CN114198146A - Method and device for determining blockage abnormity at coal mine working face reversed loader - Google Patents
Method and device for determining blockage abnormity at coal mine working face reversed loader Download PDFInfo
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- CN114198146A CN114198146A CN202111241455.9A CN202111241455A CN114198146A CN 114198146 A CN114198146 A CN 114198146A CN 202111241455 A CN202111241455 A CN 202111241455A CN 114198146 A CN114198146 A CN 114198146A
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- 239000003245 coal Substances 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000000007 visual effect Effects 0.000 claims abstract description 63
- 238000005065 mining Methods 0.000 claims description 45
- 238000012546 transfer Methods 0.000 claims description 17
- 238000012790 confirmation Methods 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 10
- 238000011084 recovery Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 abstract description 18
- 230000000903 blocking effect Effects 0.000 abstract description 6
- 230000005856 abnormality Effects 0.000 description 24
- 238000001514 detection method Methods 0.000 description 10
- 239000011435 rock Substances 0.000 description 9
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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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
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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Abstract
The application provides a method and a device for determining abnormal blockage at a coal mine working face reversed loader, wherein the method comprises the following steps: the method comprises the steps of detecting a target object through visual data corresponding to a reversed loader, determining a region where the target object is located in the visual data under the condition that the target object is detected, comparing the area of the region with a preset area threshold value, and determining that the reversed loader is abnormal in blockage under the condition that the area of the region is larger than the preset area threshold value. Therefore, the situation of the target object in the visual data corresponding to the reversed loader is combined, the situation that the reversed loader is blocked abnormally is determined, the situation that the reversed loader is blocked can be conveniently determined without a manual mode of a coal mine worker, and the efficiency of determining the abnormal blocking situation of the reversed loader is improved.
Description
Technical Field
The application relates to the technical field of coal mines, in particular to a method and a device for determining abnormal blockage at a reversed loader of a coal mine working face.
Background
At present, in the process of coal mining on a coal mine working face, in order to ensure that coal flow is smoothly transferred to a conveying belt device, coal miners usually determine whether large coal blocks and rocks are jammed or are abnormally blocked at a coal mine working face transfer conveyor. However, the underground environment of the coal mine is severe, coal miners are in a working environment with a relatively high personal safety hazard coefficient, and the coal mine safety production efficiency is limited to a certain extent. Therefore, how to determine whether large coal blocks and rocks are blocked or blocked abnormally at the transfer conveyor of the coal mine working face is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The application provides a method and a device for determining abnormal blockage at a coal mine working face reversed loader.
An embodiment of one aspect of the application provides a method for determining abnormal blockage at a coal mine working face reversed loader, and the method comprises the following steps: carrying out visual data acquisition on a reversed loader to obtain visual data of the reversed loader; determining that a target object is present in the visual data; determining the area of the target object in the visual data; determining that a jam anomaly exists at the reversed loader if the area of the region exceeds a preset area threshold.
In one embodiment of the present application, the method further comprises: and outputting an alarm prompt, wherein the alarm prompt is used for prompting that the transfer conveyor is abnormally blocked.
In one embodiment of the present application, the method further comprises: acquiring current position information of the coal mining machine; determining the distance between the coal mining machine and the reversed loader based on the current position information; judging whether the distance is smaller than or equal to a preset distance threshold value; and under the condition that the distance is smaller than or equal to a preset distance threshold value, controlling the coal mining machine to decelerate or stop, and outputting first prompt information, wherein the first prompt information is used for prompting a target person to perform blockage cleaning operation treatment on the reversed loader.
In one embodiment of the present application, the method further comprises: and outputting second prompt information under the condition that the distance is greater than a preset distance threshold value, wherein the second prompt information is used for prompting the target personnel that the distance between the coal mining machine and the transfer conveyor is far.
In one embodiment of the present application, the method further comprises: receiving a confirmation instruction that the blockage clearing operation is completed; and controlling the recovery speed of the coal mining machine or restarting the coal mining machine according to the confirmation instruction.
According to the method for determining the blockage abnormity at the reversed loader of the coal mine working face, the target object detection is carried out on the visual data corresponding to the reversed loader, the area where the target object is located in the visual data is determined under the condition that the target object is detected, the area of the area is compared with the preset area threshold value, and the blockage abnormity at the reversed loader is determined under the condition that the area of the area is larger than the preset area threshold value. Therefore, the situation of the target object in the visual data corresponding to the reversed loader is combined, the situation that the reversed loader is blocked abnormally is determined, the situation that the reversed loader is blocked can be conveniently determined without a manual mode of a coal mine worker, and the efficiency of determining the abnormal blocking situation of the reversed loader is improved.
