CN106801617A - Coal mine down-hole personnel injures early warning system - Google Patents
Coal mine down-hole personnel injures early warning system Download PDFInfo
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- CN106801617A CN106801617A CN201710167972.3A CN201710167972A CN106801617A CN 106801617 A CN106801617 A CN 106801617A CN 201710167972 A CN201710167972 A CN 201710167972A CN 106801617 A CN106801617 A CN 106801617A
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- 239000003245 coal Substances 0.000 title claims abstract description 28
- 238000012544 monitoring process Methods 0.000 claims abstract description 77
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract description 16
- 230000006378 damage Effects 0.000 abstract description 16
- 208000014674 injury Diseases 0.000 abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000034994 death Effects 0.000 abstract description 2
- 231100000517 death Toxicity 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000001419 dependent effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Mining & Mineral Resources (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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Abstract
The invention provides a kind of coal mine down-hole personnel injury early warning system, all kinds of mechanical woundings are also the key factor for causing personnel in the pit's injures and deaths during coal production, particularly getting working face machinery and conveying machinery etc..The early warning system mainly moves down moving-target, underground equipment, communication network, storage server, monitoring server and monitor terminal including mine, monitoring server is responsible for monitoring mine personnel and device location, when the personnel that monitor and device location meet to impose a condition, alarm signal is then sent, and there is provided specific personnel positions and the decision method of vigilance task regional relation.Coal mine down-hole personnel injury early warning system can real-time automatic monitoring above machine work region security early warning system, prevent the generation of such injury accident, reduce the casualties in coal production process.
Description
Technical field
The present invention relates to a kind of coal mine down-hole personnel injury early warning system, the system is related to radio communication, downhole safety
The field such as monitoring and location technology.
Background technology
Trend of Underground Personnel Positioning System is one of coal mine downhole safety hedging " six big systems ", in underground coal mine staffing pipe
Played an important role in reason and emergency management and rescue work, effective guarantee Safety of Coal Mine Production.Coal industry is high risk industries,
Outside the accidents such as mash gas, floods, fire, top board, coal dust, all kinds of mechanical woundings are also to cause personnel in the pit during coal production
The key factor of injures and deaths, particularly getting working face machinery and conveying machinery etc..Except systems such as necessary safetys regulations in coal mine and
Outside artificial cultivation management, current coal mine safety monitoring system cannot carry out early warning to such mechanical wounding automatically, so needing
It is a kind of can real-time automatic monitoring above machine work region security early warning system, prevent the generation of such injury accident, reduce
Casualties in coal production process.
The content of the invention
The invention provides a kind of coal mine down-hole personnel injury early warning system, under the system monitoring mine at least one
The position of target；The monitored target carries at least one positioner for monitoring objective position；It is described monitored
Target include underground work personnel；The underground equipment of system monitoring at least one, Contents for Monitoring includes position, the work of underground equipment
Make the running status of region, underground equipment, system has the control function to the underground equipment；The system includes communication network
Network, communication network connects the control device of the underground equipment, for gathering the working condition of the underground equipment, and transmits control
Information processed；When the system monitoring to target location is in the vigilance task region of the underground equipment of setting, report is sent
Alert information and the underground equipment out of service and interlock operation control, until target location is not in the underground equipment
When in vigilance task region, the operation control of the underground equipment could be unlocked；The equipment includes that ribbon conveyer, scraper plate are defeated
Send machine, coal-winning machine, development machine, winch.
1. early warning system is further included described in：The positioner includes that the device of monitoring absolute position and monitoring are relative
The device of position.
2. early warning system is further included described in：The positioner includes 3 D locating device, two-dimensional positioning device, one
Dimension positioner.
3. early warning system is further included described in：The positioner includes the terminal device of downhole positioning system.
4. early warning system is further included described in：The positioner includes ultrasonic ranging location equipment, laser ranging
Location equipment, infrared distance measurement location equipment, electronic radar location equipment, image recognition location equipment.
5. early warning system is further included described in：System monitors underground equipment includes moveable equipment；It is described removable
Dynamic equipment installs at least one positioner for monitoring device position.
