CN114355876A

CN114355876A - Safety control system and method

Info

Publication number: CN114355876A
Application number: CN202111389005.4A
Authority: CN
Inventors: 郝亚明; 杨勇; 程凤霞; 焦小峰; 原钢; 张强; 刘国鹏; 许连丙; 李焕丽; 王俊秀; 崔增来; 张越; 胡勇; 王哲; 金旭东; 杜春晖
Original assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Current assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Priority date: 2021-11-22
Filing date: 2021-11-22
Publication date: 2022-04-15

Abstract

The present disclosure provides a safety control system and method, wherein the safety control system includes: a mining device, a transportation device and a controller; wherein the mining device comprises at least one first ranging sensor for acquiring a first distance between the mining device and a first target object; the transport device comprises at least one second ranging sensor for acquiring a second distance between the transport device and a second target object; and the controller is used for determining whether the first target object is an obstacle or not according to the first distance and determining whether the second target object is an obstacle or not according to the second distance, and controlling the mining equipment and/or the transportation equipment under the condition that the first target object is the obstacle and/or the second target object is the obstacle. Thus, it is possible to determine whether the first target object and the second target object are obstacles, and automatically realize safety control of the mining equipment and/or the transportation equipment when the first target object and/or the second target object are obstacles.

Description

Safety control system and method

Technical Field

The present disclosure relates to the field of artificial intelligence technologies, and in particular, to a safety control system and method.

Background

The underground space of the coal mine is narrow, the environment is dark, the volume of excavating equipment and transportation equipment is large, drivers have large visual blind areas, and the conditions of scraping and rubbing between the equipment and extrusion collision between the equipment and personnel frequently occur in the running and moving process of the equipment, so that the production safety accidents are frequent, and the equipment damage or the casualties are caused. Therefore, how to automatically realize the safety control of the mining equipment and the transportation equipment becomes a problem to be solved urgently.

Disclosure of Invention

The present disclosure is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, a first object of the present disclosure is to provide a safety control system, which determines whether a first target object and a second target object are obstacles according to a distance between a mining device and the first target object and a distance between a transportation device and the second target object, and automatically controls the mining device and/or the transportation device when the first target object and/or the second target object are obstacles.

A second object of the present disclosure is to provide a safety control method.

A third object of the present disclosure is to provide a safety control device.

A fourth object of the present disclosure is to provide an electronic device.

A fifth object of the present disclosure is to propose a non-transitory computer-readable storage medium.

A sixth object of the present disclosure is to propose a computer program product.

To achieve the above object, an embodiment of a first aspect of the present disclosure provides a safety control system, including: a mining device, a transportation device and a controller; wherein the mining apparatus comprises at least one first ranging sensor for acquiring a first distance between the mining apparatus and a first target object; the transport device comprises at least one second ranging sensor for acquiring a second distance between the transport device and a second target object; the controller is used for determining whether the first target object is an obstacle or not according to the first distance and determining whether the second target object is an obstacle or not according to the second distance, and controlling the mining equipment and/or the transportation equipment under the condition that the first target object is the obstacle and/or the second target object is the obstacle.

The safety control system of the embodiment of the present disclosure includes: the system comprises a mining device, a transportation device and a controller, wherein a first distance between the mining device and a first target object is obtained through a first ranging sensor of the mining device, and a second distance between the transportation device and a second target object is obtained through a second ranging sensor of the transportation device; the controller determines whether the first target object is an obstacle according to the first distance; and determining whether the second target object is an obstacle according to the second distance; and controlling the mining equipment and/or the transportation equipment when the first target object is an obstacle and/or the second target object is an obstacle, thereby judging whether the first target object and the second target object are obstacles or not according to the distance between the mining equipment and the first target object and the distance between the transportation equipment and the second target object, and automatically realizing the safety control of the mining equipment and/or the transportation equipment when the first target object and/or the second target object are obstacles.

In order to achieve the above object, an embodiment of a second aspect of the present disclosure provides a safety control method, including: acquiring a first distance between the mining equipment and a first target object and a second distance between the transportation equipment and a second target object; determining whether the first target object is an obstacle according to the first distance; determining whether the second target object is an obstacle according to the second distance; controlling the mining equipment and/or the transportation equipment when the first target object is an obstacle and/or the second target object is an obstacle.

According to the safety control method, a first distance between the mining equipment and a first target object and a second distance between the transportation equipment and a second target object are obtained; determining whether the first target object is an obstacle according to the first distance; determining whether the second target object is an obstacle according to the second distance; and controlling the mining equipment and/or the transportation equipment when the first target object is an obstacle and/or the second target object is an obstacle, so as to judge whether the first target object and the second target object are the obstacles according to the distance between the mining equipment and the first target object and the distance between the transportation equipment and the second target object, and automatically realize the safety control of the mining equipment and/or the transportation equipment when the first target object and/or the second target object are the obstacles.

To achieve the above object, an embodiment of a third aspect of the present disclosure provides a safety control device, including: the first acquisition module is used for acquiring a first distance between the mining equipment and the first target object and a second distance between the transportation equipment and the second target object; a first determining module, configured to determine whether the first target object is an obstacle according to a first distance; a second determining module, configured to determine whether the second target object is an obstacle according to a second distance; the first control module is used for controlling the mining equipment and/or the transportation equipment under the condition that the first target object is an obstacle and/or the second target object is an obstacle.