An embodiment of another aspect of the present application provides a device for determining an abnormal blockage at a coal mine working face reversed loader, where the device includes: the visual data acquisition module is used for acquiring visual data at the reversed loader to obtain the visual data at the reversed loader; a first determination module to determine that a target object is present in the visual data; the second determination module is used for determining the area of the target object in the visual data; a third determination module to determine that a jam anomaly exists at the reversed loader if the area of the region exceeds a preset area threshold.
In one embodiment of the present application, the apparatus further comprises: the first output module is used for outputting an alarm prompt, wherein the alarm prompt is used for prompting that the transfer conveyor is abnormally blocked.
In one embodiment of the present application, the apparatus further comprises: the acquisition module is used for acquiring the current position information of the coal mining machine; the fourth determining module is used for determining the distance between the coal mining machine and the reversed loader based on the current position information; the judging module is used for judging whether the distance is smaller than or equal to a preset distance threshold value; the first control module is used for controlling the coal mining machine to slow down or stop and outputting first prompt information under the condition that the distance is smaller than or equal to a preset distance threshold value, wherein the first prompt information is used for prompting a target person to perform blockage cleaning operation treatment on the reversed loader.
In one embodiment of the present application, the apparatus further comprises: and the second output module is used for outputting second prompt information under the condition that the distance is greater than a preset distance threshold, wherein the second prompt information is used for prompting the target personnel that the distance between the coal mining machine and the reversed loader is far.
In one embodiment of the present application, the apparatus further comprises: the receiving module is used for receiving a confirmation instruction that the blockage clearing operation is completed; and the second control module is used for controlling the recovery speed or restarting of the coal mining machine according to the confirmation instruction.
According to the device for determining the abnormal blockage at the reversed loader of the coal mine working face, the target object detection is carried out on the visual data corresponding to the reversed loader, the area where the target object is located in the visual data is determined under the condition that the target object is detected, the area of the area is compared with the preset area threshold value, and the abnormal blockage at the reversed loader is determined under the condition that the area of the area is larger than the preset area threshold value. Therefore, the situation of the target object in the visual data corresponding to the reversed loader is combined, the situation that the reversed loader is blocked abnormally is determined, the situation that the reversed loader is blocked can be conveniently determined without a manual mode of a coal mine worker, and the efficiency of determining the abnormal blocking situation of the reversed loader is improved.
Another embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method for determining a congestion anomaly at a coal mine face conveyor disclosed in an embodiment of the present application.
Another embodiment of the present application provides a computer program product, and when executed by an instruction processor in the computer program product, the method for determining a congestion anomaly at a coal mine working plane loader in the embodiment of the present application is implemented.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a flow chart illustrating a method for determining a congestion anomaly at a coal mine face reversed loader according to one embodiment of the application.
Fig. 2 is a flow chart illustrating a method for determining a jam abnormality at a coal mine face reversed loader according to another embodiment of the present application.
Fig. 3 is a flow chart illustrating a method for determining a jam abnormality at a coal mine face reversed loader according to another embodiment of the present application.
Fig. 4 is a schematic structural diagram of a device for determining a blockage abnormality at a coal mine face reversed loader according to one embodiment of the application.
Fig. 5 is a schematic structural diagram of a device for determining a blockage abnormality at a coal mine face reversed loader according to another embodiment of the application.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, 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 function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A method, an apparatus, an electronic device, and a storage medium for determining a jam abnormality at a coal mine face reversed loader according to an embodiment of the present application are described below with reference to the drawings.
Fig. 1 is a flow chart illustrating a method for determining a congestion anomaly at a coal mine face reversed loader according to one embodiment of the application. It should be noted that the execution main body of the method for determining a blockage abnormality at a coal mine working face reversed loader provided in this embodiment is a device for determining a blockage abnormality at a coal mine working face reversed loader, the device for determining a blockage abnormality at a coal mine working face reversed loader may be implemented by software and/or hardware, and the device for determining a blockage abnormality at a coal mine working face reversed loader in this embodiment may be configured in a coal mine working face management system. The coal mine working face management system may be configured in an electronic device, and the electronic device in this embodiment may include, but is not limited to, a terminal device, a server, and the like, and the embodiment does not specifically limit the electronic device.
