CN109482327A - A kind of underground crusher front-end person who protection system and method - Google Patents
A kind of underground crusher front-end person who protection system and method Download PDFInfo
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- CN109482327A CN109482327A CN201811197496.0A CN201811197496A CN109482327A CN 109482327 A CN109482327 A CN 109482327A CN 201811197496 A CN201811197496 A CN 201811197496A CN 109482327 A CN109482327 A CN 109482327A
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- sensor
- laser
- detection information
- failure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/04—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
- B02C23/02—Feeding devices
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a kind of underground crusher front-end person whos to protect system and method, and system includes detection space, the computing platform for receiving and handling information, the controller for controlling conveyer shutdown that the laser emitter and laser pickoff arranged in crusher front end by array are constituted.Method includes the following steps: system initialization, judges whether there is failure sensor, reminds if it does, providing maintenance；It determines the detection information of each sensor, and infers the detection information of failure sensor using fuzzy theory；Each connected region size for calculating detection information, finds largest connected area and calculates its area；Judge whether largest connected area's area is greater than threshold values: if it is greater than threshold values, then shutting down；Otherwise, into subsequent cycle.The present invention improves the range of down-hole coal excavation system intelligent control, ensures the life security of coal miner to the greatest extent, has important application value.
Description
Technical field
The present invention relates to a kind of underground crusher more particularly to a kind of underground crusher front-end person who protection system and sides
Method belongs to underground mining device, method technical field.
Background technique
With the raising of coal mining mechanization degree, large and medium-sized coal enterprise generallys use comprehensive mechanical coal mining, with
Working face mining height is continuously increased, and is also continuously increased from roof pressure, under the effect of roof pressure, almost
The bulk wall caving coal periodicity slabbing of mining height height, when these bulk wall caving coals enter working face scratch board conveyor unloading position without
Method unloading will result in the blocking of scratch board conveyor head unloading position coal stream, or even shut down；It is typically employed in and scrapes in the prior art
Plate transporter head unloading position installs coarse coal crusher system to solve bulk wall caving coal in scratch board conveyor Handpiece Location
Phenomena such as coal stream clamping stagnation can not unload, coal piling.
But since face lighting condition is poor, working environment is severe, personnel, which slip, drops to the scraper plate of crusher front end
Accident on conveyer happens occasionally.People has very big shakiness due to being influenced by physiology, psychology and environment etc.
Qualitative, there is proper certainty in human error, and along with environment on coalface is severe, large labor intensity adds
The possibility that acute people's maloperation occurs, only by reinforcing training, improve supervision to be fundamentally be employee's life
It provides safeguard safely.
Summary of the invention
In order to overcome various deficiencies of the existing technology, the present invention provides a kind of underground crusher front-end person who protection system
System and method, fall to the drag conveyor of crusher front end for judging whether there is personnel, and whether as shutting down
Foundation, to the greatest extent ensure coal miner life security.
To solve the above-mentioned problems, a kind of underground crusher front-end person who of the present invention protects system, including setting broken
Machine front end and the detection space being made of several laser sensors, the computing platform being connected with laser sensing signal and with it is defeated
The controller for sending equipment connected, laser sensor include laser emitter and laser pickoff, and laser emitter is sent out by laser
Emitter bracket is fixed on one end of the top side wall of drag conveyor, and laser pickoff is fixed on by laser pickoff bracket and is scraped
The other end of the top side wall of plate conveyer, and installation opposite with laser emitter, laser emitter and the equal battle array of laser pickoff
Column arrangement.
The laser emitter and laser pickoff of array arrangement, which correspond, constitutes detection space, when there is object to fall into inspection
Space is surveyed, the laser of several laser transmitter projects out will be covered, corresponding several laser pickoffs will not receive
Laser signal, calculating will be sent to as detection information by not receiving signal intensity caused by the laser pickoff of laser signal
Platform；The detection information that the laser sensor received is sent is analyzed and processed by computing platform, and is by program judgement
It is no to there are personnel to enter detection space；The controller executes order according to computing platform calculated result, when judgement has personnel's entrance
When detecting space, controller issues control signal and executes to the shutdown operation for conveying equipment.