To achieve the above object, a fourth aspect of the present disclosure provides an electronic device, including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the safety control method according to the embodiment of the second aspect of the disclosure.

To achieve the above object, a fifth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are configured to cause a computer to execute a security control method according to the second aspect of the present disclosure.

To achieve the above object, a sixth aspect of the present disclosure provides a computer program product, which includes a computer program, and when the computer program is executed by a processor of an electronic device, the electronic device is enabled to execute the security control method according to the second aspect of the present disclosure.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a safety control system according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of an arrangement structure of a first ranging sensor and a second ranging sensor provided in the embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a first distance measuring sensor for measuring a first sub-distance and a second sub-distance according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of another safety control system provided in the embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of another safety control system provided in the embodiment of the present disclosure;

fig. 6 is a schematic flow chart of a safety control method according to an embodiment of the present disclosure;

fig. 7 is a schematic flow chart of another safety control method provided in the embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a safety control device according to an embodiment of the present disclosure;

fig. 9 is a block diagram of an electronic device of a security control method according to an embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present disclosure, and should not be construed as limiting the present disclosure.

The safety control system and the safety control method of the embodiments of the present disclosure are described below with reference to the drawings.

Fig. 1 is a schematic structural diagram of a safety control system according to an embodiment of the present disclosure.

As shown in fig. 1, the safety control system 100 includes: a mining apparatus 110, a transportation apparatus 120, and a controller 130.

Wherein the mining device 110 may include at least one first ranging sensor, which may include various types of ranging sensors, such as infrared ranging sensors, wireless ranging sensors (e.g., Ultra Wide Band (UWB) ranging sensors). The transportation device 120 may include at least one second ranging sensor of the same or different type as the first ranging sensor, and the disclosure is not particularly limited.

In order to improve the safety of the mining equipment and the transportation equipment, as shown in fig. 2, first distance measuring sensors (such as a circle and a UWB wireless distance measuring sensor in the mining equipment in fig. 2) can be respectively arranged on different sides of the mining equipment, second distance measuring sensors (such as a circle and a UWB wireless distance measuring sensor in the transportation equipment in fig. 2) can be respectively arranged on different sides of the transportation equipment, and the mining equipment obtains a first distance between the mining equipment and a first target object through at least one first distance measuring sensor; for example, when the number of the first ranging sensors on each side of the mining device is one, the measurement distance of the first ranging sensor may be used as the first distance between the mining device and the first target object; for another example, when the number of the first measuring sensors is plural, the plural pieces of the measurement data of the plural first distance measuring sensors may be averaged, and the average of the plural pieces of the measurement data may be used as the first distance between the mining equipment and the first target object, or one piece of the measurement data may be selected from the plural pieces of the measurement data as the first distance between the mining equipment and the first target object. Similarly, the transportation device may obtain a second distance between the transportation device and the second target object through the second ranging sensor. It should be noted that the first target object may include at least one first target object, the second target object may include at least one second target object, and the first target object and the second target object may be the same target object or different target objects.

In the disclosed embodiment, since the first ranging sensors are respectively disposed at different sides of the mining apparatus and the second ranging sensors are respectively disposed at different sides of the transportation apparatus, the controller can acquire the first sub-distance between the first side of the mining apparatus and the first target object through the first ranging sensors at the first side (e.g., left side) of the mining apparatus, acquiring a second sub-distance between the second side of the mining apparatus and the first target object by a first ranging sensor of the second side (e.g., right side) of the mining apparatus, and acquiring a third sub-distance between the first side of the transportation device and the second target object by a second ranging sensor of the first side (e.g., left side) of the transportation device, a fourth sub-distance between the second side of the transport device and the second target object is acquired by a second ranging sensor of the second side (e.g., the right side) of the transport device.

Further, the controller determines whether the first target object is an obstacle according to the first sub-distance, the second sub-distance, the width value of the mining equipment and the width value of the roadway where the mining equipment is located. Optionally, when the addition result of the first sub-distance, the second sub-distance and the width value of the mining equipment is smaller than the width value of the roadway where the mining equipment is located, the first target object is determined to be an obstacle, and according to the actual situation of the site, when the obstacle is a mistaken break-in person, the mining equipment can be controlled to stop running.

And meanwhile, the controller determines whether the second target object is an obstacle or not according to the third sub-distance, the fourth sub-distance, the width value of the transportation equipment and the width value of the roadway where the transportation equipment is located. Optionally, when the addition result of the third sub-distance, the fourth sub-distance and the width value of the transportation device is smaller than the width value of the roadway where the transportation device is located, it is determined that the second target object is an obstacle, and according to the actual situation of the site, when the obstacle is a person mistakenly rushing, the transportation device is controlled to stop running.

In order to more clearly illustrate the above embodiments, an example will now be given.

