CN114151136B - Personnel protection method of reversed loader - Google Patents
Personnel protection method of reversed loader Download PDFInfo
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- CN114151136B CN114151136B CN202111300120.XA CN202111300120A CN114151136B CN 114151136 B CN114151136 B CN 114151136B CN 202111300120 A CN202111300120 A CN 202111300120A CN 114151136 B CN114151136 B CN 114151136B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000013459 approach Methods 0.000 claims abstract description 4
- 238000012546 transfer Methods 0.000 claims description 10
- 238000002366 time-of-flight method Methods 0.000 claims description 4
- 231100001261 hazardous Toxicity 0.000 claims description 3
- 238000000691 measurement method Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 10
- 239000003245 coal Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- 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
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
- E21F13/063—Loading devices for use in mining
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention relates to the field of reversed loaders, in particular to a personnel protection method of a reversed loader, wherein a worker carries a positioning label; positioning nodes connected with the labels are respectively arranged on two side edges of the chute of the reversed loader; setting a controller unit, wherein the controller unit acquires positioning data of two positioning nodes and judges the positions of the two positioning nodes; the connecting line between the two positioning nodes is used as a symmetrical axis, and two axisymmetric areas are formed by taking the symmetrical axis as a boundary, wherein the symmetrical axis is parallel to a straight line formed by the feed inlet or is positioned on the straight line formed by the feed inlet; determining a quadrilateral area as a dangerous area; the staff approaches the reversed loader, enters the range of the distance from which the positioning nodes receive the tag signals, and can obtain whether the tag is in the dangerous area after measuring the distance between the tag and the two positioning nodes. The invention identifies the label entering the dangerous area of the reversed loader, thereby accurately judging whether the staff is in the dangerous area.
Description
Technical Field
The invention relates to the field of reversed loaders, in particular to a personnel protection method of a reversed loader.
Background
The reversed loader is an important device for transporting coal gangue on a working face, workers on the working face are concentrated, and the damage to the workers caused by the fact that the workers fall down the reversed loader and then are pulled into the crusher can occur.
At present, a system for identifying a dangerous area based on label positioning mainly comprises three identification methods, wherein first, a single positioning node is used for dividing the dangerous area, when the method is used, the system for identifying the dangerous area is simpler, but the dangerous area can only identify the ball row position taking the positioning node as the center of a ball, the fitting degree of the dangerous area is low, and a ball area taking the positioning node as the center of the ball is set as the dangerous area, so that workers on a pedestrian passageway can be considered to be in the dangerous area, and the normal passing of the workers is affected; secondly, personnel identification is performed by using an infrared technology, but the temperature of the personnel can be close to the heating of working face equipment, so that false alarm of the infrared technology can be caused; third, personnel safety protection is performed by using a method of installing an additional structure, but the personnel safety protection cannot be completely protected, and injury to the personnel is still possible.
The three modes can not well identify whether the staff is in a dangerous area or not, misjudgment can be generated, and the working efficiency is reduced.
Disclosure of Invention
The invention aims to solve the technical problems that: the invention provides a personnel protection method of a reversed loader, which aims to solve the technical problems that whether working personnel are in a dangerous area or not can not be well identified, misjudgment is easy to occur and working efficiency is reduced in the prior art.
The technical scheme adopted for solving the technical problems is as follows: the personnel protection method of the transfer conveyor comprises the following steps:
the staff carries the label for positioning;
positioning nodes connected with the labels are respectively arranged on two side edges of the chute of the reversed loader;
setting a controller unit, wherein the controller unit acquires positioning data of two positioning nodes and judges the positions of the labels;
the connecting line between the two positioning nodes is used as a symmetrical axis, and two axisymmetric areas are formed by taking the symmetrical axis as a boundary, the two areas are spliced to form a quadrangle, and the symmetrical axis is parallel to a straight line formed by the feed inlet or is positioned on the straight line formed by the feed inlet;
setting the length, width and offset of the quadrangle in the controller unit, and determining the quadrangle area as a dangerous area according to the values of the length, width and offset of the quadrangle;
the staff approaches the reversed loader, enters the range of the distance from which the positioning nodes receive the label signals, and starts to measure the distance between the labels and the two positioning nodes;
after the distance between the tag and the two positioning nodes is calculated, whether the tag is in the dangerous area or not can be obtained.