6. early warning system is further included described in：Described early warning system alarm method includes：Use image monitoring equipment
Carry out target warning alarm；When system monitoring to target location is in the vigilance task region of the underground equipment of setting,
And when receiving the target warning alarm signal of image monitoring equipment, alert and the underground equipment out of service are simultaneously closed
Lock device operation control, until target location is not in the vigilance task region of the underground equipment and image monitoring equipment is without mesh
During mark warning alarm signal, the operation control of the underground equipment could be unlocked.
7. early warning system is further included described in：The system also includes storage server, monitoring server, monitoring eventually
End；Storage server is used to store each underground equipment information and its warning region related data, target identity information, target position
Put；Monitoring server is used for monitoring objective position, and target position data and underground equipment warning region are compared treatment, when
Result sends alarm signal when meeting alert if to monitor terminal；Monitor terminal is used for target location and equipment state is aobvious
Show, with sound and light of alarm.
8. early warning system is further included described in：Before underground equipment operation, monitoring server is transferred from storage server
The warning region data of equipment, when monitoring to run irrelevant target location in vigilance task region with equipment, then report
The control of alert and interlock, until when nothing runs irrelevant target with equipment in vigilance task region, unlocker device operation control
System；When underground equipment runs, when system monitoring to the target location irrelevant with equipment operation is in vigilance task region,
Then alarm, pass hull closure and interlock control, until when nothing runs irrelevant target with equipment in vigilance task region, solution
Lock device operation control.
9. early warning system is further included described in：The judgement target location that early warning system is used is with the warning region of setting
The method of no coincidence includes following decision method：Target location is set as a coordinate points (xP,yP), warning region is by least
One polygon composition, when warning region border is curve, is fitted to warning region polygon and is processed；If security area
Domain polygon vertex coordinate is respectively (x1,y1), (x2,y2) ... ..., (xn,yn), wherein maximum X-coordinate value is designated as xmax, minimum X
Coordinate value is designated as xmin, maximum Y-coordinate value is designated as ymax, minimum Y-coordinate value is designated as ymin；
The first step, judges (x firstP,yP) whether meet xmin＜ xP＜ xmaxAnd ymin＜ yP＜ ymax, such as it is unsatisfactory for the above
Two conditions, then decision-point (xP,yP) outside warning region.
Second step, such as meets two conditionals of the first step, then find out all two summits X-coordinate value xi、xi+1Meet xi≤
xP≤xi+1Polygon edge line segment, bring its apex coordinate into following formula
One group of number is obtained, by this group of number composition sequence, and sequence is ranked up according to value size, obtain sequences yB1、
yB2、……、yBjIf, yBj-1≤yP≤yBj, such as sequence number j is even number, then judge (xP,yP) in warning region, otherwise in warning
Outside region.Second step can be substituted with following steps, then find out all two summits Y-coordinate value yi、yi+1Meet yi≤yP≤yi+1It is many
Side shape sideline section, brings its apex coordinate into following formula
One group of number is obtained, by this group of number composition sequence, and sequence is ranked up according to value size, obtain sequence xB1、
xB2、……、xBjIf, xBj-1≤xP≤xBj, such as sequence number j is even number, then judge (xP,yP) in warning region, otherwise in warning
Outside region.
When target location and warning region are three-dimensional coordinate data, random two-dimensional coordinate therein is selected to use the above
Two-dimentional decision method judged.
Implementation example of the invention is more fully hereinafter described.
Brief description of the drawings
Fig. 1 coal mine down-hole personnels injury early warning system implements the system composition schematic diagram of example 1.
Fig. 2 coal mine down-hole personnels injury early warning system implements the alarm flow schematic diagram of example 1.
Fig. 3 coal mine down-hole personnels injury early warning system implements the system composition schematic diagram of example 2.
Fig. 4 coal mine down-hole personnels injury early warning system implements the alarm flow schematic diagram of example 2.
Fig. 5 coal mine down-hole personnels injury early warning system monitoring objective position overlaps determination example with warning region.
Fig. 6 coal mine down-hole personnels injure early warning system monitoring objective position and equipment warning region decision method flow chart.
Specific embodiment
The positioner of early warning system of the present invention can be determined using location technologies such as TOA, TDOA, RSSI, AOA
Position, and can be using including ultrasonic ranging location equipment, laser ranging location equipment, infrared distance measurement location equipment, electronic radar
The equipment such as location equipment, image recognition location equipment.