For example, as shown in fig. 3, taking the width value of the roadway where the mining equipment is located as H, the distance from the left side of the mining equipment body to the first target object measured by the first distance measuring sensor is H1, the distance from the right side of the mining equipment body to the first target object is H2, and the width value H of the mining equipment is H, when H + H1+ H2> is H, it is determined that the first target object is not an obstacle, when H + H1+ H2< H, it is described that an obstacle is beside the mining equipment body, and when the obstacle is a wrong person, the operation of the mining equipment can be controlled to stop in combination with the actual situation of the site, wherein when the roadway where the mining equipment and the mining equipment are located are parallel, H + H1+ H2 is H. Similarly, the transport equipment can be controlled.

In an embodiment of the present disclosure, the safety control system may further include: the conveyor belt may comprise at least one third distance measuring sensor for acquiring a third distance between the conveyor belt and a third target object.

As an example, the first ranging sensor of the mining device may measure a distance between the third side of the mining device and the third target object to obtain a fifth sub-distance, and send the fifth sub-distance to the controller; similarly, the second distance measuring sensor of the mining equipment can measure the distance between the third side surface of the transportation equipment and the third target object to obtain a sixth sub-distance, and the sixth sub-distance is sent to the controller; the controller controls at least one of the mining apparatus, the transportation apparatus, and the transportation belt according to the fifth sub-distance, the sixth sub-distance, and the third distance. It should be noted that the fifth sub-distance may include distance values acquired at multiple times by a first distance measuring sensor disposed on the third side of the mining device, the sixth sub-distance may include distance values acquired at multiple times by a second distance measuring sensor disposed on the third side of the transportation device, and the third distance may include distance values acquired at multiple times by a third distance measuring sensor disposed on the transportation belt.

As an example, the mining equipment is controlled to stop running in response to the trend of the fifth sub-distance acquired at the plurality of moments in time being gradually reduced and the trend of the sixth sub-distance acquired at the plurality of moments in time being gradually increased.

That is, as shown in fig. 4, a trend of the fifth sub-distance is obtained according to the fifth sub-distances (e.g., w1 in fig. 4) acquired at a plurality of consecutive times, and a trend of the sixth sub-distance is obtained according to the sixth sub-distances (e.g., w2 in fig. 4) acquired at the plurality of consecutive times, and when the trend of the fifth sub-distance is gradually decreased and the trend of the sixth sub-distance is gradually increased, it can be indicated that an obstacle is in an area between the transportation equipment and the mining equipment and is approaching the mining equipment, and the mining equipment can be controlled to stop operating.

As another example, in response to the trend of the fifth sub-distance acquired at the plurality of times being gradually increased and the trend of the sixth sub-distance acquired at the plurality of times being gradually decreased, the transportation device is controlled to stop operating.

That is, the trend of the fifth sub-distance is obtained according to the fifth sub-distances acquired at a plurality of consecutive moments, and the trend of the sixth sub-distance is obtained according to the sixth sub-distances acquired at the plurality of consecutive moments, when the trend of the fifth sub-distance is gradually increased and the trend of the sixth sub-distance is also gradually decreased, it can be indicated that an obstacle is in an area between the transportation equipment and the mining equipment and is approaching the transportation equipment, and the transportation equipment can be controlled to stop running.

As an example, in response to that the trend of the fifth sub-distance acquired at multiple times is gradually decreasing, the trend of the sixth sub-distance acquired at multiple times is gradually decreasing, the trend of the third sub-distance acquired at multiple times is gradually increasing, and the sixth sub-distance acquired at any one of the multiple times is smaller than the set distance, the transportation device is controlled to perform the warning prompt.

That is, as shown in fig. 5, the trend of the fifth sub-distance is obtained according to the fifth sub-distance (e.g., w1 in fig. 5) acquired at a plurality of consecutive times, the trend of the sixth sub-distance is obtained according to the sixth sub-distance (e.g., w2 in fig. 5) acquired at the plurality of consecutive times, the trend of the third distance is obtained according to the third distance (e.g., w3 in fig. 5) acquired at the plurality of consecutive times, and when the trend of the fifth sub-distance is gradually decreased, the trend of the sixth sub-distance is gradually decreased, the trend of the third distance is gradually increased, and the sixth sub-distance acquired at any one of the plurality of times is smaller than the set distance, the transportation device is controlled to perform the warning prompt. The obstacle warning device can indicate that an obstacle is in an area between the transportation device and the transportation belt and is approaching the transportation device, and when the obstacle is within a set distance range from the transportation device, the transportation device is controlled to give an early warning prompt.

As another example, in response to the trend of the variation of the fifth sub-distance acquired at the plurality of times being gradually increased, the trend of the variation of the sixth sub-distance acquired at the plurality of times being gradually increased, and the trend of the variation of the third distance acquired at the plurality of times being gradually decreased, the transportation apparatus and the mining apparatus may be normally operated.

That is to say, according to the fifth sub-distances acquired at a plurality of continuous moments, the variation trend of the fifth sub-distances is obtained, according to the sixth sub-distances acquired at the plurality of continuous moments, the variation trend of the sixth sub-distances is obtained, according to the third distances acquired at the plurality of continuous moments, the variation trend of the third distances is obtained, the variation trend of the fifth sub-distances is gradually increased, the variation trend of the sixth sub-distances is gradually increased, and the variation trend of the third distances is gradually decreased, which can indicate that people are in an area between the transportation equipment and the transportation belt and are approaching to the transportation belt, the transportation equipment and the mining equipment can normally operate, and when the third distances are smaller than the set distance range, the transportation belt can be controlled to give an early warning prompt.

