CN113175354B - Operation safety monitoring system, method and device of tunneling and anchoring machine - Google Patents
Operation safety monitoring system, method and device of tunneling and anchoring machine Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 110
- 238000004873 anchoring Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000005641 tunneling Effects 0.000 title claims abstract description 27
- 238000012806 monitoring device Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000005065 mining Methods 0.000 claims description 5
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003245 coal Substances 0.000 description 22
- 230000008569 process Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000002817 coal dust Substances 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/04—Safety devices
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- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
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Abstract
The invention discloses an operation safety monitoring system of an anchor driving machine, which comprises a camera arranged on a rear vehicle of the anchor driving machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; an ID identification card; a host; an alarm device; the camera is used for acquiring monitoring images of the surrounding area of the tunneling and anchoring machine; the ID identification card is worn by a worker; the UWB positioning device is used for identifying and positioning the ID identification cards in the surrounding area of the driving and anchoring machine to obtain identification and positioning information; the host is used for determining whether potential safety hazard conditions exist according to the monitoring images and the identification positioning information, and if so, the alarm device is controlled to give an alarm. The working characteristics of the camera and the UWB positioning device are combined, monitoring images and identification positioning information are analyzed, potential safety hazards of workers are identified, and therefore the safety of the workers is guaranteed. The application also provides a method and a device for monitoring the operation safety of the tunneling and anchoring machine, and the method and the device have the beneficial effects.
Description
Technical Field
The invention relates to the technical field of safe operation of a digging and anchoring machine, in particular to an operation safety monitoring system, method and device of the digging and anchoring machine.
Background
With the development of coal mine equipment technology, the mechanical tunneling of domestic coal mine roadway operation is gradually realized in the conventional manual mainly tunneling mode. The coal mine roadway tunneling in China is mainly carried out by the anchor driving machine, the coal mine tunneling working face is still the coal mine accident multi-occurrence area in China, and a dangerous area alarm system carried on the anchor driving machine needs to be designed urgently, so that the system has extremely important significance for ensuring the safety of construction workers and ensuring the safe and efficient production of coal mines.
The tunneling of the coal mine tunnel mainly adopts a tunneling and anchoring integrated machine which is matched with a continuous belt conveying device to realize rapid tunneling and conveying. In the tunneling process, a measuring team, an anchor driving and digging machine operator and other related workers are required to work together in a coal mine tunnel. However, the concentration of coal dust at the excavation site in a coal mine tunnel is extremely high, the visibility is extremely poor, accidental injury is easily caused to personnel around equipment, and the coal mine environment has the characteristics of large dust, large water vapor, weak light, strong noise and the like, so that communication among the personnel cannot be timely and effectively transmitted, the workers cannot timely and effectively perceive the position change of a construction vehicle, and safety accidents are easily caused.
Disclosure of Invention
The invention aims to provide a system, a device and a method for monitoring the operation safety of an anchor driving machine, which improve the working safety of the anchor driving machine to a certain extent.
In order to solve the technical problem, the invention provides an operation safety monitoring system of an anchor driving machine, which comprises a camera arranged on a rear vehicle of the anchor driving machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; an ID identification card; the host is in communication connection with the camera and the UWB positioning device; and an alarm device connected with the host;
the camera is used for acquiring monitoring images of the surrounding area of the driving and anchoring machine;
the ID identification card is worn by a person;
the UWB positioning device is used for identifying and positioning the ID identification cards in the surrounding area of the driving and anchoring machine to obtain identification and positioning information;
the host is used for determining whether potential safety hazard conditions exist according to the monitoring images and the identification positioning information, and if yes, the alarm device is controlled to give an alarm.
Optionally, the ID identification card is used for storing identification information of a worker wearing the ID identification card;
correspondingly, the UWB positioning device is used for identifying the ID identification card in the identification area and acquiring the corresponding identification information and the position information of the ID identification card in the identification area;
the host is used for comparing the identification information with the corresponding position information according to the pre-divided dangerous area, judging whether personnel enter the dangerous area, and controlling the alarm device to give an alarm if the personnel enter the dangerous area.
Optionally, the host is configured to control the alarm device to alarm if it is identified that a person enters the dangerous area based on any one of the monitoring image and the identification and positioning information according to a preset and defined dangerous area.