Fig. 1 show the coal mine down-hole personnel injury early warning system and implements example 1, and the region with oblique line is underground in figure
Equipment vigilance task region, system mainly constitute including：
1. monitor terminal (101), are responsible for positioning terminal position and warning message show, with sound and light alarm and man-machine interaction
Function, production management personnel can access storage server and realize to positioning terminal, underground equipment, vigilance task by monitor terminal
Addition, deletion, input, modification of the relevant information in region etc. are operated.Monitor terminal has map display function, and geography information is put down
Platform can be used MapX mapable components, and mine map is tunnel map vector, and map file is MapInfo forms.
2. storage server (102), storage server is used to store each underground equipment warning region related data, positioning eventually
End identity information, positioning terminal position, and be that monitoring server (103) and monitor terminal (101) provide data, services.
3. monitoring server (103), are responsible for monitor terminal (101) and provide positioning terminal position data and monitoring and early warning letter
Breath, real-time monitoring positioning terminal position data compares treatment positioning terminal position data and underground equipment warning region,
When result meets alert if alarm signal is sent to monitor terminal；Monitoring server is also responsible for the state of underground equipment
Monitor and automatically control.
4. interchanger (104), the switching equipment of communication network, are responsible for the data friendship of the equipment of all access to communication networks
Change, Ethernet switch device can be used.
5. substation (105), are responsible for providing positioning terminal and other communication equipments the communication network of wireless and wired mode
Access service, and reference location node as positioning terminal provides positioning service for positioning terminal, is connected by the communications cable
Interchanger.
6. positioning terminal (106), system is used for the positioner of monitoring objective position, and positioning and wireless is realized by substation
Communication, by self-position data is activation to storage server (102) and monitoring server (103).
7. drag conveyor (107), the controller of drag conveyor connects substation access to communication networks by the communications cable,
Communicated with monitoring server (103), by monitoring server realize to the monitoring of its working condition with automatically control.In scraper plate conveying
Machine also installs at least one positioning terminal (106), for determining drag conveyor current location.
8. ribbon conveyer (108), the controller of ribbon conveyer connects substation (105) access communications by the communications cable
Network, communicates with monitoring server (103), by monitoring server realize to the monitoring of its running status with automatically control.In band
Formula conveyer initiating terminal installs at least one positioning terminal (106), for determining ribbon conveyer starting end position.
The alarm flow that coal mine down-hole personnel injury early warning system implements example 1 is as shown in Figure 2：
1. (201) monitoring server (103) is by the controller of communication network access underground equipment (generally programmable control
Device processed), gather the running status of underground equipment.
2. (202) positioning terminal (106) is positioned by reference point of substation, obtains itself position data.
3. (203) positioning terminal sends to storage server (102) and monitoring server includes itself numbering and itself sits
The position data of scale value.
4. (204) storage server receiving position data are stored, after monitoring server receives position data, then root
The relevant information of the target or equipment that carry the positioning terminal is transferred from storage server according to the positioning terminal numbering for receiving, is taken
The position of the equipment with the positioning terminal changes and exceedes given threshold, then set according to reinitializing of being transferred from storage server
Standby vigilance task region.
5. (205) are compared the position data of the positioning terminal carried by personnel in the pit with equipment vigilance task region
It is right, (208) are performed if position is in vigilance task region, otherwise perform (206).
6. (206) monitoring server sends to monitor terminal (101) includes positioning terminal position and positioning terminal carrier
Relevant information warning message, monitor terminal sends acousto-optic report according to warning message display alarm position on a display screen
It is alert.
7. (207) monitoring server sends solution lock control dependent instruction to underground equipment, returns (201)
8. alarm logging, equipment control record and (201) collection that the inquiry of (208) monitoring server is stored according to itself
The running state data of underground equipment, differentiates to underground equipment current state, is performed if equipment is in blocking
(209) (201) directly otherwise, are returned.
9. (209) monitoring server sends to underground equipment and shuts down and lock-in control dependent instruction, returns (201).
Fig. 3 is that coal mine down-hole personnel injury early warning system implements the system composition schematic diagram of example 2, with the master for implementing example 1
It is that increased image monitoring equipment to carry out target warning alarm to distinguish, and specific equipment includes：
1. video camera (109), are the image capture devices of image monitoring, and the video image for vigilance task region is adopted
Collection, using the digital network camera with Internet video compressed encoding function, substation access communications is connected by the communications cable
Network, video data is sent to video monitoring server (110).
