CN-122014352-A - UWB-based approach prevention early warning method for mine hydraulic support

CN122014352ACN 122014352 ACN122014352 ACN 122014352ACN-122014352-A

Abstract

The invention discloses a mine hydraulic support approaching prevention early warning method based on UWB, which comprises the following steps of S1, deploying N card readers on each hydraulic support in a roadway, wherein N is an integer greater than or equal to 2, measuring the distance of identification cards worn by operators entering the coverage range of the card readers, storing all discrete ranging information acquired in time sequence in a data structure of a linear table, and S2, extracting and analyzing ranging information of a single identification card relative to the N card readers from the linear table to obtain a typical ranging scene of the single identification card. The invention provides a mine hydraulic support approach prevention early warning method based on UWB, which measures the distance of personnel by means of UWB technology, then links with a hydraulic control system, monitors and early warns when someone approaches the moving hydraulic support, and can output and determine the support number to remind personnel in the mistaken moving support area, thereby reducing the occurrence of safety accidents.

Inventors

ZHANG JIZHE
XU JIAN
MENG FANLUN

Assignees

江苏三恒科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (8)

1. The method for preventing the access of the mine hydraulic support based on UWB is characterized by comprising the following steps: Step S1, deploying N card readers on each hydraulic support in a roadway, wherein N is an integer greater than or equal to 2, measuring the distance of an identification card worn by an operator entering the coverage range of the card readers, and storing all the discrete ranging information acquired in time sequence in a data structure of a linear table; S2, extracting and analyzing ranging information of a single identification card relative to N card readers from a linear table to obtain a typical ranging scene of the single identification card, and carrying out regional logic judgment according to all ranging information of the single identification card relative to the N card readers; s3, screening the minimum ranging distance and the corresponding card reader according to the regional state and the ranging data, then carrying out multi-stage alarm based on interval judgment, and finally outputting an alarm instruction; S4, judging the area where the single identification card is located; and S5, solving the number of the hydraulic bracket closest to the single identification card.
2. The method for preventing access to the hydraulic support for the mine based on UWB according to claim 1, wherein in the step S2, the ranging information of the single identification card relative to the N card readers is extracted and analyzed to obtain the typical ranging situation of the single identification card, and the method specifically comprises the following steps: firstly, scanning from the head of a linear table, and searching and extracting ranging values from N card readers corresponding to a unique non-zero identification card number according to the card number; According to the valid and invalid state combinations of the ranging values of the N card readers, 2N combinations can be generalized by a single identification card, and only one combination of valid and invalid card readers is filtered out to obtain a typical ranging scene.
3. The method for preventing access to a hydraulic support for a mine based on UWB according to claim 1, wherein in the step S2, the area logic determination is performed according to all ranging information of a single identification card relative to N card readers, and the method specifically comprises the following steps: By judging the number of the effective signals of the ranging values and which card reader the effective signals of the ranging values come from, the situation that the personnel are in a core area covered by N card readers together or in a connecting line area between two card readers or in a signal edge area of one card reader is deduced, area logic judgment is completed, and an original distance array is converted into an area state code.
4. The method for preventing access to a hydraulic support for a mine based on UWB according to claim 1, wherein in the step S3, the minimum distance measurement and the screening of the corresponding card reader are performed, and the method specifically comprises the following steps: and finding out the minimum distance value and the card reader number corresponding to the minimum distance value from the ranging information of one identification card and N card readers.
5. The method for preventing access to a hydraulic support for a mine based on UWB according to claim 1, wherein in the step S3, a multi-level alarm based on interval determination is performed, and the method specifically comprises the steps of: presetting a mild risk distance threshold, a moderate risk distance threshold and a high risk distance threshold, and dividing different alarm intervals according to the minimum distance value: if the minimum distance value=the mild risk distance threshold value, judging the first-level early warning area; if the minimum distance value=the moderate risk distance threshold value, judging the second-level warning area; If the minimum distance value=high risk distance threshold value, then a third-level hazard zone is determined.
6. The method for preventing access to a hydraulic support for a mine based on UWB according to claim 1, wherein in the step S4, the area where the single identification card is located is determined, specifically comprising the steps of: Firstly, presetting a space S between any two adjacent hydraulic supports and a hydraulic support number b installed by each card reader, and calculating an absolute Distance between any two card readers, wherein the absolute Distance between the two card readers is calculated according to the following formula: Distance = | S×b1- S×b2 |; Wherein b1 and b2 are the numbers of two hydraulic supports provided with card readers; then, the system acquires the distance measurement distances S1 and S2 from the identification card to two card readers participating in calculation in real time, and calculates the distance difference DeltaS between S1 and S2, deltaS= |S1-S2|; next, the system compares the Distance difference Δs with the absolute Distance between the two readers: if DeltaS is approximately equal to Distance, indicating that the person is located on the connection line of the two card readers and is close to one of the card readers; if DeltaS is less than Distance, then this indicates that the person is located in the area between the two readers.
7. The method for pre-warning the access prevention of the mine hydraulic support based on the UWB according to claim 1, wherein in the step S5, the hydraulic support number closest to the single identification card is calculated, and the method specifically comprises the following steps: Five interval position states of a single identification card relative to two reference card readers are received, wherein the five interval position states comprise a hydraulic support number which is positioned on the left side of a hydraulic support b1, on the right side of a hydraulic support b2, between the hydraulic support b1 and the hydraulic support b2, on the hydraulic support b1 and on the hydraulic support b2, and the nearest hydraulic support number of the single identification card is calculated for each interval position state.
8. The method for preventing access to a hydraulic support for a mine based on UWB according to claim 7, wherein the step of calculating the number of the hydraulic support closest to the single identification card for each interval position state comprises the following steps: the single identification card is positioned on the left side of the hydraulic support b1, and is calculated to the roadway negative direction by taking the position of the hydraulic support b1 as a reference, wherein the calculation formula is as follows: Hydraulic mount number= (b 1 x S-S1)/S; Wherein b1 is a specific number of the hydraulic support b1, S is a distance between two adjacent hydraulic supports in a roadway, and S1 is a distance measurement distance of a card reader arranged on the hydraulic support b 1; The single identification card is positioned on the right side of the hydraulic support b2, and is calculated to the positive direction of the roadway by taking the position of the hydraulic support b2 as a reference, wherein the calculation formula is as follows: Hydraulic mount number= (b2×s+s2)/S; Wherein b2 is the specific number of the hydraulic support b2, S is the distance between two adjacent hydraulic supports in the roadway, and S2 is the distance measurement distance of a card reader arranged on the hydraulic support b 2; The single identification card is positioned between the hydraulic support b1 and the hydraulic support b2, and the calculation formula is as follows: hydraulic mount number= (b1×s+s1)/S; Wherein b1 is a specific number of the hydraulic support b1, S is a distance between two adjacent hydraulic supports in a roadway, and S1 is a distance measurement distance of a card reader arranged on the hydraulic support b 1; The single identification card is positioned on the hydraulic support b1, and the calculation formula is as follows: hydraulic mount number= (b 1S)/s=b1; Wherein b1 is a specific number of the hydraulic support b1, and S is a distance between two adjacent hydraulic supports in the roadway; The single identification card is positioned on the hydraulic support b2, and the calculation formula is as follows: hydraulic mount number= (b2×s)/s=b2; wherein b2 is the specific number of the hydraulic support b2, and S is the distance between two adjacent hydraulic supports in the roadway.