Optionally, the camera is used for shooting a first monitoring image of the periphery of the driving and anchoring machine;
the host is used for determining the number of first personnel and the number of second personnel in a superposition monitoring area according to the first monitoring image and the identification positioning information respectively; judging whether the number of the first personnel is the same as that of the second personnel, and controlling the alarm device to alarm if the number of the first personnel is not the same as that of the second personnel; the coincidence monitoring area is the coincidence area of the shooting area of the camera and the identification area of the UWB positioning device.
Alternatively, the camera is used for shooting a second monitoring image in a working entrance area of the driving and anchoring machine;
the host is used for identifying whether a person who does not wear the ID identification card enters the operation inlet area or not in the second monitoring image, and if yes, the host controls the alarm device to give an alarm.
Optionally, a power supply for supplying power to the UWB locating device and the camera is further included.
Optionally, the alarm device is an audible and visual alarm.
Optionally, the system further comprises a display screen and a voice device connected with the host.
The application also provides an operation safety monitoring method of the tunneling and anchoring machine, which comprises the following steps:
acquiring identification positioning information acquired by a UWB positioning device for identifying and positioning an ID identification card in the surrounding area of the driving and anchoring machine and monitoring images of the surrounding area of the camera driving and anchoring machine; the camera is arranged on a rear vehicle of the tunneling and anchoring machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; the ID identification card is worn by a person;
and determining whether the potential safety hazard condition exists according to the monitoring image and the identification positioning information, and controlling the alarm device to alarm if the potential safety hazard condition exists.
The application also provides an operation safety monitoring device of tunneling and anchoring machine, including:
the information acquisition module is used for acquiring identification and positioning information acquired by the UWB positioning device for identifying and positioning the ID identification cards of the surrounding area of the driving and anchoring machine and monitoring images of the surrounding area of the camera driving and anchoring machine; the camera is arranged on a rear vehicle of the tunneling and anchoring machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; the ID identification card is worn by a person;
and the identification alarm module is used for determining whether potential safety hazard conditions exist according to the monitoring image and the identification positioning information, and controlling the alarm device to alarm if the potential safety hazard conditions exist.
The invention provides an operation safety monitoring system of an anchor driving machine, which comprises a camera arranged on a rear vehicle of the anchor driving machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; an ID identification card; the host is in communication connection with the camera and the UWB positioning device; and an alarm device connected with the host; the camera is used for acquiring monitoring images of the surrounding area of the tunneling and anchoring machine; the ID identification card is worn by a person; the UWB positioning device is used for identifying and positioning the ID identification cards in the surrounding area of the driving and anchoring machine to obtain identification and positioning information; the host is used for determining whether potential safety hazard conditions exist according to the monitoring images and the identification positioning information, and if so, the alarm device is controlled to give an alarm.
Set up camera and UWB positioner in this application on driving and anchoring machine, driving and anchoring machine is in the operation in-process of the tunnelling in the coal mine tunnel, monitoring image and UWB positioner that can utilize the camera to gather carry out the discernment locating information of discernment location to the staff who wears ID identification card, and combine camera and UWB positioner's operating characteristic, carry out the analysis to monitoring image and discernment locating information, it is the safety work whether to determine the staff around driving and anchoring machine, if there is the potential safety hazard in staff's position, then in time send the warning in order to indicate the staff to notice, thereby guarantee the security of staff's operation.
The application also provides a method and a device for monitoring the operation safety of the tunneling and anchoring machine, and the method and the device have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic top view of an operation safety monitoring system of an excavator according to an embodiment of the present application;
fig. 2 is a schematic flow chart of operation safety monitoring of the driving and anchoring machine according to the embodiment of the present application;
fig. 3 is a block diagram of a construction of a work safety monitoring apparatus of an excavator according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a system, a method and a device for monitoring the operation safety of the driving and anchoring machine, which effectively identify the condition of potential safety hazard of the driving and anchoring machine in the operation process of a coal mine tunnel by combining the working characteristics of a camera and a UWB positioning device, thereby ensuring the safety of workers.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic top view of a work safety monitoring system of an excavator according to an embodiment of the present application, where the safety monitoring system may include:
the camera 3 is arranged on a rear vehicle 12 of the excavator, and the camera 3 is used for collecting monitoring images of the surrounding area of the excavator;
the UWB positioning device 2 is arranged on a front vehicle 11 of the driving and anchoring machine, and the UWB positioning device 2 is used for identifying and positioning the ID identification card 4 in the surrounding area of the driving and anchoring machine to obtain identification and positioning information;
an ID identification card 4 for wearing by a person; of course, it is generally worn primarily by the worker.