The invention effectively identifies the label entering the dangerous area of the transfer conveyor, thereby judging whether the staff is in the dangerous area, if the staff carries the label to enter the dangerous area, the transfer conveyor is locked, the staff is prevented from entering the feed inlet, further, the staff is prevented from being damaged by being pulled into the crusher after falling into the transfer conveyor, the reliability and the accuracy of identification are improved, meanwhile, whether the staff is on the side edge of the dangerous area can be identified, the normal walking and the operation of the staff on a pedestrian passageway are not influenced, the production operation is not influenced, meanwhile, the invention can be conveniently deployed in the pit, and the invention can also work in severe environments such as a working face and the like, and has higher applicability.
Further, after the distance between the tag and the two positioning nodes is measured, whether the tag is in the dangerous area or not is obtained, and if yes, the reversed loader is locked.
According to the distance between the measured label and the two positioning nodes, whether the label is in the dangerous area or not is identified, and the operation is convenient, so that the work of the reversed loader is controlled in a targeted manner, and the work efficiency is improved.
Further, the distance measurement method is a TOF method or an RSSI method.
The method for measuring the distance can increase the applicability of the method, and simultaneously improves the recognition accuracy.
Further, the two positioning nodes are connected with three points of the tag to form a triangle, the distance between the two positioning nodes and the tag is measured, and the length of the symmetry axis is known;
a vertical line is set in the triangle, and the length of the vertical line is calculated according to the three known distances.
According to the invention, the label is comprehensively identified by using a plurality of factors, namely the known three distances and the known vertical distance between the label and the symmetrical axis, so that the label identification accuracy is improved.
Further, the perpendicular lines divide the triangle into two right-angled triangles, and the lengths of hooks of the two right-angled triangles are calculated respectively according to the known distance between the two positioning nodes and the tag, the length of the symmetrical axis and the perpendicular distance between the tag and the symmetrical axis, so that whether the tag is positioned on the side edge of the dangerous area is judged.
According to the length of the hook of the two right triangles formed by calculation, the judgment factors are increased, and the accuracy of label identification is improved.
Further, the lengths of the hooks of the two right triangles are calculated, whether the tag is located on the side edge of the dangerous area is judged, and if yes, the tag is judged not to be located in the dangerous area.
In the invention, if the tag is positioned on the side of the dangerous area, the staff carrying the tag is not positioned in the dangerous area, so that the misjudgment of the staff positioned on the pedestrian passageway is reduced.
Further, the quadrangle may be rectangular or trapezoidal.
The quadrangle is rectangular or trapezoidal, so that the position of the label can be conveniently calculated, and the calculation speed is improved.
Further, the controller unit is provided with an alarm device, and if the tag is in the dangerous area, the alarm device outputs an alarm signal.
The invention is provided with the alarm device, alarms the identified result, can timely inform the staff, ensures that the staff can timely process the occurrence condition, and reduces the loss.
Further, the output of the alarm signal of the alarm device is a digital signal output, an analog quantity output or a switching quantity output.
The output of the alarm signal of the alarm device is provided with various forms, so that the application range of the invention is improved.
The invention has the beneficial effects that the label entering the dangerous area of the transfer conveyor is effectively identified, so that whether the staff is in the dangerous area is judged, the work of the transfer conveyor is better controlled, the staff is prevented from being hurt by being pulled into the crusher after falling into the transfer conveyor, the reliability and the accuracy of identification are improved, meanwhile, whether the staff is on the side of the dangerous area can be identified, the normal walking and the operation of the staff on a pedestrian passageway are not influenced, the production operation is not influenced, the invention can be conveniently deployed underground, the work can be performed under severe environments such as a working face, and the like, and the applicability is higher.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a deployment diagram of the present invention when the hazard zone is rectangular.