A kind of underground crusher front-end person who guard method, steps are as follows:
The first step, system initialization: detecting the original state of each sensor and judges whether it is failure sensor；
The original state of each sensor of the detection, that is, detect each sensor it is initial when whether have received laser letter
Number；
If sensor has been initially received laser signal, determine not to be failure sensor；If sensor initially connects
It can not receive laser signal, be then determined as failure sensor；
If there is failure sensor, then provides maintenance and remind；
If there is no failure sensor, then main program is returned；
Second step, the detection information for obtaining all the sensors: for the sensor not failed, detection information is exactly to be
It is no to have received laser signal, its detection information is set if sensor has received laser signal as 0, is otherwise 1；
For the failure sensor detected in the first step, then its detection information is inferred with fuzzy theory；
Third step, detection information processing: the sensor detection information of different zones caused by detection different objects, thus
Determine several connected regions, while calculating the area in largest connected area；
4th step, the personnel of judging whether there is fall: if largest connected area's area is more than or equal to set threshold values, passing through control
Device control conveying equipment processed is shut down；If largest connected area's area is less than set threshold values, enter subsequent cycle.
Object due to generally falling into detection space has nuts and personnel, it is known that the volume of personnel is much larger than nuts
Volume, and the area of each connected region reflects the lateral area of each object, therefore the quantity of laser signal that personnel are covered
It is more than the laser signal that nuts cover；The threshold values of the connected region area of a difference personnel and nuts is obtained by experiment,
Personnel are judged whether there is accordingly enters detection space.
Further, with fuzzy theory deduction failure sensor detection information, the specific method is as follows in second step:
A, the sensor information around failure sensor is taken to constitute evaluation factor collection,
B, according to expertise, the weight sets of evaluation factor is provided；
C, the opinion rating of failure sensor detection information is calculated；
D, the detection information of failure sensor is finally determined.
When having object to enter detection space causes the fraction of laser light receiver being blocked not receive laser signal, if
There are failure sensors, then not can determine that whether failure sensor position is also obscured by an object actually, therefore can not accurately obtain
Sensor detection information is obtained, and then can not accurately obtain object side area information；Speculate the detection information of failure sensor,
Namely infer whether failure sensor position has object to block, is the essential step of determining sensor detection information.
Further, when the surrounding of failure sensor has laser sensor, by the sensor around failure sensor
It is numbered, and constitutes factor of evaluation collection U={ u according to detection information of the number to the sensor1, u2..., u8, wherein ui
Value determined by the detection information of i-th of sensor: the u if i-th of sensor detects laser signali=0, otherwise
ui=1.
uiIn, the value of i is any natural number in 1 to 8.
Further, it when failure sensor is at corner or edge place, in order to make algorithm that there is versatility, will not deposit
It is defined as ui=0 in the place of sensor, and counting existing number of probes around failure sensor is m.
Further, the weight sets of evaluation factor is provided according to expertise in b step are as follows: A={ a1,a2,…,a8}=
{ 1,1.5,1,0.5,1,1.5,1,0.5 }.
Further, in step c, the opinion rating of failure sensor detection information is calculated:A is according to expert
Experience, provides the weight sets of evaluation factor, and U is factor of evaluation collection, UTMatrix, which is formed by, for factor of evaluation collection inverts calculating, m
For the number of nominal sensor existing around failure sensor, when the surrounding of failure sensor has laser sensor, m is
8。
The detection information of failure sensor is determined in Step d as a result, 0 indicates that no object blocks, 1 indicates object screening
Gear:
Further, each connected regions are calculated using four connection algorithms, i.e., only and four of given sensor unit
Four connected sensors of side, are just considered as the adjacent sensor of given sensor unit；And according to each connected region
Rectangular area occupied by number and each sensor comprising number of sensors calculates the area in largest connected area.