The host is in communication connection with the camera 3 and the UWB positioning device 2; and an alarm device connected with the host; the host is used for determining whether the potential safety hazard condition exists according to the monitoring image and the identification positioning information, and if so, the alarm device is controlled to alarm.
During the working process of the excavating and anchoring machine of the coal mine tunnel, a measuring team is usually used for manual lofting measurement, the measuring team starts to measure continuously from the ground reference until the measuring team reaches the coal mine tunnel, a laser light source is adjusted and arranged to enable laser light to point to the excavating face from the rear of the excavating and anchoring machine, and the top face, the bottom face and the two sides of the excavating face are determined by taking a laser spot projected on the excavating face as the reference.
Due to the fact that coal dust concentration of a mining site is extremely high and visibility is extremely poor, the excessive and insufficient excavation amount of the top bottom plate and the two sides needs to be measured repeatedly by manually holding a tape measure; during tunneling and maintenance, related workers are likely to be present in a dangerous area of the tunneling and anchoring machine to perform related work. For example, the position of an operator of the anchor driving machine during operation of the anchor driving machine determines that the sight line is poor, the surrounding environment cannot be comprehensively and effectively observed, and the peripheral personnel of the equipment are easily accidentally injured; for example, the coal mine environment has the characteristics of large dust, large water vapor, weak light, strong noise and the like, so that communication among personnel cannot be timely and effectively communicated, workers cannot timely and effectively perceive the position change of the construction tunneling and anchoring machine, and safety accidents are easy to happen.
Referring to fig. 1, the machine comprises two parts, a front vehicle 11 and a rear vehicle 12, wherein the front vehicle 11 is a part of the vehicle body of the machine for tunneling operation, and the rear vehicle is a position slightly away from a tunneling working face. In the embodiment, the situation that dust around the front vehicle 11 of the anchor driving machine is more, the environment is worse, vibration in the vehicle body operation process is more serious, clear images are difficult to acquire through the camera shooting equipment in the environment, and certain shooting dead angles exist in camera shooting, so that the difficulty of realizing safety monitoring based on the images is higher. Therefore, in the embodiment, the UWB positioning device 2 is arranged on the front vehicle 11, and the ID identification card 4 recognizable by the UWB positioning device 2 is configured, the ID identification card 4 can be worn on the body of the worker, when the worker wears the ID identification card 4 and enters the recognizable range of the UWB positioning device 2, the UWB positioning device 2 can obtain the identification and positioning information of the ID identification card 4, and also obtain the identification and positioning information of the worker quite indirectly, thereby realizing the monitoring in the peripheral area range of the front vehicle 11 of the excavator.
The rear vehicle 12 of the driving and anchoring machine is far away from the driving operation position, the space environment is better than that of the front vehicle 11, and the camera 3 can shoot relatively clear image pictures, so that the camera 3 can be arranged on the rear vehicle 12 to shoot monitoring images in the embodiment, the operation conditions of workers can be obtained more visually and clearly through the monitoring images, and monitoring in the peripheral area range of the rear vehicle 12 of the driving and anchoring machine is further realized.
It can be understood that the monitoring areas of the camera 3 and the UWB positioning device 2 are not clearly divided and are independent, but a large number of overlapping areas can exist, as shown in fig. 1, 4 UWB positioning devices 2 are arranged at four top corners of a front vehicle 11 of the excavator, and 6 cameras 3 are arranged at four top corners of a rear vehicle 12 of the excavator, and it is obvious that the overlapping areas exist in the recognizable area of the UWB positioning device 2 and the image-pickup areas of the nearest 2 cameras 3 on the rear vehicle 12, and therefore, when the working condition of a worker in the overlapping areas is monitored, the recognition positioning information and the monitoring images respectively obtained by the UWB positioning devices 2 and the cameras 3 can be combined to perform mutual verification, so that a more accurate monitoring result is obtained.
