CN106801617B - 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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- 239000003245 coal Substances 0.000 title claims abstract description 28
- 238000012544 monitoring process Methods 0.000 claims abstract description 75
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000004519 manufacturing process Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000012217 deletion Methods 0.000 claims description 2
- 230000037430 deletion Effects 0.000 claims description 2
- 238000011161 development Methods 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000012986 modification Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 5
- 208000014674 injury Diseases 0.000 abstract description 5
- 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
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
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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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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Business, Economics & Management (AREA)
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Abstract
The present invention provides a kind of coal mine down-hole personnels to injure early warning system, and all kinds of mechanical woundings are also an important factor for causing personnel in the pit's injures and deaths during coal production, especially getting working face machinery and conveying machinery etc..The early warning system mainly includes that mine moves down moving-target, underground equipment, communication network, storage server, monitoring server and monitor terminal, monitoring server is responsible for monitoring mine personnel and device location, when the personnel that monitor and device location, which meet, to impose a condition, alarm signal is then issued, and provides the determination method of specific personnel positions Yu vigilance task regional relation.Coal mine down-hole personnel injury early warning system can the above machine work region security of real-time automatic monitoring 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 personnels to injure early warning system, which is related to radio communication, downhole safety
The fields such as monitoring and location technology.
Background technique
Trend of Underground Personnel Positioning System is one of coal mine downhole safety hedging " six big systems ", in underground coal mine staffing pipe
It plays 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 plate, coal dust, all kinds of mechanical woundings are also to cause personnel in the pit during coal production
An important factor for injures and deaths, especially 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 can not carry out early warning to such mechanical wounding automatically, so needing
It is a kind of can the above machine work region security of real-time automatic monitoring early warning system, prevent the generation of such injury accident, reduce
Casualties in coal production process.
Summary of the invention
The present invention provides a kind of coal mine down-hole personnels to injure early warning system, at least one under the system monitoring mine
The position of target；The monitored target carries at least one positioning device for monitoring objective position；It is described monitored
Target include underground work personnel；At least one underground equipment of system monitoring, monitoring content include the position of underground equipment, work
Make the operating status in region, underground equipment, system has the control function to the underground equipment；The system comprises communication networks
Network, communication network connect the control device of the underground equipment, for acquiring the working condition of the underground equipment, and transmit control
Information processed；When the system monitoring to target position is in the vigilance task region of the underground equipment of setting, report is issued
Alert information and the underground equipment out of service and interlock operation control, until target position 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 belt conveyor, scraper plate are defeated
Send machine, coalcutter, development machine, winch.
1. the early warning system further comprises: the positioning device includes monitoring the device of absolute position and monitoring opposite
The device of position.
2. the early warning system further comprises: the positioning device includes 3 D locating device, two-dimensional positioning device, one
Tie up positioning device.
3. the early warning system further comprises: the positioning device includes the terminal device of downhole positioning system.
4. the early warning system further comprises: the positioning device includes ultrasonic distance measurement positioning device, laser ranging
Positioning device, infrared distance measurement positioning device, electronic radar positioning device, image recognition positioning device.
5. the early warning system further comprises: the monitored underground equipment of system includes moveable equipment；It is described removable
Dynamic equipment installs at least one positioning device for monitoring device position.
6. the early warning system further comprises: the early warning system alarm method includes: using image monitoring equipment
Carry out target warning alarm；When system monitoring to target position 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 position is not in the vigilance task region of the underground equipment and image monitoring equipment is without mesh
When mark warning alarm signal, the operation control of the underground equipment could be unlocked.
7. the early warning system further comprises: the system also includes storage server, monitoring server, monitoring eventually
End；Storage server is for storing each underground equipment information and its warning region related data, target identity information, target position
It sets；Monitoring server is used for monitoring objective position, and processing is compared with underground equipment warning region in target position data, when
Alarm signal is issued to monitor terminal when processing result meets alert if；Monitor terminal is aobvious for target position and equipment state
Show that there is sound and light of alarm.
8. the early warning system further comprises: before underground equipment operation, monitoring server is transferred from storage server
The warning region data of equipment are then reported when monitoring to run irrelevant target position with equipment in vigilance task region
The control of alert and interlock, until when nothing runs irrelevant target with equipment in vigilance task region, unlocker device operation control
System；In underground equipment operation, when system monitoring is to when running irrelevant target position in vigilance task region with equipment,
It then alarms, pass hull closure and interlock control solve when in vigilance task region without irrelevant target is run with equipment
Lock device operation control.