The present invention on the drag conveyor of crusher front end by arranging array laser transmitter and laser pickoff
Constitute detection space；And the detection information of failure sensor is inferred with fuzzy theory, improve final identified all biographies
The accuracy of sensor detection information；Connected region detection is carried out to sensor detection information obtained with four connection algorithms, is looked for
To largest connected area and calculate its area；According to the area in largest connected area to determine whether there is personnel to enter the detection space,
When being judged as there are personnel, the shutdown operation of conveying equipment is executed to guarantee the personal safety of personnel.The present invention improves underground and adopts
The range of coal measures system intelligentized control method, ensures the life security of coal miner to the greatest extent, has important application value.
Detailed description of the invention
Fig. 1 is system schematic in the present invention；
Fig. 2 is method flow diagram in the present invention；
Fig. 3 is the schematic diagram that the detection information of failure sensor is inferred the present invention is based on fuzzy theory；
Fig. 4 is the schematic diagram that the present invention infers failure sensor detection information under special circumstances；
Fig. 5 is that the present invention four is connected to algorithm schematic diagram；
Fig. 6 is the schematic diagram of connected region in the embodiment of the present invention.
In figure: 1, laser emitter bracket；2, laser emitter；3, laser pickoff bracket；4, laser pickoff；5, it counts
Calculate platform；6, controller；7, drag conveyor.
Specific embodiment
The present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of underground crusher front-end person who protects system, including it is arranged in crusher front end and by several
The laser sensor detection space constituted, the computing platform 5 being connected with laser sensing signal and it is connected with conveying equipment
Controller 6, laser sensor include laser emitter 2 and laser pickoff 4, and laser emitter 2 passes through laser emitter bracket 1
It is fixed on one end of the top side wall of drag conveyor 7, it is defeated that laser pickoff 4 by laser pickoff bracket 3 is fixed on scraper plate
Send the other end of the top side wall of machine 7, and the opposite installation with laser emitter 2, laser emitter 2 and the equal battle array of laser pickoff 4
Column arrangement.
The laser emitter 2 and laser pickoff 4 of array arrangement, which correspond, constitutes detection space, when there is object to fall into
Space is detected, the laser that will be covered several laser emitters 2 and emit, corresponding several laser pickoffs 4 will receive
Less than laser signal, not receiving signal intensity caused by the laser pickoff 4 of laser signal will send as detection information
To computing platform 5；The detection information that the laser sensor received is sent is analyzed and processed by computing platform 5, and passes through journey
Sequence judges whether there is personnel and enters detection space；The controller 6 executes order according to 5 calculated result of computing platform, works as judgement
When having personnel to enter detection space, controller issues control signal and executes to the shutdown operation for conveying equipment.
As shown in Fig. 2, a kind of underground crusher front-end person who guard method, steps are as follows:
The first step, system initialization: detecting the original state of each sensor and judges whether it is failure sensor；
Specifically, as shown in Fig. 2, step S1 is the original state for detecting each sensor, that is, at the beginning of detecting each sensor
Whether laser pickoff 4 can receive the laser signal of the transmitting of laser emitter 2 when the beginning；
Step S2 is to judge whether all laser sensors are effective status, if sensor has been initially received laser letter
Number, then determine it is not failure sensor；If sensor does not receive laser signal initially, it is determined as failure sensor；
If there is failure sensor, thens follow the steps S3 and provide maintenance prompting；
If there is no failure sensor, then main program is returned；
Second step, the detection information for obtaining all the sensors are step S5 shown in Fig. 2: for the sensing not failed
Device, detection information be just whether to have received laser signal, its detection is set if sensor has received laser signal
Information is 0, is otherwise 1；
When having object to enter detection space causes the fraction of laser light receiver being blocked not receive laser signal, if
There are failure sensors, then not can determine that whether failure sensor position is also obscured by an object actually, therefore can not accurately obtain
Sensor detection information is obtained, and then can not accurately obtain object side area information；Speculate the detection information of failure sensor,
Namely infer whether failure sensor position has object to block, is the essential step of determining sensor detection information.