As shown in fig. 1, the method for determining a blockage abnormality at a coal mine working face reversed loader may include:
and 101, carrying out visual data acquisition on the reversed loader to obtain visual data of the reversed loader.
In some embodiments, in order to perform visual monitoring on the transfer conveyor, a visual data acquisition device can be installed at the position of a top beam of a hydraulic support at the transfer conveyor of the coal mine working face, and the visual data acquisition range covers the whole coal flow area of the transfer conveyor.
Wherein, above-mentioned visual data acquisition device can be the camera. The number of the visual data acquisition devices may be one or more, this embodiment is not particularly limited in this respect, and in practical applications, the number of the installed visual data acquisition devices may be determined according to actual business requirements.
It should be noted that the coal mine working face may be a coal mine fully mechanized mining working face or a coal mine fully mechanized caving working face, and this embodiment is not limited to this.
The target object may include, but is not limited to, a bulk coal object, a rock object.
In some embodiments, the visual data may be automatically detected for large coal objects and rock objects, and based on the detection results, the presence of a target object in the visual data may be determined.
As an exemplary embodiment, the visual data may be automatically detected for a target object based on feature information of the target object to determine whether the target object exists in the visual data.
As another exemplary embodiment, the visual data may be input into a pre-trained target detection model to determine a target object of the visual data through the target detection model.
The target detection model is trained in advance based on an artificial intelligence neural network.
And 104, determining that the jamming abnormality exists at the reversed loader under the condition that the area of the area where the target object is located exceeds a preset area threshold value.
Wherein the preset area threshold is an area critical value preset in the determination device.
In some embodiments, the absence of a jam anomaly at the transporter may be determined in the event that the area of the region in which the target object is located does not exceed a preset area threshold.
According to the method for determining the blockage abnormity at the reversed loader of the coal mine working face, the target object detection is carried out on the visual data corresponding to the reversed loader, the area where the target object is located in the visual data is determined under the condition that the target object is detected, the area of the area is compared with the preset area threshold value, and the blockage abnormity at the reversed loader is determined under the condition that the area of the area is larger than the preset area threshold value. Therefore, the situation of the target object in the visual data corresponding to the reversed loader is combined, the situation that the reversed loader is blocked abnormally is determined, the situation that the reversed loader is blocked can be conveniently determined without a manual mode of a coal mine worker, and the efficiency of determining the abnormal blocking situation of the reversed loader is improved.
Based on the above embodiment, in order to ensure that the coal flow is smoothly transferred to the conveyor belt device, and improve the working efficiency of the coal mine working face, in some embodiments, under the condition that the transfer conveyor is determined to have abnormal blockage, the crushing device can be controlled to crush the large coal and/or the rock corresponding to the transfer conveyor, so that the large coal and/or the rock can be crushed without coal workers, the automation of the coal mine working face is improved, the labor cost in the coal mining process is reduced, and the intelligent mining level of the coal mine working face is promoted.
In other embodiments, in order to make the user aware of the abnormal condition at the reloader in the case where it is determined that the jam abnormality exists at the reloader, the method may further output an alarm prompt, wherein the alarm prompt is for prompting that the jam abnormality exists at the reloader. Therefore, the coal miners can treat the blockage of the reversed loader.
Fig. 2 is a schematic flow chart of a method for determining a blockage abnormality at a coal mine working face reversed loader according to another embodiment of the application, wherein it should be noted that the embodiment further expands or refines the above embodiment.
As shown in fig. 2, may include:
And 204, determining that the jamming abnormity exists at the reversed loader under the condition that the area of the area where the target object is located exceeds a preset area threshold value.
It should be noted that, for the explanation of the above steps 201 to 204, reference may be made to the related description of the above embodiments, and details are not repeated here.
And step 205, acquiring current position information of the coal mining machine.
In some embodiments, current location information in a location module in the shearer may be obtained, and current location information of the shearer may be determined based on the current location information.
And step 206, determining the distance between the coal mining machine and the transfer conveyor based on the current position information.
Wherein the preset distance threshold is a distance critical value preset in the determination device.
And 208, controlling the coal mining machine to decelerate or stop, and outputting first prompt information, wherein the first prompt information is used for prompting a target person to perform blockage cleaning operation treatment on the reversed loader.
And 209, outputting second prompt information, wherein the second prompt information is used for prompting that the distance between the coal mining machine and the transfer conveyor is far for the target personnel.