2. online video alarm server (110), are the identification warning devices of image monitoring, and the video monitoring being used for is known automatically
Not, target warning alarm can be carried out to the target of swarming into vigilance task region.
It is as shown in Figure 3 that coal mine down-hole personnel injury early warning system implements the alarm flow of example 2：
1. (401) monitoring server (103) is by the controller of communication network access underground equipment (generally programmable control
Device processed), gather the running status of underground equipment.
2. (402) positioning terminal (106) is positioned by reference point of substation, obtains itself position data.
3. (403) positioning terminal sends to storage server (102) and monitoring server includes itself numbering and itself sits
The position data of scale value.
4. (404) storage server receiving position data are stored, after monitoring server receives position data, then root
The relevant information of the target or equipment that carry the positioning terminal is transferred from storage server according to the positioning terminal numbering for receiving, such as
The main body of the positioning terminal is carried for underground equipment, and the position of equipment changes more than given threshold, then reinitialize and set
Standby vigilance task region.
5. (405) are compared the position data of the positioning terminal carried by personnel in the pit with equipment vigilance task region
It is right, (408) are performed if positioning terminal is in equipment vigilance task region, otherwise perform (406).
6. alarm logging, equipment control record and (401) collection that the inquiry of (406) monitoring server is stored according to itself
The running state data of underground equipment, differentiates to underground equipment current state, is performed if equipment is in blocking
(407) (401) directly otherwise, are returned.
7. (407) monitoring server sends solution lock control dependent instruction to underground equipment, returns (401)
8. (408) video camera (109) gathers the video image in vigilance task region.
9. the video of collection is compressed coding by (409) video camera, and video alarm service is sent to by communication network
Device (110).
10. (410) online video alarm server (110) carries out automatic identification to the video for receiving.
Whether 11. (411) online video alarm servers differentiate to swarming into target in equipment vigilance task region, and incite somebody to action
Result of determination is sent to monitoring server, and (412) are performed if swarming into target in vigilance task region, otherwise returns to (401).
12. (412) monitoring servers send to monitor terminal (101) includes positioning terminal position and positioning terminal carrier
Relevant information warning message, monitor terminal sends acousto-optic report according to warning message display alarm position on a display screen
It is alert.
13. (413) monitoring servers send to underground equipment and shut down and lock-in control dependent instruction, return (401).
Fig. 5 is that coal mine down-hole personnel injury early warning system monitoring objective position shows with equipment vigilance task regional determination method
It is intended to.If underground equipment vigilance task region is polygon, summit is respectively A, B, C, D, E, F, in each apex coordinate wherein most
Big X-coordinate value is designated as xmax, minimum X-coordinate value is designated as xmin, maximum Y-coordinate value is designated as ymax, minimum Y-coordinate value is designated as ymin；P1、
P2、P3It is monitoring objective, coordinate points are respectively (xP1,yP1)、(xP2,yP2)、(xP3,yP3)；Determination flow is shown in Fig. 6：
1. (601) are by impact point X-coordinate and xminAnd xmaxIt is compared, if not in xminAnd xmaxBetween then judge impact point
In warning region.Due to xP1＞ xmax, it is determined that P1Point is outside warning region.
2. (602) are by impact point Y-coordinate and yminAnd ymaxIt is compared, if not in yminAnd ymaxBetween then judge impact point
In warning region.Due to yP2＞ ymax, it is determined that P2Point is outside warning region.
3. (603) are to P3Put and judged, find out all two summits X-coordinate value xi、xi+1Meet xi≤xP3≤xi+1It is polygon
Shape sideline section, respectively CD, DE, EF, FA.
4. (604) bring the apex coordinate of CD, DE, EF, FA into following formula
Obtain by P3The Y-coordinate of each intersection point parallel to the straight line of Y-axis and each sideline section is put, by this group of array Cheng Xu
Row.