The host machine carries out comprehensive analysis based on the identification and positioning information obtained by the UWB positioning device 2 and the monitoring image obtained by the camera 3, so that whether potential safety hazards exist in the operation conditions of surrounding workers of the current driving and anchoring machine can be judged, and if the potential safety hazards exist, an alarm device is used for giving an alarm in time.
In conclusion, in the application, the UWB positioning technology and the video monitoring technology are combined, the UWB positioning device is arranged on the front vehicle and the camera is arranged on the rear vehicle according to different environmental conditions of the front vehicle and the rear vehicle of the digging and anchoring machine, so that the identification positioning information of workers in the area range around the vehicle and the monitoring image in the area range around the vehicle are obtained, the working positions of the workers in the coal mine tunnel are monitored according to the identification positioning information and the monitoring image, and the alarm is given in time when potential safety hazards exist, so that the life safety of the workers is guaranteed.
Based on the above embodiment, in an optional embodiment of the present application, the ID identification card 4 is used to store identification information of a worker wearing the ID identification card 4;
accordingly, the UWB positioning device 2 is configured to identify the ID identification card 4 located in the identification area and obtain the corresponding identification information, and the location information of the ID identification card 4 in the identification area;
the host is used for comparing the identification information with the corresponding position information according to the pre-divided dangerous area, judging whether personnel enter the dangerous area, and controlling the alarm device to give an alarm if the personnel enter the dangerous area.
It should be noted that, in this embodiment, an identification information (for example, a work number, a work category, and the like) may be configured for each worker, the identification information is stored in the ID identification card 4 worn by the worker, the UWB positioning device 2 may scan and identify the ID identification card 4 within a certain area around the UWB positioning device based on the TOF technology, and obtain the identification information carried in the ID identification card 4 and the relative distance between the ID identification card 4 and the UWB positioning device 2, and based on the identification information and the relative distance, the identification and the position positioning of the worker wearing the ID identification card 4 may be achieved.
In order to more accurately monitor, identify and position workers entering a coal mine tunnel, the UWB positioning devices 2 generally need to be configured with more than 2, as shown in fig. 1, 4 UWB positioning devices 2 are arranged on a front vehicle 11 of the excavator, and when the 2 UWB positioning devices 2 identify the same ID identification card, the position angle of the ID identification card 4 relative to the two UWB positioning devices 2 can be determined by combining the relative distance between the two UWB positioning devices 2 and the linear distance between the two UWB positioning devices 2 and the same ID identification card 4, so as to determine the spatial position information of the ID identification card 4.
In addition, workers working in coal mine tunnels include a variety of different work categories, including, for example, operators operating anchor driving machines; measurement crew of a measurement team, and so on. Under a normal working state, different work types such as operators, measuring staff and the like should work in corresponding working areas, and if the workers cross the boundary and enter the working areas of other work types, potential safety hazards may exist obviously.
As shown in fig. 1, the layout of the periphery of the excavator shown in fig. 1 may include an operation area located on an operation platform of the excavator and an operation area located on a rear mating operation platform, and obviously, the operation area generally only allows activities of an operator of the anchor bolter, a driver, a material transfer person and the like.
And a cutting area (a heading operation area of the heading machine) which is located right in front of the heading direction of the heading and anchoring machine and does not allow any person to enter.
The alarm area is located on the periphery of the excavator and is relatively close to the excavator, and the alarm area is also not allowed to be accessed by people.
Therefore, in the actual monitoring process, corresponding danger areas can be divided for different workers in advance based on different work types. For example, the danger zones for the operators of the bolting machine, the drivers, the material transfer, etc., are the warning zone and the cutting zone shown in fig. 1. For the measuring personnel, the corresponding dangerous areas comprise a cutting area, an alarm area and an operation area.
