CN-121981521-A - Trackless rubber-tyred vehicle safety guarantee system and method based on Internet of things

CN121981521ACN 121981521 ACN121981521 ACN 121981521ACN-121981521-A

Abstract

The invention relates to the technical field of auxiliary transportation safety of underground coal mines, in particular to a trackless rubber-tyred vehicle safety guarantee system and method based on the Internet of things. The method comprises the steps of respectively collecting data of units in a security system and sharing data among the systems based on the Internet of things, constructing a plurality of levels of risk models such as a vehicle end layer, a roadway edge layer, a roadway interaction layer, a global system layer and the like according to collected and shared data, calculating a weighted average value of overall risk scores according to risk prediction results output by the risk models and combining risk weights among the risk models and the levels in the levels to obtain a risk comprehensive score of the trackless rubber-tyred vehicle, determining the risk level of the trackless rubber-tyred vehicle according to the risk comprehensive score of the trackless rubber-tyred vehicle, and determining corresponding early warning/control strategies and sending the early warning/control strategies to a vehicle-mounted terminal of the trackless rubber-tyred vehicle. The invention can obviously improve the intrinsic safety level of the operation of the trackless rubber-tyred vehicle and reduce the auxiliary transportation accident rate.

Inventors

JIANG XUELI
QI ZHIFENG
ZHANG YUANHAO
CHEN MINGHUA
YAN HAOZHENG
ZHANG SHUOYAN
ZHOU LIBING
YE BAISONG
WEI JIANJIAN
HAO DABIN
ZHAO YEXIN
BIAN JUN
REN SHUWEN
YU ZHENGQIAN

Assignees

天地（常州）自动化股份有限公司
中煤科工集团常州研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20251225

Claims (10)