5. (605) are ranked up to sequence according to value size, obtain sequence (yB1,yB2,yB3,yB4)。
6. (606) search yP3Between any two numbers in the sequence, due to yB1≤yP3≤yB2, yB2Serial number 2, be even
Number, then judge P3Point is in warning region；If serial number odd number outside warning region.With P4As a example by point, due to P4Point and P3Point
X-coordinate is identical, so from (601) to (605) decision process is identical, simply yB2≤yP4≤yB3, yB3Serial number 3, be strange
Number, then judge P4Point is outside warning region.
Claims (13)
1. coal mine down-hole personnel injures early warning system, it is characterised in that：At least one target under the system monitoring mine
Position；The monitored target carries at least one positioner for monitoring objective position；The monitored target
Including underground work personnel；The underground equipment of system monitoring at least one, Contents for Monitoring includes position, the workspace of underground equipment
Domain, the running status of underground equipment, system have the control function to the underground equipment；The system includes communication network,
Communication network connects the control device of the underground equipment, for gathering the working condition of the underground equipment, and transmits control
Information；When the system monitoring to target location is in the vigilance task region of the underground equipment of setting, alarm is sent
Information and the underground equipment out of service and interlock operation control, until target location is not in the police of the underground equipment
Guard against when in working region, the operation control of the underground equipment could be unlocked；The equipment includes that ribbon conveyer, scraper plate are conveyed
Machine, coal-winning machine, development machine, winch.
2. early warning system as claimed in claim 1, it is characterised in that：The positioner includes the device of monitoring absolute position
With the device of monitoring relative position.
3. early warning system as claimed in claim 1, it is characterised in that：The positioner includes 3 D locating device, two dimension
Positioner, one-dimensional positioning device.
4. early warning system as claimed in claim 1, it is characterised in that：The positioner includes the terminal of downhole positioning system
Equipment.
5. early warning system as claimed in claim 1, it is characterised in that：The positioner includes that ultrasonic ranging positioning sets
Standby, laser ranging location equipment, infrared distance measurement location equipment, electronic radar location equipment, image recognition location equipment.
6. early warning system as claimed in claim 1, it is characterised in that：System monitors underground equipment to be included movably setting
It is standby；The moveable equipment installs at least one positioner for monitoring device position.
7. early warning system as claimed in claim 1, it is characterised in that：Described early warning system alarm method includes：Use figure
As monitoring device carries out target warning alarm；When system monitoring to target location is in the vigilance task of the underground equipment of setting
When in region, and when receiving the target warning alarm signal of image monitoring equipment, alert and the well out of service
Lower equipment and interlock operation control, until target location is not in the vigilance task region of the underground equipment and image is supervised
When measurement equipment guards against alarm signal without target, the operation control of the underground equipment could be unlocked.
8. early warning system as claimed in claim 1, it is characterised in that：The system also includes storage server, monitoring service
Device, monitor terminal；Storage server is used to store each underground equipment information and its warning region related data, target identities letter
Breath, target location；Monitoring server is used for monitoring objective position, and target position data is compared with underground equipment warning region
To treatment, alarm signal is sent to monitor terminal when result meets alert if；Monitor terminal be used for target location and
Equipment state shows, with sound and light of alarm.
9. early warning system as claimed in claim 1, it is characterised in that：Before underground equipment operation, monitoring server is from storage
Server transfers the warning region data of equipment, when monitoring to run irrelevant target location in vigilance task region with equipment
When interior, then alarm and interlock control, until when nothing runs irrelevant target with equipment in vigilance task region, unblock sets
Received shipment row is controlled；When underground equipment runs, when system monitoring runs irrelevant target location in vigilance task to equipment
When in region, then alarm, pass hull closure and interlock control, until irrelevant without being run with equipment in vigilance task region
During target, unlocker device operation control.
10. early warning system as claimed in claim 1, it is characterised in that：The judgement target location that early warning system is used and setting
The method that whether overlaps of warning region include following decision method：Target location is set as a coordinate points (xP,yP), it is alert
Guard against region to be made up of at least one polygon, polygon vertex coordinate is respectively (x1,y1), (x2,y2) ... ..., (xn,yn), its
Middle maximum X-coordinate value is designated as xmax, minimum X-coordinate value is designated as xmin, maximum Y-coordinate value is designated as ymax, minimum Y-coordinate value is designated as
ymin；
The first step, judges (x firstP,yP) whether meet xmin＜ xP＜ xmaxAnd ymin＜ yP＜ ymax, such as it is unsatisfactory for two above bar
Part, then decision-point (xP,yP) outside warning region.