Therefore, for the failure sensor detected in the first step, step S4 is executed, infers it with fuzzy theory
Detection information, specific:
A, the sensor information around failure sensor is taken to constitute evaluation factor collection: setting failure sensor detection information
Opinion rating is { object being not present, there are objects }={ 0,1 } V=；Define the laser sensor of dash area in Fig. 3 and Fig. 4
For failure sensor, the sensor of non-shaded portion is non-failed sensor.
As shown in figure 3, being numbered to the sensor around failure sensor, from 1 to 8；The detection of this 8 sensors is believed
Breath constitutes factor of evaluation collection U={ u1, u2..., u8}；Wherein uiThe value of (i=1,2 ..., 8) by i-th of sensor inspection
Measurement information determines: the u if i-th of sensor detects laser signali=0, otherwise ui=1；
As shown in figure 4, when failure sensor is at corner or marginal position, since there is no 8 around failure sensor
Sensor, but we remain desirable to algorithm with versatility, therefore, we enable the local u that sensor is not presenti=0, and count
Existing number of probes is m around failure sensor；
B, according to expertise, the weight sets of evaluation factor is provided；The weight sets of evaluation factor is set in the present embodiment:
A={ a1,a2,…,a8}={ 1,1.5,1,0.5,1,1.5,1,0.5 }；
C, the opinion rating of failure sensor detection information is calculated are as follows:
D, the detection information of failure sensor is finally determined:
0 indicates that no object blocks, and 1 indicates that object blocks.
Third step, detection information processing: the sensor inspection that step S6 passes through different zones caused by detection different objects
Measurement information, therefore, it is determined that several connected regions, while calculating the area in largest connected area；
In detection space, there may be multiple objects entrance simultaneously, need at this time each to distinguish by calculating connected region
The sensor region that object is covered calculates each connected regions using four connection algorithms in the present embodiment, as shown in figure 5, each
Connected region is the set that detection information is 1 adjacent sensors, and be only connected with the four edges of given sensor unit
Four sensors are just considered as the adjacent sensor of given sensor unit；
Two connected regions, connected region A and connected region B are contained in embodiment shown in fig. 6, include according to each connected region
Rectangular area occupied by the number of number of sensors and each sensor calculates the area in largest connected area, connected region A
Comprising 9 sensors, connected region B includes 5 sensors, therefore judges connected region A for largest connected area；In array arrangement
In sensor, each sensor in occupation of a same size rectangular area s, so area occupied by largest connected area A
For 9s；
4th step, the personnel of judging whether there is fall: largest connected area's area calculated and set valve in comparison step S6
Value: if it is larger than or equal to set threshold values, thening follow the steps S8 to controller and send instruction, controls conveying equipment by controller and stops
Machine；If largest connected area's area is less than set threshold values, enters subsequent cycle, return to step S5；
Object due to generally falling into detection space has nuts and personnel, it is known that the volume of personnel is much larger than nuts
Volume, and the area of each connected region reflects the lateral area of each object, therefore the quantity of laser signal that personnel are covered
It is more than the laser signal that nuts cover；The threshold values of the connected region area of a difference personnel and nuts is obtained by experiment,
Personnel are judged whether there is accordingly and enter detection space, and then control whether conveying equipment shuts down by above-mentioned judgement result.
Claims (8)
1. a kind of underground crusher front-end person who protects system, which is characterized in that including being arranged in crusher front end and by several
Detection space that laser sensor is constituted, the computing platform (5) being connected with laser sensing signal and it is connected with conveying equipment
Controller (6), laser sensor includes laser emitter (2) and laser pickoff (4), and laser emitter (2) passes through laser
Transmitter rack (1) is fixed on one end of the top side wall of drag conveyor (7), and laser pickoff (4) passes through laser pickoff
Bracket (3) is fixed on the other end of the top side wall of drag conveyor (7), and the opposite installation with laser emitter (2), laser hair
Emitter (2) and laser pickoff (4) array arrangement.