As another example, in response to the trend of change of the fifth sub-distance acquired at a plurality of times being gradually decreased, the trend of change of the sixth sub-distance acquired at a plurality of times being gradually decreased, and the trend of change of the third sub-distance acquired at a plurality of times being gradually decreased, the transporting apparatus, the mining apparatus, and the transporting belt may be normally operated.

That is, a variation trend of the fifth sub-distance is obtained according to the fifth sub-distances acquired at a plurality of consecutive times, a variation trend of the sixth sub-distance is obtained according to the sixth sub-distances acquired at the plurality of consecutive times, a variation trend of the third distance is obtained according to the third distances acquired at the plurality of consecutive times, the variation trend of the fifth sub-distance is gradually reduced, the variation trend of the sixth sub-distance is gradually reduced, and the variation trend of the third distance is gradually reduced, which can indicate that an obstacle approaches to the transportation device, the excavation device and the transportation belt but does not enter an internal area between the transportation device, the excavation device and the transportation belt, and the transportation device, the excavation device and the transportation belt can normally operate.

As another example, in response to the trend of the variation of the fifth sub-distance acquired at the plurality of times being gradually increased, the trend of the variation of the sixth sub-distance acquired at the plurality of times being gradually increased, and the trend of the variation of the third distance acquired at the plurality of times being gradually increased, the transporting apparatus, the mining apparatus, and the transporting belt may be normally operated.

That is to say, the variation trend of the fifth sub-distance is obtained according to the fifth sub-distances collected at a plurality of continuous moments, the variation trend of the sixth sub-distance is obtained according to the sixth sub-distances collected at the plurality of continuous moments, the variation trend of the third distance is obtained according to the third distances collected at the plurality of continuous moments, the variation trend of the fifth sub-distance is gradually increased, the variation trend of the sixth sub-distance is gradually increased, and the variation trend of the third distance is gradually increased, which can indicate that the obstacle leaves the transportation equipment, the excavating equipment and the transportation belt, and the transportation equipment, the excavating equipment and the transportation belt can normally operate.

It should be noted that, in order to facilitate the controller to safely control the mining equipment, the transportation equipment and the transportation belt, the controller may be disposed inside the mining equipment, the transportation equipment and the transportation belt, or may be disposed outside the mining equipment, the transportation equipment and the transportation belt, and the controller is independently disposed, and the disclosure is not particularly limited.

In order to implement the above embodiments, the present disclosure provides a safety control method.

Fig. 6 is a schematic flow chart of a safety control method according to an embodiment of the present disclosure. It should be noted that the security control method of the embodiment of the present disclosure may be applied to the security control device of the embodiment of the present disclosure, and the device may be configured in an electronic device. The electronic device may be a mobile terminal, for example, a mobile phone, a tablet computer, a personal digital assistant, and other hardware devices with various operating systems. The safety control method of the embodiment of the present disclosure may be applied to the controller of the embodiments of fig. 1 to 5.

As shown in fig. 6, the safety control method may include the steps of:

step 601, a first distance between the mining device and the first target object and a second distance between the transportation device and the second target object are obtained.

In the embodiment of the disclosure, first distance measuring sensors may be respectively arranged on different side surfaces of the mining equipment, second distance measuring sensors may be respectively arranged on different side surfaces of the transportation equipment, and the mining equipment obtains a first distance between the mining equipment and a first target object through at least one first distance measuring sensor; for example, when the number of the first ranging sensors is one, the measurement distance of the first ranging sensor may be used as the first distance between the mining equipment and the first target object; for another example, when the number of the first measurement sensors is plural, the average of the plural pieces of measurement data of the plural first distance measurement sensors may be used as the first distance between the mining equipment and the first target object, or one piece of measurement data may be selected from the plural pieces of measurement data as the first distance between the mining equipment and the first target object. Similarly, the transportation device may obtain a second distance between the transportation device and the second target object through the second ranging sensor. It should be noted that the first target object may include at least one first target object, the second target object may include at least one second target object, and the first target object and the second target object may be the same target object or different target objects.

Step 602, determining whether the first target object is an obstacle according to the first distance.

In an embodiment of the present disclosure, the first distance includes: a first sub-distance between the first side of the mining apparatus and the first target object and a second sub-distance between the second side of the mining apparatus and the first target object; whether the first target object is an obstacle can be determined according to the first sub-distance, the second sub-distance, the width value of the mining equipment and the width value of the roadway where the mining equipment is located. As an example, in a case that an addition result between the first sub-distance, the second sub-distance, and the width value of the mining apparatus is smaller than the width value of the roadway where the mining apparatus is located, it is determined that the first target object is an obstacle.