1. The utility model provides a trackless rubber-tyred car safety guarantee system based on thing networking which characterized in that includes: the vehicle-mounted safety protection system is used for acquiring the environment, the state and the driver state information of the vehicle; The road side internet of things protection system is used for acquiring roadway environment, vehicle positioning and roadway traffic information; the cloud scheduling management platform is used for acquiring mining area transportation scheduling conditions, transportation scheduling risk conditions, risk prediction and historical data record storage.
2. The trolley-bus rubber-tyred car safety guarantee system based on thing networking of claim 1, characterized in that, on-vehicle safety protection system includes: the vehicle state detection unit is used for monitoring the running state of the vehicle in real time; the vehicle-mounted sensing and positioning unit is used for identifying traffic signs such as obstacle sensing, target detection, traffic lights and the like around the vehicle and accurately positioning the vehicle in real time; the driver state detection unit is used for monitoring the state of the driver in real time; The vehicle-mounted drive-by-wire execution unit is used for controlling the running speed, the steering angle and the braking pressure of the trackless rubber-tyred vehicle; The vehicle-mounted intelligent terminal is used for realizing information sharing, information processing and early warning of the trackless rubber-tyred vehicle and other internet of things equipment.
3. The trolley-bus rubber-tyred car safety guarantee system based on thing networking of claim 1, characterized in that, the roadside internet of things guarantee system includes: The roadway information monitoring unit is deployed at key positions along the roadway and is used for monitoring roadway environment safety parameters and roadway road condition information; The UWB positioning unit is used for positioning underground personnel and vehicles in real time; The roadway area control unit monitors, analyzes and processes running vehicles and pedestrians in the roadway in real time and controls roadway traffic; And the stall protection unit monitors the speed of the vehicle in real time through a radar speed sensor, and can automatically trigger the stall protection device when detecting the stall or overspeed of the vehicle.
4. The trolley-bus rubber-tyred car safety guarantee system based on the internet of things of claim 1, wherein the cloud scheduling management platform comprises: The auxiliary transportation scheduling unit is used for realizing allocation management of drivers and vehicles, positioning monitoring of underground personnel and vehicles and GIS visual display; a history data storage unit that stores driver history state data, vehicle history state data, history transportation activity data, and history accident report data of the trackless rubber-tyred vehicle; the cloud prediction management and control unit is used for carrying out transportation demand prediction, vehicle fault prediction, underground auxiliary transportation state prediction and safety risk prediction assessment.
5. The trolley-bus rubber-tyred car safety guarantee method based on the internet of things according to claims 1-4 is characterized by comprising the following steps: s1, data acquisition and sharing are respectively carried out by a vehicle-mounted safety protection system, a road side internet of things protection system and a cloud scheduling management platform, and inter-system data sharing is carried out based on the internet of things; S2, constructing a risk model, namely determining risk prediction parameters according to collected and shared data, and constructing a multi-level risk model comprising a vehicle end layer, a roadway edge layer, a roadway interaction layer and a global system layer; s3, dynamically calculating a risk comprehensive score, namely calculating a weighted average value of overall risk scores according to a risk prediction result of the multi-level risk model and combining the risk weights of all risk models in the level and the risk weights between the levels to obtain the risk comprehensive score of the trackless rubber-tyred vehicle; S4, determining the risk grade of the trackless rubber-tyred vehicle according to the risk comprehensive score of the trackless rubber-tyred vehicle; S5, determining a corresponding early warning/control strategy according to the risk grade of the trackless rubber-tyred vehicle and sending the early warning/control strategy to the vehicle-mounted intelligent terminal of the trackless rubber-tyred vehicle.
6. The internet of things-based trolley safety guarantee method according to claim 5, wherein the constructing of the multi-level risk model in step S2 specifically includes: s21, constructing a vehicle end layer risk model according to data acquired by a vehicle-mounted safety protection system, wherein the vehicle end layer risk model comprises a vehicle fault diagnosis model, a vehicle end collision risk model, a driver state assessment risk model and a driving behavior assessment risk model. S22, constructing a roadway edge layer risk model according to data acquired by a roadside internet of things protection system, wherein the roadway edge layer risk model comprises a roadway environment risk field model, a roadway road condition information model, a vehicle blind area pedestrian intrusion model, an overspeed snapshot model and a stall protection unit failure model; S23, constructing a lane interaction layer risk model according to shared data of a vehicle-mounted safety protection system and a road side Internet of things protection system, wherein the lane interaction layer risk model comprises a vehicle blind area collision risk model, a fork collision risk model, a meeting risk assessment model, a landslide risk model and a regional control effectiveness assessment model; s24, according to data uploaded by the vehicle-mounted safety protection system and the road side Internet of things protection system, cloud scheduling management platform data are fused, and a global system layer risk model is built, wherein the global system layer risk model comprises a vehicle fault prediction model, a driving behavior prediction model, a regional risk prediction model and a global transportation system risk assessment model.
7. The internet of things-based trolley safety guarantee method according to claim 6, wherein the dynamically calculating the risk composite score in step S3 specifically includes: S31, calculating risk prediction results of each risk model; S32, normalizing risk prediction results of each risk model in the vehicle end layer, the roadway edge layer, the roadway interaction layer and the global system layer respectively Wherein Respectively representing a vehicle end layer, a roadway edge layer, a roadway interaction layer and a global system layer; Representing the first layer in each layer A risk model; s33, using standard normalization to obtain risk prediction results of each risk model Combining the risk weights of all risk models in the hierarchy Calculating a weighted average of the hierarchical risk scores ; S34, combining risk weights of all levels according to weighted average values of level risk scores Calculating a weighted average of overall risk scores The risk comprehensive score of the trackless rubber-tyred vehicle is obtained.
8. The trolley-bus rubber-tyred car safety guarantee method based on the internet of things according to claim 7, wherein the risk weight of each risk model in the hierarchy is optimized through an entropy weight method; And the risk weights among the layers are updated based on the eigenvalues of the hierarchical risk score correlation coefficient matrix.
9. The trolley-bus rubber-tyred car safety guarantee method based on the internet of things according to claim 8, wherein the optimization method of each risk model risk weight in the hierarchy based on the entropy weight method is specifically as follows: for the first Layer number Constructing a risk prediction result sample set comprising standard normalization by using a risk model, and randomly selecting Entropy value of risk model calculated by using samples Wherein , , Entropy weight is , wherein, Is the number of risk models in the hierarchy, and then a time attenuation factor is introduced Dynamically adjusting the risk weight along with time to obtain the risk weight at the time t ; The optimization method of the inter-level risk weight based on the characteristic value of the level risk score correlation coefficient matrix specifically comprises the following steps: First build a data matrix of hierarchical risk scores , wherein, Is that Time of day (time) Sample data of a layer randomly selected from a sample set comprising a weighted average of hierarchical risk scores, And then constructing a correlation coefficient matrix Then, performing feature decomposition to obtain feature vectors The hierarchical risk weights are: Wherein, therein Is the i-th eigenvalue.
10. The internet of things-based trolley safety guarantee method according to claim 5, wherein the early warning/control strategy in the step S4 is three stages: The first-level early warning is that when the risk comprehensive score of the trackless rubber-tyred vehicle is low, a driver perceives and avoids risks for a long time, and information prompt is carried out on the driver through the vehicle-mounted intelligent terminal; The second-level early warning is that a driver can sense the risk when the risk comprehensive score of the trackless rubber-tyred vehicle is medium, but the risk is avoided in time, at the moment, the risk prediction is carried out in advance through a risk model, and the active early warning is sent to the driver through a vehicle-mounted intelligent terminal; And (3) three-level early warning, namely when the risk comprehensive score of the trackless rubber-tyred vehicle is higher, the driver cannot timely respond to the risk, and the vehicle-mounted drive-by-wire execution unit is started to forcedly adjust the vehicle to a safe state through the vehicle-mounted intelligent terminal for active early warning, so that a stall protection device nearby in a roadway is actively triggered.

