the braking zone is a range of 0.5-10m away from the mining truck.
6. The anti-collision system as described in claim 1, characterized in that, The positioning tag is used to receive and send wireless coded signals. After receiving the wireless coded signals, the positioning tag will activate vibration and beeping.