In the embodiment of the present disclosure, since the first distance measuring sensors are respectively disposed at different sides of the mining apparatus, the safety control device may acquire a first sub-distance between the first side (e.g., left side) of the mining apparatus and the first target object through the first distance measuring sensor at the first side (e.g., right side) of the mining apparatus, and acquire a second sub-distance between the second side (e.g., right side) of the mining apparatus and the first target object through the first distance measuring sensor at the second side (e.g., right side) of the mining apparatus. And determining that the first target object is an obstacle when the addition result of the first sub-distance, the second sub-distance and the width value of the mining equipment is smaller than the width value of the roadway where the mining equipment is located. And determining that the first target object is a non-obstacle when the addition result of the first sub-distance, the second sub-distance and the width value of the mining equipment is greater than or equal to the width value of the roadway where the mining equipment is located. When the mining equipment is parallel to the roadway where the mining equipment is located, the addition result of the first sub-distance, the second sub-distance and the width value of the mining equipment is equal to the width value of the roadway where the mining equipment is located.

Step 603, determining whether the second target object is an obstacle according to the second distance.

In an embodiment of the disclosure, the second distance comprises: and determining whether the second target object is an obstacle according to the third sub-distance, the fourth sub-distance, the width value of the transportation equipment and the width value of a roadway where the transportation equipment is located.

In the embodiment of the present disclosure, since the second distance measuring sensors are respectively disposed on different sides of the transportation device, the safety control device may obtain a third sub-distance between the first side (e.g., the left side) of the transportation device and the second target object through the second distance measuring sensor on the first side (e.g., the right side) of the transportation device, obtain a fourth sub-distance between the second side (e.g., the right side) of the transportation device and the second target object through the second distance measuring sensor on the second side (e.g., the right side) of the transportation device, and determine that the second target object is an obstacle when an addition result between the third sub-distance, the fourth sub-distance, and the width value of the transportation device is smaller than the width value of the roadway where the transportation device is located. And determining that the second target object is a non-obstacle when the addition result of the third sub-distance, the fourth sub-distance and the width value of the transportation device is larger than or equal to the width value of the roadway where the transportation device is located. When the transportation equipment is parallel to the roadway where the transportation equipment is located, the addition result of the first sub-distance, the second sub-distance and the width value of the excavation equipment is equal to the width value of the roadway where the transportation equipment is located.

Step 604, controlling the mining equipment and/or the transportation equipment in case the first target object is an obstacle and/or the second target object is an obstacle.

In an embodiment of the disclosure, the mining device and/or the transportation device may be controlled to stop operation in case the first target object is an obstacle and/or the second target object is an obstacle. For example, when the first target object is an obstacle and the second target object is a non-obstacle, the mining equipment can be controlled to stop running and the transportation equipment can be controlled to run normally; for another example, when the first target object is a non-obstacle and the second target object is an obstacle, the transportation equipment can be controlled to stop running and the mining equipment can be controlled to run normally; for another example, when the first target object is an obstacle and the second target object is an obstacle, the mining equipment and the transportation equipment may be controlled to stop operating.

It should be understood that when the mining equipment and the transportation equipment are in the operating state, no obstacle is allowed in the area between the transportation equipment and the mining equipment, so in order to further improve the safety of the mining equipment and the transportation equipment, as shown in fig. 7, fig. 7 is a schematic flow chart of another safety control method provided by an embodiment of the present disclosure, in which the safety control system further includes: a conveyor belt, a third distance between the conveyor belt and a third target object being obtainable, the first distance comprising: a fifth sub-distance between the third side of the mining apparatus and the third target object, the second distance comprising: a sixth sub-distance between the third side of the transportation device and the third target object, at least one of the mining device, the transportation device and the transportation belt being controlled in dependence on the fifth sub-distance, the sixth sub-distance and the third distance. It should be noted that the fifth sub-distance may include distance values acquired at multiple times by a first distance measuring sensor disposed on the third side of the mining device, the sixth sub-distance may include distance values acquired at multiple times by a second distance measuring sensor disposed on the third side of the transportation device, and the third distance may include distance values acquired at multiple times by a third distance measuring sensor disposed on the transportation belt. The embodiment shown in fig. 7 may include the following steps:

step 701, a third distance between the conveyor belt and a third target object is obtained.

In an embodiment of the disclosure, the safety control device may obtain a third distance between the conveyor belt and a third target object through a third distance measuring sensor on the conveyor belt.

And 702, controlling at least one of the mining equipment, the transportation equipment and the transportation belt according to the fifth sub-distance, the sixth sub-distance and the third distance.

In an embodiment of the disclosure, the first ranging sensor of the mining device may measure a distance between the third side of the mining device and the third target object to obtain a fifth sub-distance, and send the fifth sub-distance to the controller; similarly, the second distance measuring sensor of the mining equipment can measure the distance between the third side surface of the transportation equipment and the third target object to obtain a sixth sub-distance, and the sixth sub-distance is sent to the controller; the controller controls at least one of the mining apparatus, the transportation apparatus, and the transportation belt according to the fifth sub-distance, the sixth sub-distance, and the third distance. It should be noted that the fifth sub-distance may include distance values acquired at multiple times by a first distance measuring sensor disposed on the third side of the mining device, the sixth sub-distance may include distance values acquired at multiple times by a second distance measuring sensor disposed on the third side of the transportation device, and the third distance may include distance values acquired at multiple times by a third distance measuring sensor disposed on the transportation belt.