Fig. 2 is a calculated tag location when the hazard zone of the present invention is rectangular.
Fig. 3 is a deployment view of the present invention when the hazard zone is trapezoidal.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
Example 1
As shown in fig. 1-2, is a preferred embodiment of the present invention.
The personnel protection method of the transfer conveyor comprises the following steps:
s100, carrying a label for positioning by a worker.
And S200, arranging positioning nodes which are in wireless connection with the labels on two side edges of the chute of the reversed loader respectively.
And S300, setting a controller unit in the personnel protection system, wherein the controller unit is connected with the two positioning nodes through cables, and receives output signals of the positioning nodes.
The main functions of the controller unit are two, the first: calculating the position of the tag according to the distance between the tag and the positioning node; the second function: and outputting a control signal according to the position of the tag and the dangerous area. The controller unit can be a single device, or a positioning node with stronger operation capability and output control signals can be designed, namely the positioning node is a device which combines the positioning node and the controller unit into a whole.
S400, taking a connecting line between two positioning nodes as a symmetrical axis, forming two axisymmetric areas by taking the symmetrical axis as a boundary, splicing the two areas to form a rectangle, taking the feeding direction of the chute as the front, and positioning the symmetrical axis behind a straight line formed by the feeding hole.
S500, setting the length, the width, the offset and the length of the symmetrical axis of the quadrangle in the controller unit, and determining the quadrangle area as a dangerous area according to the length, the width and the value of the offset of the quadrangle, wherein the range of the dangerous area can cover the area needing to be safely protected by the transfer conveyor.
The controller unit includes a dangerous area calculating section that calculates the position of the tag, and an alarm signal outputting section that alarms the measured result.
The offset is that offset can occur between two positioning nodes, and correction can be performed on the offset, so that identification accuracy is improved.
The hazardous area calculation part and the alarm signal output part may be implemented using separate hardware entities.
If the tag is in the dangerous area, the alarm signal output alarms through the digital signal output. The digital signal output can be used for displaying the current working state of the equipment in other systems, such as the state display by uploading to the ground through Ethernet, or the display of the working state of early warning, shutdown and the like by transmitting to an underground centralized control center through an RS485 interface and the like.
S600, when a worker approaches the reversed loader, the worker enters a distance range in which the positioning node receives the label signals, starts to measure the distance between the label and the two positioning nodes, measures the distance by a TOF method, sets the distance between the label and the two positioning nodes as a and b, and sends the numerical values a and b of the position measurement of the positioning node and the label to the controller unit in a wired mode.
The connecting line between the two positioning nodes and the label form a triangle, the distance between the two positioning nodes and the label is measured, the values of a and b are obtained, the length of the symmetry axis is known, and the length of the symmetry axis is set to be d.
Setting a vertical line in the triangle, calculating the length of the vertical line according to the three known distances, setting the length of the vertical line as h, and measuring the length of the h by a TOF method.
The vertical lines divide the triangle into two right triangles, the lengths of the hooks of the two right triangles are calculated according to the known lengths of a, b, d and h and the cosine law, the lengths of the two hooks are set to be x and y respectively, the length of x represents whether the tag is positioned on the left side of the dangerous area in fig. 1, and the length of y represents whether the tag is positioned on the right side of the dangerous area in fig. 1.
If the length of x or y is the same as the length of d, the label is positioned on two sides of the dangerous area in the length direction; if the length of x or y is less than the length of d, then the label is indicated to be in the dangerous area; if the length of x or y is greater than the length of d, it indicates that the tag is not within the hazardous area.