With the above zone division it can be understood that for whatever type of work, the cutting zone and the alarm zone belong to zones that are not allowed to be accessed by anyone. However, compared with the prior art, the cutting area has higher danger than the alarm area, so that in the actual monitoring process, if people enter the cutting area, the excavator can be directly triggered to stop, besides the alarm, so that unnecessary personnel injury is avoided. However, the alarm area may be only temporarily passed by the staff member at some time, so that when the staff member is identified in the alarm area, only the alarm is triggered to remind the staff member to pay attention.
Optionally, the alarm device in the present application may comprise an audible and visual alarm. Of course, besides the alarm by the audible and visual alarm, a display screen and a voice device can be configured, and obviously, the display screen is used for displaying the monitoring image shot by the camera 3, and the display screen can be arranged on the driving and anchoring machine for the operator to watch, and can also be uploaded to a ground centralized control room for the operator to watch. In addition, except that the display screen, can also set up speech device, when the staff has the dangerous condition in the operation interval of digging anchor machine, in time report pronunciation. The voice device may be integrated on the ID identification card 4, or may be disposed on the driving and anchoring machine, and the application is not particularly limited.
In order to provide the functions of the camera 3 and other electronic devices, a power supply can be arranged on the excavator to supply power, so that the energy supply of the camera 3 and other devices is ensured.
As described above, in the present application, when monitoring the operation safety of the excavator, the UWB positioning device 2 and the camera 3 are used together to realize safety monitoring. As can be seen from fig. 1, for the UWB positioning device 2 and the camera 3, there are both overlapping regions and non-overlapping regions in their detectable regions. For this reason, in another optional embodiment of the present application, the method may further include:
the host computer is used for according to the dangerous area of presetting demarcation, if based on monitoring image and discernment locating information arbitrary one discerns that dangerous area has personnel to get into, then control alarm device reports to the police.
In order to comprehensively monitor the safety of workers during operation of the excavator, whether the workers enter a dangerous area is identified by combining a monitoring image and identification positioning information, and the problem that the monitoring result is inaccurate due to the fact that the workers are shielded or vision is limited in the monitoring image, the range of a locatable area in the identification positioning information is limited and the like is avoided, so that the safety of the workers adopting the excavator in a coal mine tunnel is improved to a certain extent.
As mentioned above, there is some overlap in the monitorable area between the camera 3 and the UWB locating device 2. For this reason, in another optional embodiment of the present application, the method may further include:
the camera 3 is used for shooting a first monitoring image of the periphery of the driving and anchoring machine;
the host is used for determining the number of first personnel and the number of second personnel in the overlapping monitoring area according to the first monitoring image and the identification positioning information respectively; judging whether the number of the first personnel is the same as that of the second personnel, and controlling an alarm device to give an alarm if the number of the first personnel is not the same as that of the second personnel; the overlapping monitoring area is an overlapping area of the shooting area of the camera 3 and the identification area of the UWB positioning device 2.
In order to better monitor the safety of workers in the working area in the coal mine tunnel, the workers entering the working area are generally required to wear the ID identification card 4. However, in practical application, it is inevitable that some workers forget to wear the ID identification card, or other non-workers without the ID identification card 4 accidentally fall into a work area, and the UWB positioning device 2 cannot identify the workers without the ID identification card 4, thereby increasing the risk around the excavator to some extent.
In this embodiment, the number of people in the overlapping region between the region where the camera can be monitored and the region where the UWB positioning device 2 can be monitored is compared, and once the number of people in the overlapping region obtained by monitoring the camera and the region is not equal, an unexpected situation that the monitoring cannot be comprehensively and accurately performed obviously exists. Of course, it is generally mainly monitored whether the number of people monitored by the camera in the overlapping area is greater than that of people monitored by the UWB positioning device 2, and if so, there is a high possibility that people not equipped with the ID identification card 4 enter the work area.
Of course, if the number of people monitored by the UWB positioning device 2 in the overlapping area is the number of people monitored by the multi-purpose camera, the staff can be reminded to pay attention to the people and search for the reason in time, so that unexpected situations are avoided.