That is, the trend of the fifth sub-distance is obtained according to the fifth sub-distances acquired at a plurality of continuous moments, and the trend of the sixth sub-distance is obtained according to the sixth sub-distances acquired at the plurality of continuous moments, when the trend of the fifth sub-distance is gradually reduced and the trend of the sixth sub-distance is gradually increased, it can be indicated that a person is in the area between the transportation equipment and the mining equipment and approaches the mining equipment, and the mining equipment can be controlled to stop running.

That is to say, the variation trend of the fifth sub-distance is obtained according to the fifth sub-distances acquired at a plurality of continuous moments, the variation trend of the sixth sub-distance is obtained according to the sixth sub-distances acquired at the plurality of continuous moments, the variation trend of the third distance is obtained according to the third distances acquired at the plurality of continuous moments, and when the variation trend of the fifth sub-distance is gradually reduced, the variation trend of the sixth sub-distance is gradually reduced, the variation trend of the third distance is gradually increased, and the sixth sub-distance acquired at any one of the plurality of moments is smaller than the set distance, the transport equipment is controlled to perform early warning prompt. It can be indicated that an obstacle is in the area between the transportation device and the transportation belt and approaching the transportation device, and when the obstacle is within a set distance range (e.g. 15 meters) from the transportation device, the transportation device can be controlled to give an early warning prompt.

That is to say, the variation trend of the fifth sub-distance is obtained according to the fifth sub-distances acquired at a plurality of continuous moments, the variation trend of the sixth sub-distance is obtained according to the sixth sub-distances acquired at the plurality of continuous moments, the variation trend of the third distance is obtained according to the third distances acquired at the plurality of continuous moments, the variation trend of the fifth sub-distance is gradually increased, the variation trend of the sixth sub-distance is gradually increased, and the variation trend of the third distance is gradually decreased, which can indicate that an obstacle is in an area between the transportation equipment and the transportation belt and is approaching to the transportation belt, the transportation equipment and the mining equipment can normally operate, and when the third distance is smaller than the set distance range, the transportation belt can be controlled to give an early warning prompt.

In addition, in order to prevent rubbing collision between the mining equipment and the transportation equipment and between the transportation equipment and the transportation belt, the safety control device can also determine the distance between the mining equipment and the transportation equipment through a first distance measuring sensor of the mining equipment and a second distance measuring sensor of the transportation equipment, and can control the mining equipment and/or the transportation equipment to stop running when the distance between the mining equipment and the transportation equipment is smaller than a first set distance threshold value. The safety control device can also acquire the distance between the transportation equipment and the transportation belt through a second distance measuring sensor of the transportation equipment and a third distance measuring sensor of the transportation belt, and when the distance between the transportation equipment and the transportation belt is smaller than a second set distance threshold value, the transportation equipment and/or the transportation belt can be controlled to stop running.

In summary, by obtaining a third distance between the conveyor belt and a third target object; and controlling at least one of the mining equipment, the transportation equipment and the transportation belt according to the fifth sub-distance, the sixth sub-distance and the third distance, so that the control of the mining equipment, the transportation equipment and the transportation belt can be automatically realized according to the variation trend of the distances between the transportation belt, the mining equipment and the transportation equipment and the third target object respectively, and the safety of the mining equipment, the transportation equipment and the transportation belt is improved.

It should be noted that the embodiment in fig. 6 and the embodiment in fig. 7 may be executed in parallel or alternatively, and the disclosure is not limited in particular.

In order to implement the above embodiments, the present disclosure proposes a safety control device.

Fig. 8 is a schematic structural diagram of a safety control device according to an embodiment of the present disclosure.

As shown in fig. 8, the safety control device 800 includes: a first obtaining module 810, a first determining module 820, a second determining module 830, and a first control module 840.

The first obtaining module 810 is configured to obtain a first distance between the mining equipment and the first target object and a second distance between the transportation equipment and the second target object; a first determining module 820, configured to determine whether the first target object is an obstacle according to the first distance; a second determining module 830, configured to determine whether the second target object is an obstacle according to the second distance; a first control module 840 for controlling the mining equipment and/or the transportation equipment if the first target object is an obstacle and/or the second target object is an obstacle.

As a possible implementation manner of the embodiment of the present disclosure, the first distance includes: a first sub-distance between a first side of the mining apparatus and the first target object and a second sub-distance between a second side of the mining apparatus and the first target object; the first determining module 820 is specifically configured to: determining whether the first target object is an obstacle or not according to the first sub-distance, the second sub-distance, the width value of the mining equipment and the width value of a roadway where the mining equipment is located; the second distance includes: a third sub-distance between the first side of the transportation device and the second target object and a fourth sub-distance between the second side of the transportation device and the second target object, and the second determining module 830 is specifically configured to: and determining whether the second target object is an obstacle or not according to the third sub-distance, the fourth sub-distance, the width value of the transportation equipment and the width value of the roadway where the transportation equipment is located.

As a possible implementation manner of the embodiment of the present disclosure, the first determining module 820 is configured to determine that the first target object is an obstacle if an addition result between the first sub-distance, the second sub-distance, and the width value of the mining device is smaller than the width value of the roadway where the mining device is located; a second determining module 830, configured to determine that the second target object is an obstacle when an addition result between the third sub-distance, the fourth sub-distance, and the width value of the transportation device is smaller than the width value of the roadway where the transportation device is located; a first control module 840 configured to control the mining equipment and/or the transportation equipment to stop operating when the first target object is an obstacle and/or the second target object is an obstacle.