If the length of h is the same as the length of the width-directional sides of 1/2 of the hazard zone (i.e., one zone), then it is indicated that the tag is on both width-directional sides of the hazard zone; if the length of h is less than the length of the lateral side of 1/2 of the dangerous area (i.e. one area), then the label is indicated to be in the dangerous area; if the length of h is greater than the length of the lateral sides of 1/2 dangerous areas (namely one area), the label is not in the dangerous area, the label is in the dangerous area, and the controller unit sends out an alarm signal.
And S700, after the distance between the tag and the two positioning nodes is calculated, whether the tag is in the dangerous area or not can be obtained, if so, the reversed loader is locked, and if not, the reversed loader continues to work.
According to the length, width, offset and length value of the symmetrical axis of different dangerous areas, the range of the dangerous areas can be regulated, and the applicability of the invention is improved.
The second embodiment is an improvement based on the first embodiment.
As shown in fig. 3, is a preferred embodiment of the present invention.
The symmetry axis is located on the straight line formed by the feed inlet, one area is the area behind the symmetry axis, and another area is the area in front of the chute feed inlet, and the place ahead of the chute feed inlet is the transportation area of gangue, also belongs to dangerous area. The position of the dangerous area can be adjusted according to the change of the positions of the two fixed nodes, and the dangerous area is trapezoidal.
Because the positioning node is a device which combines the positioning node and the controller unit, the dangerous area calculating part and the alarm signal outputting part can be realized on the positioning node.
If the tag is in the dangerous area, the alarm signal output alarms through analog quantity output or switching value output.
And measuring the distance between the tag and the two positioning nodes by using an RSSI method.
The connecting line between the two positioning nodes is used as a symmetrical axis, and two axisymmetric areas are formed by taking the symmetrical axis as a boundary, and the two areas are spliced to form a rectangle which is a trapezoid.
In fig. 3, x and h are calculated according to the known length and cosine theorem of a, b, d and h, respectively.
Setting a connecting line between the positioning node 1 and the positioning node 2 as an x-axis abscissa, setting a trapezoid upper bottom as an h-axis ordinate, and setting a boundary of a dangerous area as a function expression as follows: h < h (x), where h (x) is a function of the hazard zone boundary as an argument of x.
Wherein the calculation formula of h (x) is as follows:
；
and h0 and h1 are set values, the values of h0 and h1 are set according to the field construction environment, and the values of h0 and h1 are input into the controller.
The positioning node 1 is the origin (0, 0) of the coordinate system, and the coordinates of the positioning node 2 are (d, 0)
For positioning node 1, it x=0, which corresponds to h (x) =h0, and for positioning node 2, it x=d, which corresponds to h (x) =h1.
When x is smaller than 0 or x is larger than d, calculating to obtain that the tag is not in a dangerous area through a calculation formula of h (x); when x is between 0 and d and h is greater than h (x), calculating to obtain that the tag is not in a dangerous area through a calculation formula of h (x); when x=0, h (x) =h0, and when x=d, h (x) =h1, in both cases, the tag is calculated to be not in the dangerous area by the calculation formula of h (x), and the other areas are dangerous areas.
For example, let d be 2m, h0 be 3m, h1 be 5m, when the tag calculates position x=0m, h (x) =3m, h <3m alarms, h >3m does not alarm; when the label calculates the position x=1m, h (x) =4m, h <4m alarms, and h >4m does not alarm; when the label calculates the position x=2m, h (x) =5m, h <5m alarms, h >5m does not alarm; when the label calculates the position x= -1m, the alarm is not given; when the tag calculates position x=3m, no alarm is given.
In this embodiment, y and h can be calculated according to the known lengths of a, b, d and h and cosine theorem, respectively.
h (y) is a function of the dangerous area boundary with y as an argument.
Wherein the calculation formula of h (y) is as follows:
。
other calculation operations of y are the same as those of x, and are not described in detail herein.