2. a kind of underground crusher front-end person who guard method, which is characterized in that steps are as follows:
The first step, system initialization: detecting the original state of each sensor and judges whether it is failure sensor；
The original state of each sensor of the detection, that is, detect each sensor it is initial when whether have received laser signal；
If sensor has been initially received laser signal, determine not to be failure sensor；If sensor initially receives not
To laser signal, then it is determined as failure sensor；
If there is failure sensor, then provides maintenance and remind；
If there is no failure sensor, then main program is returned；
Second step, the detection information for obtaining all the sensors: for the sensor not failed, detection information is just whether to connect
Laser signal is had received, its detection information is set if sensor has received laser signal as 0, is otherwise 1；
For the failure sensor detected in the first step, then its detection information is inferred with fuzzy theory；
Third step, detection information processing: the sensor detection information of different zones caused by detection different objects, therefore, it is determined that
Several connected regions, while calculating the area in largest connected area；
4th step, the personnel of judging whether there is fall: if largest connected area's area is more than or equal to set threshold values, passing through controller
Control conveying equipment is shut down；If largest connected area's area is less than set threshold values, enter subsequent cycle.
3. the underground crusher front-end person who guard method stated according to claim 2, it is characterised in that: with fuzzy in second step
The specific method is as follows for theoretical implications failure sensor detection information:
A, the sensor information around failure sensor is taken to constitute evaluation factor collection,
B, according to expertise, the weight sets of evaluation factor is provided；
C, the opinion rating of failure sensor detection information is calculated；
D, the detection information of failure sensor is finally determined.
4. underground crusher front-end person who guard method according to claim 3, which is characterized in that when failure sensor
When surrounding has laser sensor, the sensor around failure sensor is numbered, and according to number to the sensor
Detection information constitute factor of evaluation collection U={ u1, u2..., u8}；Wherein uiValue it is true by the detection information of i-th of sensor
It is fixed: the u if i-th of sensor detects laser signali=0, otherwise ui=1.
5. underground crusher front-end person who guard method according to claim 3, which is characterized in that when failure sensor exists
When corner or edge place, in order to make algorithm have versatility, there will be no the places of sensor to be defined as ui=0, and count
Existing number of probes is m around failure sensor.
6. underground crusher front-end person who guard method according to claim 3 or 4, which is characterized in that passed through according to expert
It tests, provides the weight sets of evaluation factor are as follows: A={ a1,a2,…,a8}={ 1,1.5,1,0.5,1,1.5,1,0.5 }.
7. underground crusher front-end person who guard method according to claim 6, which is characterized in that in step c, calculate and lose
Imitate the formula of the opinion rating of sensor detection information are as follows:The detection information knot of failure sensor is determined in Step d
Fruit,0 indicates that no object blocks, and 1 indicates that object blocks.
8. underground crusher front-end person who guard method according to claim 2, which is characterized in that utilize four connection algorithms
Calculate each connected region, i.e., four sensors being only connected with the four edges of given sensor unit, be just considered as to
The adjacent sensor of fixed sensor unit；And according to each connected region include number of sensors number and each sensing
Rectangular area occupied by device calculates the area in largest connected area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811197496.0A CN109482327B (en) | 2018-10-15 | 2018-10-15 | System and method for protecting personnel at front end of underground crusher |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811197496.0A CN109482327B (en) | 2018-10-15 | 2018-10-15 | System and method for protecting personnel at front end of underground crusher |
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| CN109482327B CN109482327B (en) | 2021-04-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110766917A (en) * | 2019-09-26 | 2020-02-07 | 山东中衡光电科技有限公司 | Video monitoring and early warning system for mine dangerous area |
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