As a possible implementation manner of the embodiment of the present disclosure, the safety control device further includes: and the second acquisition module and the second control module are used for controlling at least one of the mining equipment, the transportation equipment and the transportation belt according to the fifth sub-distance, the sixth sub-distance and the third distance.

As a possible implementation manner of the embodiment of the present disclosure, the fifth sub-distance includes distance values acquired at multiple times by a sensor disposed on the third side of the mining equipment, the sixth sub-distance includes distance values acquired at multiple times by a sensor disposed on the third side of the transportation equipment, the third distance includes distance values acquired at multiple times by a sensor disposed on the transportation belt, and the second control module is specifically configured to: controlling the mining equipment to stop running in response to that the change trend of the fifth sub-distance acquired at multiple moments is gradually reduced and the change trend of the sixth sub-distance acquired at multiple moments is gradually increased; controlling the transportation equipment to stop running in response to that the variation trend of the fifth sub-distances acquired at multiple moments is gradually increased and the variation trend of the sixth sub-distances acquired at multiple moments is gradually increased; and in response to the fact that the variation trend of the fifth sub-distances collected at multiple moments is gradually reduced, the variation trend of the sixth sub-distances collected at multiple moments is gradually reduced, the variation trend of the third distances collected at multiple moments is gradually increased, and the sixth sub-distances collected at any one moment in multiple moments are smaller than the set distance, the transport equipment is controlled to give an early warning prompt.

The safety control device of the embodiment of the disclosure acquires a first distance between the mining equipment and a first target object and a second distance between the transportation equipment and a second target object; determining whether the first target object is an obstacle according to the first distance; determining whether the second target object is an obstacle according to the second distance; and controlling the mining equipment and/or the transportation equipment when the first target object is an obstacle and/or the second target object is an obstacle, so as to judge whether the first target object and the second target object are the obstacles according to the distance between the mining equipment and the first target object and the distance between the transportation equipment and the second target object, and automatically realize the safety control of the mining equipment and/or the transportation equipment when the first target object and/or the second target object are the obstacles.

It should be noted that the foregoing explanation of the embodiment of the safety control method is also applicable to the safety control device of this embodiment, and details are not repeated here.

Based on the above embodiment, an embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to execute the safety control method described in the embodiments of fig. 6 to 7 of the present disclosure.

In order to implement the above embodiments, the present disclosure also proposes a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the security control method according to the embodiments of fig. 6 to 7 of the present disclosure.

In order to implement the foregoing embodiments, the present disclosure further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor of an electronic device, the electronic device is enabled to execute the security control method according to the embodiments of fig. 6 to 7 of the present disclosure.

As shown in fig. 9, fig. 9 is a block diagram of an electronic device of a security control method according to an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the electronic apparatus includes: one or more processors 901, memory 902, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 9 illustrates an example of a processor 901.

Memory 902 is a non-transitory computer readable storage medium provided by the present disclosure. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the security control method of the above embodiments provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions for causing a computer to execute the security control method described in the above embodiments.

The memory 902, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the first obtaining module 810, the first determining module 820, the second determining module 830, and the first control module 840) corresponding to the transportation coordination control method in the above embodiments of the present disclosure. The processor 901 executes various functional applications of the server and data processing by executing non-transitory software programs, instructions, and modules stored in the memory 902, that is, implements the security control method of the present disclosure as described in the above embodiments.

The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the electronic device by generation of the security control, and the like. Further, the memory 902 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 902 may optionally include a memory remotely provided from the processor 901, and these remote memories may be connected to the electronic device of the security control method through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the security control method may further include: an input device 903 and an output device 904. The processor 901, the memory 902, the input device 903 and the output device 904 may be connected by a bus or other means, and fig. 9 illustrates the connection by a bus as an example.

The input device 903 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device generated in conjunction with transportation control, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or other input device. The output devices 804 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

In addition, the acquisition, storage, application and the like of the information related in the technical scheme of the disclosure all accord with the regulations of related laws and regulations, and do not violate the good custom of the public order.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions proposed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A safety control system, comprising: a mining device, a transportation device and a controller;

wherein the mining apparatus comprises at least one first ranging sensor for acquiring a first distance between the mining apparatus and a first target object;

the transport device comprises at least one second ranging sensor for acquiring a second distance between the transport device and a second target object;

the controller is used for determining whether the first target object is an obstacle or not according to the first distance and determining whether the second target object is an obstacle or not according to the second distance, and controlling the mining equipment and/or the transportation equipment under the condition that the first target object is the obstacle and/or the second target object is the obstacle.

2. The method of claim 1, wherein the first distance comprises: a first sub-distance between the first side of the mining apparatus and the first target object and a second sub-distance between the second side of the mining apparatus and the first target object, the second distance comprising: a third sub-distance between the first side of the transportation device and the second target object and a fourth sub-distance between the second side of the transportation device and the second target object, wherein the controller is specifically configured to:

determining whether the first target object is an obstacle or not according to the first sub-distance, the second sub-distance, the width value of the mining equipment and the width value of a roadway where the mining equipment is located;

determining whether the second target object is an obstacle or not according to the third sub-distance, the fourth sub-distance, the width value of the transportation equipment and the width value of a roadway where the transportation equipment is located;

controlling the mining equipment and/or the transportation equipment if the first target object is an obstacle and/or the second target object is an obstacle.