Description

Trackless rubber-tyred vehicle safety guarantee system and method based on Internet of things Technical Field The invention relates to the technical field of auxiliary transportation safety of underground coal mines, in particular to a trackless rubber-tyred vehicle safety guarantee system and method based on the Internet of things. Background The trackless rubber-tyred vehicle is widely used in auxiliary transportation of underground coal mines due to the advantages of flexible maneuvering, high transportation efficiency and the like, but has higher requirements on drivers due to complex transportation environment (narrow roadway, wet and slippery road surface, limited visual field and the like), and the transportation safety problem of the trackless rubber-tyred vehicle is increasingly prominent due to heavy underground transportation tasks. With the development of automatic/intelligent construction of coal mines, the introduction of advanced technologies such as a drive-by-wire technology, a fusion sensing technology, a UWB positioning technology and the like, the system device for guaranteeing the operation safety of the trackless rubber-tyred vehicle is proposed from different angles, and the safety guarantee of the trackless rubber-tyred vehicle is gradually developed from the traditional passive protection (CN 120443573A stall protection device, CN111976491A fault protection processing system and the like) to the risk early warning (CN 119006514A overspeed early warning method, CN119052720A driving safety monitoring early warning system and the like) and to the active intervention control (CN 111993887A auxiliary motion control system, CN120848189A dynamic scene self-adaptive control system and the like). The existing trackless rubber-tyred vehicle safety guarantee system mainly utilizes independently operated systems (a monitoring system, a positioning system, a stall protection system and the like) to realize the operation safety protection of the trackless rubber-tyred vehicle through post-fault safety protection treatment, local safety early warning, vehicle speed regulation or braking intervention. The data exchange and the cooperative work cannot be effectively carried out among the systems, meanwhile, the triggering logic of the existing system is basically based on a preset and fixed threshold value, the accuracy and the effectiveness of the existing system are greatly reduced in a dynamically-changing underground complex environment, and the method for carrying out safety protection based on limited and local information of the existing system limits the running efficiency of the trackless rubber-tyred vehicle in practical application. Disclosure of Invention The invention aims at solving the technical problems of single safety guarantee means and narrow coverage in the prior art. Therefore, the trackless rubber-tyred vehicle safety guarantee system and method based on the Internet of things fully utilize the increasing information of the Internet of things in the pit to construct a three-dimensional trackless rubber-tyred vehicle safety guarantee system, and the prospective and initiative of safety guarantee are improved through fusion of global information, systematic trend analysis and risk prediction. The technical scheme adopted for solving the technical problems is as follows: a trackless rubber-tyred vehicle safety guarantee system based on the Internet of things comprises, The vehicle-mounted safety protection system is used for acquiring information such as the environment, the state and the driver state of a vehicle (the trackless rubber-tyred vehicle) so as to realize the detection and the safety guarantee of the vehicle end of the trackless rubber-tyred vehicle; The road side combined protection system is used for acquiring information such as roadway environment, vehicle positioning, roadway traffic and the like and providing dynamic running environment condition data and stall safety protection for efficient and safe running of the trackless rubber-tyred vehicle; the cloud scheduling management platform is used for acquiring mining area transportation scheduling conditions and transportation scheduling risk conditions and realizing overall scheduling management of auxiliary transportation, overall risk prediction of the trackless rubber-tyred vehicle and historical data record storage. Through adopting above-mentioned technical scheme, through the three-level system frame of "on-vehicle + roadside + high in the clouds" of design, accurate laminating trackless rubber-tyred car is in the dynamic operation scene in mine tunnel, realizes that data full dimension covers, risk are in coordination with management and control in real time, dispatch global optimization. Further, the vehicle-mounted safety protection system comprises a vehicle state detection unit, a vehicle-mounted sensing and positioning unit, a driver state detection unit, a vehicle-mounted drive-by-wire execution uni