9. the early warning system further comprises: the warning region of judgement target position and setting that early warning system uses is
The method of no coincidence includes following determination method: target position is set as a coordinate points (xP,yP), warning region is by least
Warning region is fitted to polygon and handled by one polygon composition when warning region boundary is curve；If security area
Domain polygon vertex coordinate is respectively (x1,y1), (x2,y2) ... ..., (xn,yn), wherein maximum X-coordinate value is denoted as xmax, minimum X
Coordinate value is denoted as xmin, maximum Y-coordinate value is denoted as ymax, minimum Y-coordinate value is denoted as ymin；
The first step, first judgement (xP,yP) whether meet xmin< xP< xmaxAnd ymin< yP< ymax, such as it is unsatisfactory for above
Two conditions, then decision-point (xP,yP) outside warning region.
Second step such as meets two conditionals of the first step, then finds out all two vertex 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, is ranked up by this group of number composition sequence, and to sequence according to value size, obtains sequences yB1、
yB2、……、yBjIf yBj-1≤yP≤yBj, if serial number j is even number, then determine (xP,yP) in warning region, otherwise guarding against
Outside region.Second step can be substituted with following steps, then find out all two vertex Y-coordinate value yi、yi+1Meet yi≤yP≤yi+1It is more
Side shape sideline section, brings its apex coordinate into following formula
One group of number is obtained, is ranked up by this group of number composition sequence, and to sequence according to value size, obtains sequence xB1、
xB2、……、xBjIf xBj-1≤xP≤xBj, if serial number j is even number, then determine (xP,yP) in warning region, otherwise guarding against
Outside region.
When target position and warning region are three-dimensional coordinate data, select random two-dimensional coordinate therein using described above
Two-dimentional determination method determined.
Implementation example of the invention is more fully hereinafter described.
Detailed description of the invention
Fig. 1 coal mine down-hole personnel injures the system composition schematic diagram that early warning system implements example 1.
Fig. 2 coal mine down-hole personnel injures the alarm flow schematic diagram that early warning system implements example 1.
Fig. 3 coal mine down-hole personnel injures the system composition schematic diagram that early warning system implements example 2.
Fig. 4 coal mine down-hole personnel injures the alarm flow schematic diagram that early warning system implements example 2.
Fig. 5 coal mine down-hole personnel injures early warning system monitoring objective position and is overlapped determination example with warning region.
Fig. 6 coal mine down-hole personnel injures early warning system monitoring objective position and equipment warning region determination method flow chart.
Specific embodiment
The positioning device of early warning system of the present invention can be used the location technologies such as TOA, TDOA, RSSI, AOA and be determined
Position, and can be used including ultrasonic distance measurement positioning device, laser ranging positioning device, infrared distance measurement positioning device, electronic radar
The equipment such as positioning device, image recognition positioning device.
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, which mainly forms, includes:
1. monitor terminal (101), is responsible for positioning terminal position and warning message is shown, there is sound-light alarm and human-computer interaction
Function, production management personnel can access storage server by monitor terminal and realize to positioning terminal, underground equipment, vigilance task
The operation such as addition, deletion, input, modification of the relevant information in region.Monitor terminal has map display function, and geography information is flat
MapX mapable component can be used in platform, and mine map is tunnel map vector, and map file is MapInfo format.
2. storage server (102), storage server is for storing each underground equipment warning region related data, positioning eventually
Identity information, positioning terminal position are held, and provides data service for monitoring server (103) and monitor terminal (101).
3. monitoring server (103) is responsible for monitor terminal (101) and provides positioning terminal position data and monitoring and early warning letter
Processing is compared with underground equipment warning region in positioning terminal position data by breath, real-time monitoring positioning terminal position data,
Alarm signal is issued to monitor terminal when processing result meets alert if；Monitoring server is also responsible for the state of underground equipment
Monitoring and automatic control.
4. interchanger (104), the switching equipment of communication network, the data for being responsible for the equipment of all access to communication networks are handed over
It changes, Ethernet switch device can be used.