In order to monitor whether a person who does not wear the ID identification card 4 accidentally enters the work area, it is possible to monitor whether the person wears the ID identification card 4 before the person enters the work area, in addition to comparing the number of persons in the overlapping area with the camera and the UWB positioning device 2 as described above. In another optional embodiment of the present application, the method may further include:
the camera 3 is used for shooting a second monitoring image in a working entrance area of the digging and anchoring machine;
the host is used for identifying whether a person who does not wear the ID identification card 4 enters the operation inlet area or not in the second monitoring image, and if yes, the alarm device is controlled to give an alarm.
Referring to fig. 1, the second monitoring image is mainly an image taken by two cameras 3 at the rear part of a rear vehicle 12 of the excavator, and the monitored work entrance area is as shown in fig. 1. In a coal mine tunnel, the working area around the driving and anchoring machine needs to pass through a working area close to the tail of the rear vehicle 12 from the driving and anchoring machine, and because the dust in the space environment around the tail of the rear vehicle 12 of the driving and anchoring machine is relatively less, a relatively clear second monitoring image can be shot, when a worker or other personnel enters the working area around the driving and anchoring machine from the rear vehicle 12 of the driving and anchoring machine, whether each entering person wears the ID identification card 4 or not can be identified through the second monitoring image, and if the condition that the ID identification card 4 is not worn exists, an alarm is timely sent out.
In an optional embodiment of the present application, as shown in fig. 2, fig. 2 is a schematic flow chart of operation safety monitoring of an excavator according to an embodiment of the present application, and the method is mainly applied to an operation safety monitoring system of the excavator, and may include:
s11: and acquiring identification and positioning information for identifying and positioning the ID identification cards of the surrounding area of the tunneling and anchoring machine and monitoring images of the surrounding area of the camera tunneling and anchoring machine by the UWB positioning device.
Wherein, the camera 3 is arranged on the rear vehicle 12 of the excavator; a UWB positioning device 2 arranged on a front vehicle 11 of the anchor driving machine; the ID identification card 4 is worn by a person;
s12: and determining whether the potential safety hazard condition exists according to the monitoring image and the identification positioning information, and if so, controlling an alarm device to give an alarm.
Through combining the information that camera and UWB positioner 2 gathered in this application, synthesize the safety monitoring who realizes driving anchor machine operation in-process, promoted the security of driving anchor machine operation in coal mine tunnel to a certain extent, reduced accident's emergence.
In the following, the operation safety monitoring method of the anchor driving machine according to the embodiment of the present invention is introduced, and the operation safety monitoring device of the anchor driving machine described below and the operation safety monitoring method of the anchor driving machine described above may be referred to correspondingly.
Fig. 3 is a block diagram of an operation safety monitoring device of an excavator according to an embodiment of the present invention, and referring to fig. 3, the operation safety monitoring device of the excavator may include:
the information acquisition module 100 is configured to acquire identification and positioning information acquired by the UWB positioning device for identifying and positioning the ID identification cards in the area around the anchor driving machine and monitoring images of the area around the anchor driving machine by the camera; the camera is arranged on a rear vehicle of the digging and anchoring machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; the ID identification card is worn by a person;
and the identification alarm module 200 is used for determining whether potential safety hazard conditions exist according to the monitoring image and the identification positioning information, and controlling the alarm device to alarm if the potential safety hazard conditions exist.
The operation safety monitoring device of the anchor driving machine of this embodiment is used for implementing the operation safety monitoring method of the anchor driving machine, and therefore, a specific implementation manner of the operation safety monitoring device of the anchor driving machine can be seen in the foregoing embodiment portions of the operation safety monitoring method of the anchor driving machine, for example, the information acquisition module 100 and the identification alarm module 200 are respectively used for implementing steps S11 and S12 in the operation safety monitoring method of the anchor driving machine, so that the specific implementation manner thereof may refer to descriptions of corresponding embodiments of each portion, and details are not described herein again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A monitoring system for the operation safety of an anchor driving machine is characterized by comprising a camera arranged on a rear vehicle of the anchor driving machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; an ID identification card; the host is in communication connection with the camera and the UWB positioning device; and an alarm device connected with the host;
the camera is used for acquiring monitoring images of the surrounding area of the driving and anchoring machine;
the ID identification card is worn by a person;
the UWB positioning device is used for identifying and positioning the ID identification cards in the surrounding area of the driving and anchoring machine to obtain identification and positioning information;
the host is used for determining whether a potential safety hazard condition exists according to the monitoring image and the identification positioning information, and if so, controlling the alarm device to alarm;
the camera is used for shooting a first monitoring image of the periphery of the driving and anchoring machine;
the host is used for determining the number of first personnel and the number of second personnel in a superposition monitoring area according to the first monitoring image and the identification positioning information respectively; judging whether the number of the first personnel is the same as that of the second personnel, and controlling the alarm device to alarm if the number of the first personnel is not the same as that of the second personnel; the coincidence monitoring area is the coincidence area of the shooting area of the camera and the identification area of the UWB positioning device.