Description

UWB-based approach prevention early warning method for mine hydraulic support Technical Field The invention relates to a UWB-based approach prevention early warning method for a mine hydraulic support, and belongs to the field of coal mine safety monitoring. Background At present, the hydraulic support frame moving is a key link of high risk concentration in the safety production of a fully-mechanized coal mining working face, and hundreds of kilograms to tons of supports carry out complex actions such as lowering, advancing, lifting and the like in the frame moving process, so that personnel are extremely easy to suffer from extrusion, collision and even burial due to incorrect station positions or signal errors. Secondly, severe downhole operating environments such as insufficient illumination, dust diffusion and noise interference severely limit the visual and audible perception of personnel and increase the risk of false judgment. Therefore, in order to improve the safety index of underground personnel in a coal mine, timely monitoring the position of the personnel during the frame moving and early warning of the personnel entering the frame moving area are important tasks. The current personnel protection for the hydraulic support frame moving is divided into two types, namely, the centimeter-level real-time distance measurement of personnel and the hydraulic support frame is realized based on UWB (ultra wide band) technology, then an electrohydraulic control system is linked, the hydraulic support frame moving is compared with the position of the personnel, and the emergency locking of the support frame is realized when personnel break-in events occur. The other is that the underground staff uses wireless remote control to make the operator finish the operation of moving the bracket and lowering the bracket post outside the safe distance. The researches are mainly aimed at detecting the positions of the hydraulic supports and the people, and the hydraulic support numbers of the determined impending collision of the people cannot be output, so that the specific hydraulic support impending collision of the people cannot be timely and accurately known. The underground coal mine environment is complex, the phenomena of insufficient illumination, coal dust diffusion and the like exist, and the hydraulic support moving control is carried out simply by a manual remote control method of underground personnel, so that the hydraulic support moving control has a certain danger for someone to intrude. The positioning of the mark card in the centimeter level is realized based on the UWB technology, the bracket number cannot be output and determined, the linkage with the hydraulic control system is delayed, and safety accidents can occur when someone approaches to the hydraulic bracket moving the bracket without warning prompt. Disclosure of Invention The invention aims to solve the technical problems of overcoming the defects of the prior art, and provides a mine hydraulic support approaching prevention early warning method based on UWB, which measures the distance of personnel by means of UWB technology, then links with a hydraulic control system, monitors and early warns when the personnel approaches to the moving hydraulic support, and can output and determine the support number to remind the personnel in the moving support area by mistake, thereby reducing the occurrence of safety accidents. In order to solve the technical problems, the technical scheme of the invention is as follows: a UWB-based approach prevention early warning method for a mine hydraulic support comprises the following steps: Step S1, deploying N card readers on each hydraulic support in a roadway, wherein N is an integer greater than or equal to 2, measuring the distance of an identification card worn by an operator entering the coverage range of the card readers, and storing all the discrete ranging information acquired in time sequence in a data structure of a linear table; S2, extracting and analyzing ranging information of a single identification card relative to N card readers from a linear table to obtain a typical ranging scene of the single identification card, and carrying out regional logic judgment according to all ranging information of the single identification card relative to the N card readers; s3, screening the minimum ranging distance and the corresponding card reader according to the regional state and the ranging data, then carrying out multi-stage alarm based on interval judgment, and finally outputting an alarm instruction; S4, judging the area where the single identification card is located; and S5, solving the number of the hydraulic bracket closest to the single identification card. Further, in the step S2, the ranging information of the single identification card relative to the N card readers is extracted and analyzed to obtain a typical ranging scenario of the single identification card, which specifically inclu