Second step, such as meets two conditionals of the first step, then find out all two summits X-coordinate value xi、xi+1Meet xi≤xP≤
xi+1Polygon edge line segment, bring its apex coordinate into following formula
One group of number is obtained, by this group of number composition sequence, and sequence is ranked up according to value size, obtain sequences yB1、
yB2、……、yBjIf, yBj-1≤yP≤yBj, such as sequence number j is even number, then judge (xP,yP) in warning region, otherwise in warning
Outside region.
11. decision methods for entering warning region as claimed in claim 10, it is characterised in that：Claim 10 second step can
Substituted with following steps, then find out all two summits Y-coordinate value yi、yi+1Meet yi≤yP≤yi+1Polygon edge line segment, by it
Apex coordinate brings following formula into
One group of number is obtained, by this group of number composition sequence, and sequence is ranked up according to value size, obtain sequence xB1、
xB2、……、xBjIf, xBj-1≤xP≤xBj, such as sequence number j is even number, then judge (xP,yP) in warning region, otherwise in warning
Outside region.
12. decision methods for entering warning region as claimed in claim 10, it is characterised in that：When warning region border is song
During line, warning region is fitted to polygon and is processed.
13. early warning systems as claimed in claim 1, it is characterised in that：When target location and warning region are three-dimensional coordinate number
According to when, select random two-dimensional coordinate therein using the judgement of entrance warning region as described in claim 9 or claim 10
Method is judged.
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| CN201710167972.3A CN106801617B (en) | 2017-03-21 | 2017-03-21 | Coal mine down-hole personnel injures early warning system |
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| CN201710167972.3A CN106801617B (en) | 2017-03-21 | 2017-03-21 | Coal mine down-hole personnel injures early warning system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107315712A (en) * | 2017-06-19 | 2017-11-03 | 云南电网有限责任公司瑞丽供电局 | A kind of out-of-limit detection method and device in substation safety region |
| CN107328413A (en) * | 2017-09-04 | 2017-11-07 | 中国矿业大学(北京) | Calamity forecast system under mine based on personnel positions |
| CN107328412A (en) * | 2017-09-04 | 2017-11-07 | 中国矿业大学(北京) | Calamity forecast system under mine based on acceleration |
| CN107939445A (en) * | 2017-11-01 | 2018-04-20 | 太原理工大学 | The close ultrasound of underground danger zone human body and infrared integrated prior-warning device |
| CN108303719A (en) * | 2018-01-30 | 2018-07-20 | 上海电力学院 | A method of judging whether monitoring client dynamic position exceeds virtual fence |
| CN108320451A (en) * | 2018-01-30 | 2018-07-24 | 上海电力学院 | A kind of virtual fence early warning system for line maintenance security protection |
| CN109085534A (en) * | 2018-06-19 | 2018-12-25 | 中国矿业大学(北京) | Personnel in the pit's ranging localization monitoring method based on image |
| CN110969821A (en) * | 2019-11-20 | 2020-04-07 | 刘晓慧 | Intelligent monitoring and early warning system for coal mine safety foundation |
| CN113217107A (en) * | 2021-05-31 | 2021-08-06 | 北京瑞华高科技术有限责任公司 | Personnel warning method and device for tunneling area |
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| CN107328412B (en) * | 2017-09-04 | 2023-08-18 | 中国矿业大学(北京) | Underground disaster alarm system based on acceleration |
| CN107328413B (en) * | 2017-09-04 | 2023-08-18 | 中国矿业大学(北京) | Underground disaster alarm system based on personnel position |
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| CN107939445B (en) * | 2017-11-01 | 2020-04-03 | 太原理工大学 | Underground dangerous area human body approaching ultrasonic and infrared integrated early warning device |
| CN108303719A (en) * | 2018-01-30 | 2018-07-20 | 上海电力学院 | A method of judging whether monitoring client dynamic position exceeds virtual fence |
| CN108320451A (en) * | 2018-01-30 | 2018-07-24 | 上海电力学院 | A kind of virtual fence early warning system for line maintenance security protection |
| CN109085534A (en) * | 2018-06-19 | 2018-12-25 | 中国矿业大学(北京) | Personnel in the pit's ranging localization monitoring method based on image |
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