5. substation (105) is responsible for providing wireless and wired mode communication network to positioning terminal and other communication equipments
Access service, and the 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 positioning device of monitoring objective position, by substation realization positioning and wirelessly
Self-position data are sent to storage server (102) and monitoring server (103) by communication.
7. the controller of drag conveyor (107), drag conveyor connects substation access to communication networks by the communications cable,
It is communicated with monitoring server (103), the monitoring and automatic control to its working condition is realized by monitoring server.It is conveyed in scraper plate
Machine also installs at least one positioning terminal (106), for determining drag conveyor current location.
8. the controller of belt conveyor (108), belt conveyor connects substation (105) access communications by the communications cable
Network is communicated with monitoring server (103), realizes the monitoring and automatic control to its operating status by monitoring server.In band
At least one positioning terminal (106) is installed in formula conveyer starting point, for determining that belt conveyor originates end position.
The alarm flow that coal mine down-hole personnel injures early warning system implementation example 1 is as shown in Figure 2:
1. (201) monitoring server (103) passes through controller (the generally programmable control of communication network access underground equipment
Device processed), acquire the operating status of underground equipment.
2. (202) positioning terminal (106) is positioned by reference point of substation, itself position data is obtained.
3. it includes itself number and itself seat that (203) positioning terminal is sent to storage server (102) and monitoring server
The position data of scale value.
4. (204) storage server receives position data and is stored, after monitoring server receives position data, then root
The relevant information for transferring the target or equipment that carry the positioning terminal from storage server according to the positioning terminal number received, takes
The position change of equipment with the positioning terminal is more than given threshold, then is set according to reinitializing of transferring from storage server
Standby vigilance task region.
5. (205) position data of the positioning terminal carried by personnel in the pit and equipment vigilance task region are compared
It is right, (208) are executed if position is in vigilance task region, otherwise execute (206).
6. it includes positioning terminal position and positioning terminal carrier that (206) monitoring server is sent to monitor terminal (101)
Relevant information warning message, monitor terminal shows alert locations according to warning message on a display screen, and issues acousto-optic report
It is alert.
7. (207) monitoring server sends solution lock control dependent instruction to underground equipment, return (201)
8. (208) monitoring server inquiry is according to the alarm logging of itself storage, equipment control record and (201) acquisition
The running state data of underground equipment differentiates underground equipment current state, executes if equipment is in blocking
(209), (201) directly otherwise are returned to.
9. (209) monitoring server sends shutdown and lock-in control dependent instruction to underground equipment, return (201).
Fig. 3 is that coal mine down-hole personnel injures early warning system implementation 2 system composition schematic diagram of example, with the master for implementing example 1
It distinguishes and is to increase the progress target warning alarm of image monitoring equipment, specific equipment includes:
1. video camera (109), is the image capture device of image monitoring, the video image for vigilance task region is adopted
Collection connects substation access communications by the communications cable using the digital network camera with network video compressed encoding function
Network sends video data to video monitoring server (110).
2. online video alarm server (110), is the identification warning device of image monitoring, 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 injures early warning system implementation 2 alarm flow of example:
1. (401) monitoring server (103) passes through controller (the generally programmable control of communication network access underground equipment
Device processed), acquire the operating status of underground equipment.
2. (402) positioning terminal (106) is positioned by reference point of substation, itself position data is obtained.
3. it includes itself number and itself seat that (403) positioning terminal is sent to storage server (102) and monitoring server
The position data of scale value.
4. (404) storage server receives position data and is 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 number received, such as
The main body for carrying the positioning terminal is underground equipment, and the position change of equipment is more than given threshold, then reinitializes and set
Standby vigilance task region.
5. (405) position data of the positioning terminal carried by personnel in the pit and equipment vigilance task region are compared
It is right, (408) are executed if positioning terminal is in equipment vigilance task region, otherwise execute (406).
6. (406) monitoring server inquiry is according to the alarm logging of itself storage, equipment control record and (401) acquisition
The running state data of underground equipment differentiates underground equipment current state, executes if equipment is in blocking
(407), (401) directly otherwise are returned to.
7. (407) monitoring server sends solution lock control dependent instruction to underground equipment, return (401)
8. (408) video image in video camera (109) acquisition vigilance task region.
9. (409) video of acquisition is carried out compressed encoding by video camera, 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 received.
11. (411) online video alarm server differentiates to whether swarming into target in equipment vigilance task region, and will
Determine that result is sent to monitoring server, (412) are executed if swarming into target in vigilance task region, otherwise returns to (401).