2. A work safety monitoring system for a mining machine as claimed in claim 1, wherein said ID identification card is adapted to store identification information of a worker wearing said ID identification card;
correspondingly, the UWB positioning device is used for identifying the ID identification card in the identification area and acquiring the corresponding identification information and the position information of the ID identification card in the identification area;
the host is used for comparing the identification information with the corresponding position information according to the pre-divided dangerous area, judging whether personnel enter the dangerous area, and controlling the alarm device to give an alarm if the personnel enter the dangerous area.
3. The work safety monitoring system of a mining machine as claimed in claim 2, wherein the host computer is configured to control the alarm device to alarm if it is identified that there is a person entering the dangerous area based on any one of the monitoring image and the identification positioning information, according to a preset defined dangerous area.
4. The work safety monitoring system of an excavator according to claim 1 wherein said camera is adapted to capture a second monitored image within a work entry area of said excavator;
the host is used for identifying whether a person who does not wear the ID identification card enters the operation inlet area or not in the second monitoring image, and if yes, the alarm device is controlled to give an alarm.
5. The work safety monitoring system of an excavator according to claim 1 further comprising a power source for powering said UWB locating device and said camera.
6. A work safety monitoring system for a mining machine as claimed in claim 1 wherein said alarm means is an audible and visual alarm.
7. The work safety monitoring system of a mining and anchoring machine as in claim 1, further comprising a display screen and a voice device connected to said host machine.
8. A method for monitoring operation safety of a digging and anchoring machine is characterized by comprising the following steps:
acquiring identification positioning information acquired by a UWB positioning device for identifying and positioning an ID identification card in the surrounding area of the driving and anchoring machine and monitoring images of the surrounding area of the driving and anchoring machine shot by a camera; the camera is arranged on a rear vehicle of the tunneling and anchoring machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; the ID identification card is worn by a person;
determining whether a potential safety hazard condition exists according to the monitoring image and the identification positioning information, and controlling an alarm device to give an alarm if the potential safety hazard condition exists;
the method further comprises the step that a camera shoots a first monitoring image of the periphery of the driving and anchoring machine; determining the number of first persons and the number of second persons in a superposition monitoring area according to the first monitoring image and the identification positioning information; judging whether the number of the first personnel is the same as that of the second personnel, and if not, controlling the alarm device to alarm; the coincidence monitoring area is the coincidence area of the shooting area of the camera and the identification area of the UWB positioning device.
9. An operation safety monitoring device of a digging and anchoring machine is characterized by comprising:
the information acquisition module is used for acquiring identification positioning information acquired by the UWB positioning device for identifying and positioning the ID identification cards of the surrounding area of the anchor driving machine and monitoring images of the surrounding area of the anchor driving machine by the camera; the camera is arranged on a rear vehicle of the tunneling and anchoring machine; the UWB positioning device is arranged on a front vehicle of the digging and anchoring machine; the ID identification card is worn by a person;
the identification alarm module is used for determining whether potential safety hazard exists according to the monitoring image and the identification positioning information, if so, the identification alarm module controls an alarm device to alarm,
the information acquisition module is specifically used for acquiring a first monitoring image of the periphery of the driving and anchoring machine shot by a camera;
the identification alarm module is specifically used for determining the number of first persons and the number of second persons in a superposition monitoring area according to the first monitoring image and the identification positioning information; judging whether the number of the first personnel is the same as that of the second personnel, and controlling the alarm device to alarm if the number of the first personnel is not the same as that of the second personnel;
the coincidence monitoring area is the coincidence area of the shooting area of the camera and the identification area of the UWB positioning device.
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