3. The method of claim 2, wherein the controller is further configured to:

determining that the first target object is an obstacle when the addition result of the first sub-distance, the second sub-distance and the width value of the mining equipment is smaller than the width value of the roadway where the mining equipment is located;

determining that the second target object is an obstacle when the addition result of the third sub-distance, the fourth sub-distance and the width value of the transportation equipment is smaller than the width value of the roadway where the transportation equipment is located;

and controlling the mining equipment and/or the transportation equipment to stop running under the condition that the first target object is an obstacle and/or the second target object is an obstacle.

4. The method of claim 1, wherein the safety control system further comprises: a conveyor belt comprising at least one third ranging sensor for acquiring a third distance between the conveyor belt and a third target object, the first distance comprising: a fifth sub-distance between a third side of the mining apparatus and the third target object, the second distance comprising: a sixth sub-distance between a third side of the transport apparatus and the third target object;

the controller is further configured to control at least one of the mining equipment, the transportation equipment, and the transportation belt according to the fifth sub-distance, the sixth sub-distance, and the third distance.

5. The method of claim 4, wherein the fifth sub-distance comprises distance values collected at a plurality of times by a first ranging sensor disposed on a third side of the mining apparatus, the sixth sub-distance comprises distance values collected at the plurality of times by a second ranging sensor disposed on a third side of the transport apparatus, and the third distance comprises distance values collected at the plurality of times by a third ranging sensor disposed on the transport belt, the controller further configured to:

in response to the fact that the change trend of the fifth sub-distance acquired at the multiple moments is gradually reduced and the change trend of the sixth sub-distance acquired at the multiple moments is gradually increased, controlling the mining equipment to stop running;

in response to the fact that the change trend of the fifth sub-distances collected at the multiple moments is gradually increased and the change trend of the sixth sub-distances collected at the multiple moments is gradually decreased, controlling the transportation equipment to stop running;

and responding to the fact that the variation trend of the fifth sub-distances collected at the moments is gradually reduced, the variation trend of the sixth sub-distances collected at the moments is gradually reduced, the variation trend of the third distances collected at the moments is gradually increased, and the sixth sub-distances collected at any moment in the moments are smaller than the set distance, and controlling the transportation equipment to perform early warning prompt.

6. A safety control method, comprising:

acquiring a first distance between the mining equipment and a first target object and a second distance between the transportation equipment and a second target object;

determining whether the first target object is an obstacle according to the first distance;

determining whether the second target object is an obstacle according to the second distance;

controlling the mining equipment and/or the transportation equipment when the first target object is an obstacle and/or the second target object is an obstacle.

7. The method of claim 6, wherein the first distance comprises: a first sub-distance between a first side of the mining apparatus and the first target object and a second sub-distance between a second side of the mining apparatus and the first target object, the determining whether the first target object is an obstacle based on the first distance, comprising:

accordingly, the second distance comprises: determining whether the second target object is an obstacle according to a third sub-distance between the first side of the transportation device and the second target object and a fourth sub-distance between the second side of the transportation device and the second target object, including:

and determining whether the second target object is an obstacle or not according to the third sub-distance, the fourth sub-distance, the width value of the transportation equipment and the width value of the roadway where the transportation equipment is located.

8. The method of claim 7, wherein the determining whether the first target object is an obstacle according to the first sub-distance, the second sub-distance, the width value of the mining equipment, and the width value of the roadway where the mining equipment is located comprises:

correspondingly, the determining whether the second target object is an obstacle according to the third sub-distance, the fourth sub-distance, the width value of the transportation device, and the width value of the roadway where the transportation device is located includes:

correspondingly, in the case that the first target object is an obstacle and/or the second target object is an obstacle, controlling the mining equipment and/or the transportation equipment comprises:

9. The method of claim 6, wherein the first distance comprises: a fifth sub-distance between a third side of the mining apparatus and a third target object, the second distance comprising: a sixth sub-distance between the third side of the transport apparatus and a third target object, the method further comprising:

obtaining a third distance between the conveyor belt and the third target object;

controlling at least one of the mining equipment, the transportation equipment, and the transportation belt according to the fifth sub-distance, the sixth sub-distance, and the third distance.

10. The method of claim 9, wherein the fifth sub-distance comprises distance values acquired at a plurality of times by a sensor disposed on a third side of the mining device, the sixth sub-distance comprises distance values acquired at the plurality of times by a sensor disposed on a third side of the transportation device, and the third distance comprises distance values acquired at the plurality of times by a sensor disposed on the transportation belt, and controlling at least one of the mining device, the transportation device, and the transportation belt based on the fifth sub-distance, the sixth sub-distance, and the third distance comprises:

in response to the fact that the change trend of the fifth sub-distances collected at the multiple moments is gradually increased, and the change trend of the sixth sub-distances collected at the multiple moments is gradually increased, controlling the transportation equipment to stop running;