12. it includes positioning terminal position and positioning terminal carrier that (412) monitoring server is sent to monitor terminal (101)
Relevant information warning message, monitor terminal shows alert locations according to warning message on a display screen, and issues acousto-optic report
It is alert.
13. (413) monitoring server sends shutdown and lock-in control dependent instruction to underground equipment, 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, vertex is respectively A, B, C, D, E, F, in each apex coordinate wherein most
Big X-coordinate value is denoted as xmax, minimum X-coordinate value is denoted as xmin, maximum Y-coordinate value is denoted as ymax, minimum Y-coordinate value is denoted as ymin；P1、
P2、P3For monitoring objective, coordinate points are respectively (xP1,yP1)、(xP2,yP2)、(xP3,yP3)；Determination flow is shown in Fig. 6:
1. (601) by target point X-coordinate and xminAnd xmaxIt is compared, if not in xminAnd xmaxBetween then determine target point
In warning region.Due to xP1> xmax, it is determined that P1Point is except warning region.
2. (602) by target point Y-coordinate and yminAnd ymaxIt is compared, if not in yminAnd ymaxBetween then determine target point
In warning region.Due to yP2> ymax, it is determined that P2Point is except warning region.
3. (603) to P3Point is judged, all two vertex X-coordinate value x are found outi、xi+1Meet xi≤xP3≤xi+1It is polygon
Shape sideline section, respectively CD, DE, EF, FA.
4. (604) bringing the apex coordinate of CD, DE, EF, FA into following formula
It obtains by P3Point is parallel to the Y-coordinate of the straight line of Y-axis and each intersection point of each sideline section, by this group of array Cheng Xu
Column.
5. (605) being ranked up to sequence according to value size, sequence (y is obtainedB1,yB2,yB3,yB4)。
6. (606) searching yP3Between any two numbers in the sequence, due to yB1≤yP3≤yB2, yB2Serial number 2, be even
Number, then determine P3Point is in warning region；If serial number odd number outside warning region.With P4For point, due to P4Point and P3Point
X-coordinate is identical, so from (601) to (605) decision process is identical, only yB2≤yP4≤yB3, yB3Serial number 3, be odd
Number, then determine P4Point is outside warning region.
Claims (11)
1. coal mine down-hole personnel injure early warning system, it is characterised in that: the system comprises storage server, monitoring server,
Monitor terminal；Storage server is for storing each underground equipment information and its vigilance task Regional data, target identities letter
Breath, target position；Monitoring server is used for monitoring objective position, and target position data and underground equipment warning region are compared
To processing, alarm signal is issued to monitor terminal when processing result meets alert if；Monitor terminal is used for positioning terminal position
It sets and warning message is shown, there is sound-light alarm and human-computer interaction function, production management personnel can be accessed by monitor terminal and be deposited
Server is stored up to realize to positioning terminal, underground equipment, the addition of the relevant information in vigilance task region, deletion, input, modification behaviour
Make；The position of at least one target under the early warning system monitoring mine；The monitored target carries at least one use
Positioning device in monitoring objective position；The monitored target includes underground work personnel；The early warning system monitor to
A few underground equipment, monitoring content includes the position, working region, operating status of the underground equipment, the early warning system
With the control function to the underground equipment；The system comprises communication network, communication network connects the underground equipment
Control device for acquiring the working condition of the underground equipment, and transmits control information；When the early warning system monitors mesh
When cursor position is in the vigilance task region of the underground equipment of setting, the alert and underground out of service is set
Standby and interlock operation control, until could be unlocked when target position is not in the vigilance task region of the underground equipment
The operation of the underground equipment controls；The underground equipment includes belt conveyor, drag conveyor, coalcutter, development machine, strand
Vehicle；
The early warning system determines determination method tool of the target position in the vigilance task region of the underground equipment of setting
Body process includes:
Target position is set as a coordinate points (xP,yP), warning region is made of at least one polygon, polygon vertex
Coordinate is respectively (x1,y1), (x2,y2) ... ..., (xn,yn), wherein maximum X-coordinate value is denoted as xmax, minimum X-coordinate value is denoted as
xmin, maximum Y-coordinate value is denoted as ymax, minimum Y-coordinate value is denoted as ymin；
The first step, first judgement (xP,yP) whether meet xmin< xP< xmaxAnd ymin< yP< ymax, such as it is unsatisfactory for two above item
Part, then decision-point (xP,yP) outside warning region；
Second step such as meets two conditionals of the first step, then finds out all two vertex 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, is ranked up by this group of number composition sequence, and to sequence according to value size, obtains sequences yB1、
yB2、……、yBjIf yBj-1≤yP≤yBj, if serial number j is even number, then determine (xP,yP) in warning region, otherwise guarding against
Outside region.