In this embodiment, whether the coal mining machine is near the reversed loader is determined by combining the current position information of the coal mining machine, and under the condition that the coal mining machine is near the reversed loader, the coal mining machine is controlled to slow down or stop, and a prompt is output to prompt a target person to perform blockage cleaning operation processing on the reversed loader. Therefore, the target personnel do not need to check the current environment, and the safety of the target personnel in the process of blockage cleaning operation can be ensured.
Based on the embodiment, in order to further improve the working efficiency of the coal mine working face, a confirmation instruction that the blockage clearing operation is completed is received; and controlling the recovery speed of the coal mining machine or restarting the coal mining machine according to the confirmation instruction. Therefore, after the blockage is cleared, the operation of the coal mining machine is quickly recovered.
In order to make it clear to those skilled in the art that the method of this embodiment is further described below with reference to fig. 3, as shown in fig. 3, the method may include:
and 301, carrying out visual data acquisition on the reversed loader to obtain visual data of the reversed loader.
Wherein the target objects comprise massive coal objects and rock objects.
And step 303, determining whether the reversed loader is abnormal in blockage or not according to the detection result. If so, step 304 is performed, and if so, step 302 is performed.
And step 304, outputting an alarm prompt, wherein the alarm prompt is used for prompting that the jamming abnormity exists at the reversed loader.
And 305, acquiring current position information of the coal mining machine.
And step 306, judging whether the coal mining machine is near the reversed loader or not according to the current position information of the coal mining machine, if not, executing step 307, and if so, executing step 308.
And 307, continuously outputting alarm prompts until coal miners finish the treatment of the jam and blockage cleaning operation on the large coal and the rock.
And 308, reducing the speed of the coal mining machine until the speed is stopped, and waiting for underground coal miners to process the operations of blocking and blockage cleaning of the large coal and the rock until the operations are finished.
In this embodiment, by analyzing the visual data of the reversed loader, whether the reversed loader is blocked or not can be automatically determined, and the speed of the coal mining machine is controlled, so that the target personnel can complete the blockage clearing work of the reversed loader in a safe environment.
Corresponding to the determination methods for the jam abnormality at the coal mine working face reversed loader provided by the above several embodiments, an embodiment of the present application further provides a determination device for the jam abnormality at the coal mine working face reversed loader, and since the determination device for the jam abnormality at the coal mine working face reversed loader provided by the embodiment of the present application corresponds to the determination methods for the jam abnormality at the coal mine working face reversed loader provided by the above several embodiments, the implementation manner of the determination method for the jam abnormality at the coal mine working face reversed loader is also applicable to the determination device for the jam abnormality at the coal mine working face reversed loader provided by the embodiment, and will not be described in detail in the embodiment.
Fig. 4 is a schematic structural diagram of a device for determining a blockage abnormality at a coal mine face reversed loader according to one embodiment of the application.
As shown in fig. 4, the apparatus 400 for determining a blockage abnormality at a coal mine working face reversed loader comprises a visual data acquisition module 401, a first determination module 402, a second determination module 403 and a third determination module 404, wherein:
the visual data acquisition module 401 is configured to acquire visual data at the reversed loader to obtain visual data at the reversed loader.
A first determination module 402 for determining that a target object is present in the visual data.
A second determining module 403, configured to determine a region where the target object is located in the visual data.
A third determining module 404, configured to determine that a jam abnormality exists at the reversed loader when an area of a region where the target object is located exceeds a preset area threshold.
In an embodiment of the present application, on the basis of the embodiment of the apparatus shown in fig. 4, as shown in fig. 5, the apparatus further comprises:
a first output module 405, configured to output an alarm prompt, where the alarm prompt is used to prompt that a jam abnormality exists at the reversed loader.
In one embodiment of the present application, as shown in fig. 5, the apparatus further comprises:
and the obtaining module 406 is used for obtaining the current position information of the coal mining machine.
And a fourth determining module 407, configured to determine a distance from the shearer to the transfer conveyor based on the current position information.
The determining module 408 is configured to determine whether the distance is smaller than or equal to a preset distance threshold.
The first control module 409 is used for controlling the coal mining machine to slow down or stop and outputting first prompt information under the condition that the distance is smaller than or equal to a preset distance threshold, wherein the first prompt information is used for prompting a target person to perform blockage cleaning operation treatment on the reversed loader.
In one embodiment of the present application, as shown in fig. 5, the apparatus may further include:
and a second output module 410, configured to output second prompt information when the distance is greater than the preset distance threshold, where the second prompt information is used to prompt the target staff that the shearer is far away from the transfer conveyor.