The upper bottom edge of the trapezoid is close to the controller unit, the lower bottom edge of the trapezoid is close to the coal seam area, and the coal seam area is also a dangerous area, so that the lower bottom edge of the trapezoid is close to the coal seam area, the coverage range of the coal seam area is large, the coverage range of the dangerous area is increased, and the safety is improved.
The positioning node transmits the values a and b of the position measurements of itself and the tag to the controller unit in a wireless manner. Or the symmetry axis is located on the straight line formed by the feed opening,
the two positioning nodes send the ranging result to the dangerous area calculation part in a wireless mode, or the ranging result can be transmitted through the inside of the equipment.
The rest of the second embodiment is the same as the first embodiment, and will not be described here again.
The positioning node also transmits the values a and b of the position measurements of itself and the tag to the controller unit by means of internal transmission of the device.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (5)
1. The personnel protection method of the transfer conveyor is characterized by comprising the following steps of:
the staff carries the label for positioning;
positioning nodes connected with the labels are respectively arranged on two side edges of the chute of the reversed loader;
setting a controller unit, wherein the controller unit acquires positioning data of two positioning nodes and judges the positions of the labels; the connecting line between the two positioning nodes is used as a symmetrical axis, and two axisymmetric areas are formed by taking the symmetrical axis as a boundary, the two areas are spliced to form a quadrangle, the symmetrical axis is parallel to a straight line formed by the feed inlet or the symmetrical axis is positioned on the straight line formed by the feed inlet, and the quadrangle is rectangular or trapezoidal;
setting the length, width and offset of the quadrangle in the controller unit, and determining the quadrangle area as a dangerous area according to the values of the length, width and offset of the quadrangle;
the staff approaches the reversed loader, enters the range of the distance from which the positioning nodes receive the label signals, and starts to measure the distance between the labels and the two positioning nodes;
after measuring the distance between the tag and two positioning nodes, judging whether the tag is in a dangerous area or not, wherein the method specifically comprises the following steps of:
connecting the two positioning nodes with three points of the tag to form a triangle, measuring the distance between the two positioning nodes and the tag, and knowing the length d of the symmetrical axis;
setting a vertical line in the triangle, and calculating the length of the vertical line according to the three known distances, wherein the length is the vertical distance h between the tag and the symmetry axis;
dividing the triangle into two right triangles by the vertical lines, and respectively calculating the lengths of hooks of the two right triangles according to the known distance between the two positioning nodes and the label, the length d of the symmetrical axis and the vertical distance h between the label and the symmetrical axis, wherein the lengths of the hooks of the two right triangles are x and y respectively;
if the length of x or y is the same as the length of d, the label is positioned on two sides of the dangerous area in the length direction; if the length of x or y is smaller than the length of d, the label is in the length direction of the dangerous area; if the length of x or y is greater than the length of d, indicating that the tag is not in the hazardous area;
if the length of h is equal to the length of 1/2 dangerous areas in the width direction, the label is positioned on two lateral sides of the dangerous areas in the width direction; if the length of h is smaller than the length of 1/2 dangerous areas in the width direction, the label is indicated to be in the dangerous area; if the length of h is greater than the width-wise length of 1/2 of the hazard zone, then it is indicated that the tag is not within the hazard zone.
2. A method of protecting personnel of a reversed loader as defined in claim 1, wherein: after the distance between the tag and the two positioning nodes is measured, whether the tag is in the dangerous area or not is obtained, if yes, the reversed loader is locked, and audible and visual alarm is carried out.
3. A method of protecting personnel of a reversed loader as defined in claim 1, wherein: the distance measurement method is a TOF method or an RSSI method.
4. A method of protecting personnel of a reversed loader as defined in claim 1, wherein: the controller unit is provided with an alarm device, and if the tag is in the dangerous area, the alarm device outputs an alarm signal.
5. A method of protecting personnel of a reversed loader as defined in claim 4, wherein: the output of the alarm signal of the alarm device is digital signal output, analog quantity output or switching value output.
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