2. early warning system as described in claim 1, it is characterised in that: the positioning device include monitor absolute position device and
Monitor the device of relative position.
3. early warning system as described in claim 1, it is characterised in that: the positioning device includes that 3 D locating device, two dimension are fixed
Position device, one-dimensional positioning device.
4. early warning system as described in claim 1, it is characterised in that: the positioning device includes that the terminal of downhole positioning system is set
It is standby.
5. early warning system as described in claim 1, it is characterised in that: the positioning device include ultrasonic distance measurement positioning device,
Laser ranging positioning device, infrared distance measurement positioning device, electronic radar positioning device, image recognition positioning device.
6. early warning system as described in claim 1, it is characterised in that: the monitored underground equipment of system includes moveable equipment；
The moveable equipment installs at least one positioning device for monitoring device position.
7. early warning system as described in claim 1, it is characterised in that: the early warning system alarm method includes: using image
Monitoring device carries out target warning alarm；When system monitoring to target position is in the vigilance task area of the underground equipment of setting
When in domain, and when receiving the target warning alarm signal of image monitoring equipment, alert and the underground out of service
Equipment and interlock operation control, until target position is not in the vigilance task region of the underground equipment and image monitoring
When equipment guards against alarm signal without target, the operation control of the underground equipment could be unlocked.
8. early warning system as described in claim 1, it is characterised in that: before underground equipment operation, monitoring server takes from storage
Business device transfers the warning region data of equipment, when monitoring to run irrelevant target position with equipment in vigilance task region
When, then alarm and interlock control, until when nothing runs irrelevant target with equipment in vigilance task region, unlocker device
Operation control；In underground equipment operation, when system monitoring runs irrelevant target position in vigilance task area to equipment
It when in domain, then alarms, pass hull closure and interlock control, until nothing with equipment runs irrelevant mesh in vigilance task region
When mark, unlocker device operation control.
9. early warning system as described in claim 1, it is characterised in that: the judgement target position and setting that the early warning system uses
The method that whether is overlapped of warning region, second step can substitute with following steps, then finds out all two vertex Y-coordinate value yi、yi+1
Meet yi≤yP≤yi+1Polygon edge line segment, bring its apex coordinate into following formula
One group of number is obtained, is ranked up by this group of number composition sequence, and to sequence according to value size, obtains sequence xB1、
xB2、……、xBjIf xBj-1≤xP≤xBj, if serial number j is even number, then determine (xP,yP) in warning region, otherwise guarding against
Outside region.
10. early warning system as described in claim 1, it is characterised in that: the judgement target position that the early warning system uses with set
Warning region is fitted to polygon and carried out by the method whether fixed warning region is overlapped when warning region boundary is curve
Processing.
11. early warning system as described in claim 1, it is characterised in that: when target position and warning region are three-dimensional coordinate data
When, select random two-dimensional coordinate therein to be determined.
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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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| CN107328413B (en) * | 2017-09-04 | 2023-08-18 | 中国矿业大学(北京) | Underground disaster alarm system based on personnel position |
| CN107328412B (en) * | 2017-09-04 | 2023-08-18 | 中国矿业大学(北京) | Underground disaster alarm system based on acceleration |
| 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 |
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| 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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| CN2700568Y (en) * | 2004-04-16 | 2005-05-18 | 兖矿集团有限公司 | Intelligent human body inductive alarm device for mining |
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| CN103106807B (en) * | 2013-01-11 | 2015-05-20 | 南威软件股份有限公司 | Method of location early warning in official vehicle monitoring |
| CN204552825U (en) * | 2015-02-13 | 2015-08-12 | 那峙雄 | Deathtrap, down-hole warning device |
| CN106094801A (en) * | 2016-07-12 | 2016-11-09 | 四川大学 | A kind of novel CAN FD controller |
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2017
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