In one embodiment of the present application, as shown in fig. 5, the apparatus may further include:
a receiving module 411, configured to receive a confirmation instruction that the jam clearing operation is completed;
and the second control module 412 is used for controlling the recovery speed or restarting of the coal mining machine according to the confirmation instruction.
According to the device for determining the abnormal blockage at the reversed loader of the coal mine working face, the target object detection is carried out on the visual data corresponding to the reversed loader, the area where the target object is located in the visual data is determined under the condition that the target object is detected, the area of the area is compared with the preset area threshold value, and the abnormal blockage at the reversed loader is determined under the condition that the area of the area is larger than the preset area threshold value. Therefore, the situation of the target object in the visual data corresponding to the reversed loader is combined, the situation that the reversed loader is blocked abnormally is determined, the situation that the reversed loader is blocked can be conveniently determined without a manual mode of a coal mine worker, and the efficiency of determining the abnormal blocking situation of the reversed loader is improved.
There is also provided, in accordance with an embodiment of the present application, a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method for determining a congestion anomaly at a coal mine face conveyor as disclosed in an embodiment of the present application.
The application also provides a computer program product, and when an instruction processor in the computer program product is executed, the method for determining the blockage abnormity at the coal mine working face reversed loader in the embodiment of the application is realized.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method of determining a blockage anomaly at a coal mine face reversed loader, the method comprising:
carrying out visual data acquisition on a reversed loader to obtain visual data of the reversed loader;
determining that a target object is present in the visual data;
determining the area of the target object in the visual data;
determining that a jam anomaly exists at the reversed loader if the area of the region exceeds a preset area threshold.
2. The method of claim 1, wherein the method further comprises:
and outputting an alarm prompt, wherein the alarm prompt is used for prompting that the transfer conveyor is abnormally blocked.
3. The method of claim 1 or 2, wherein the method further comprises:
acquiring current position information of the coal mining machine;
determining the distance between the coal mining machine and the reversed loader based on the current position information;
judging whether the distance is smaller than or equal to a preset distance threshold value;
and under the condition that the distance is smaller than or equal to a preset distance threshold value, controlling the coal mining machine to decelerate or stop, and outputting first prompt information, wherein the first prompt information is used for prompting a target person to perform blockage cleaning operation treatment on the reversed loader.
4. The method of claim 3, wherein the method further comprises:
and outputting second prompt information under the condition that the distance is greater than a preset distance threshold value, wherein the second prompt information is used for prompting the target personnel that the distance between the coal mining machine and the transfer conveyor is far.
5. The method of claim 3, wherein the method further comprises:
receiving a confirmation instruction that the blockage clearing operation is completed;
and controlling the recovery speed of the coal mining machine or restarting the coal mining machine according to the confirmation instruction.
6. An apparatus for determining a blockage anomaly at a coal mine face conveyor, the apparatus comprising:
the visual data acquisition module is used for acquiring visual data at the reversed loader to obtain the visual data at the reversed loader;
a first determination module to determine that a target object is present in the visual data;
the second determination module is used for determining the area of the target object in the visual data;
a third determination module to determine that a jam anomaly exists at the reversed loader if the area of the region exceeds a preset area threshold.
7. The apparatus of claim 6, wherein the apparatus further comprises:
the first output module is used for outputting an alarm prompt, wherein the alarm prompt is used for prompting that the transfer conveyor is abnormally blocked.
8. The apparatus of claim 6 or 7, wherein the apparatus further comprises:
the acquisition module is used for acquiring the current position information of the coal mining machine;
the fourth determining module is used for determining the distance between the coal mining machine and the reversed loader based on the current position information;
the judging module is used for judging whether the distance is smaller than or equal to a preset distance threshold value;
the first control module is used for controlling the coal mining machine to slow down or stop and outputting first prompt information under the condition that the distance is smaller than or equal to a preset distance threshold value, wherein the first prompt information is used for prompting a target person to perform blockage cleaning operation treatment on the reversed loader.
9. The apparatus of claim 8, wherein the apparatus further comprises:
and the second output module is used for outputting second prompt information under the condition that the distance is greater than a preset distance threshold, wherein the second prompt information is used for prompting the target personnel that the distance between the coal mining machine and the reversed loader is far.
10. The apparatus of claim 8, wherein the apparatus further comprises:
the receiving module is used for receiving a confirmation instruction that the blockage clearing operation is completed;
and the second control module is used for controlling the recovery speed or restarting of the coal mining machine according to the confirmation instruction.
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