KR102318836B1 - Radar safety fence system for preventing industrial accident in coal handling system and method thereof - Google Patents

Abstract

According to the present invention, a radar safety fence system for preventing industrial accidents in a coal handling system includes: a radar module extracting position information of a worker from a coal handling system apparatus designating a danger boundary using radar; a control module controlling the radar module and determining a danger level in accordance with received information; a security control server receiving the received information from the control module to monitor the coal handling system apparatus; a security control server receiving the received information from the control module to monitor the coal handling system apparatus; and a plurality of compressed air spray nozzles placed in a circumferential direction of the coal handling system apparatus, and spraying compressed air when a worker comes in contact with the danger boundary. Therefore, the present invention is capable of preventing an accident which can lead to a drop in operational efficiency.

Description

Radar safety fence system for preventing industrial accident in coal handling system and method thereof

The present invention relates to a radar safety fence system for preventing industrial accidents in a coal handling system environment of a thermal power plant. It relates to a safety fence system with a radar sensor that can prevent human accidents in a hazardous area by tracking the direction of movement and manage the number of workers.

In a thermal power plant, coal is generally supplied in the form of pulverized coal to a boiler and burned to obtain energy.

Looking at the process of supplying coal to a boiler in a thermal power plant, for example, coal is unloaded from a coal carrier, and then is supplied to the boiler through a coal transfer line composed of a plurality of conveyor belts. In addition, a transfer tower is installed between the plurality of conveyor belts to transfer the coal transferred from one conveyor belt to another conveyor belt.

1 shows an example of such a coal transfer line in a thermal power plant. A first tower 1 is installed at one end of the coal transfer line 3 , and a second tower 2 (transfer tower) is installed at the other end of the coal transfer line 3 to transfer coal from the first tower 1 . Coal is transferred to the second tower through a conveyor belt in line 3 .

However, in such a thermal power plant, the conveyor belt constituting the coal transfer line is operated at high speed, so there is a problem that safety accidents often occur. For this problem, an emergency stop wire is installed to emergency stop the conveyor belt, but there is a problem in that it is difficult to immediately respond to a jamming accident because the emergency stop wire is spaced a certain distance from the conveyor belt.

The present invention is to solve the problems of the prior art as described above, and an object of the present invention is to provide a safety fence system that can prevent human accidents in coal handling systems such as thermal power plants.

In addition, it aims to provide a system that prevents safety accidents at work sites that are difficult to identify with CCTV and facilitates the management of coal handling facilities.

The radar safety fence system for the prevention of industrial accidents in the coal handling system according to the present invention includes: a radar module 110 for extracting location information of a worker from a coal handling system device designated as a danger boundary using a radar; a control module 120 for controlling the radar module and determining a risk level according to received information; a security control server 300 for receiving information received from the control module 120 and monitoring the coal handling system device; and a plurality of compressed air injection nozzles 210 disposed along the circumferential direction of the coal handling system device, and through which compressed air is injected when the operator contacts the danger boundary.

In addition, the danger boundary is characterized in that it includes a warning boundary formed to be spaced apart from the coal handling system device, and an alarm boundary formed between the warning boundary and the coal handling system device.

In addition, the compressed air injection nozzle 210 is characterized in that the compressed air is injected at a higher pressure than the warning area (WA) formed by the warning boundary when contacting the alarm area (AA) formed by the alarm boundary.

In addition, the radar module 110 includes a radar transceiver 111 for transmitting and receiving a radar signal; a signal processing unit 112 for performing signal processing by applying a noise filter and an analysis algorithm for information extraction to the radar signal received by the radar transceiver unit 111; and an operator detection unit 113 for extracting position information about an object and an operator within a preset boundary area based on the signal of the signal processing unit 112 .

In addition, the control module 120 controls the operation of the radar module 110 and designation of the danger boundary, and determines the invasion information of the specified boundary line based on the location information of the operator received from the radar module 110 to determine the risk level a local control unit 122 to determine; and a network communication unit 123 for transmitting the risk level determination result of the local control unit 122 to the security control server 300 .

In addition, the control module 120 further comprises an image processing unit 121 for transmitting the screen to the security control server 300 through the camera when the local control unit 122 determines the boundary intrusion risk level. do.

In addition, from the network communication unit 123 of the control module 120, the operator's position, speed, direction information, and a signal for whether or not a danger boundary is in contact with the security network terminal port 200 is transmitted; a warning sound generator for generating a warning sound according to the level of risk transmitted through the secure network terminal port 200; and a warning light operation unit for operating a warning light according to the level of risk transmitted through the secure network terminal port 200 .

In addition, the radar module 110 is characterized in that it includes a millimeter wave radar sensor.

In addition, the radar safety fence management method for preventing industrial accidents in the coal handling system installs the radar module 110 in or around the coal handling system device, and uses the radar module 110 to the risk boundary of the coal handling system device. specifying; extracting the location information of the operator from the radar module 110; determining a risk level according to a predetermined criterion for information received from the radar module 110 when the operator's contact is detected at the designated danger boundary; transmitting the risk level determination result to the security control server 300; and injecting compressed air from a plurality of compressed air injection nozzles 210 disposed along the circumferential direction of the coal handling system device when it is determined as the level of intrusion risk by worker contact with the designated danger boundary. characterized in that

In addition, it characterized in that it further comprises the step of transmitting the screen to the security control server 300 through the camera when it is determined that the level of intrusion risk by the worker's contact with the designated risk boundary.

In addition, the step of designating the danger boundary of the coal handling system device is spaced apart from the coal handling system device to designate a warning boundary, and designating an alarm boundary formed between the coal handling system device and the warning boundary It is characterized in that it includes.

In addition, generating a warning sound according to the risk level; and operating a warning light according to the level of danger.

The method may further include operating a warning light and a warning sound when the operator's contact detection time continues for a predetermined time in the step of determining the risk level.

In addition, the step of determining the risk level is characterized in that it further comprises the step of operating a warning light when the contact detection time of the operator does not last for a predetermined period of time.

In addition, the step of extracting the position information of the operator from the radar module 110, transmitting the signal received from the antenna as an analog-digital converting (ADC) signal 20 through a front-end circuit; forming a primary data bin (22) from which clutter, which is an unwanted reflected wave, is removed by performing a first-order Fast Fourier Transform (FFT) on the transferred ADC signal; extracting data 24 including velocity information by adding to the position information by executing a secondary FFT; generating a power spectrum (26) for the extracted data (24); extracting a point cloud (28) that is collected data from the power spectrum; and performing third-order FFT processing to form a data group 30 including position, velocity, direction, and signal-to-noise ratio (SNR) information.

According to the present invention, it is possible to ensure the safety of workers by monitoring the danger boundary or danger zone without malfunction due to dust, moisture, lighting, etc. at the work site of the coal handling system of the thermal power plant, and to prevent the loss of power generation stop due to an accident. In addition, it is possible to reduce the cost of arranging management personnel other than workers on the job site and prevent accidents that impair operational efficiency in advance.

In addition, according to the present invention, the danger boundary or danger zone of the work site is designated in advance through the server system of the central management room, and the movement of workers working in the vicinity is continuously monitored remotely to check the dangerous situation at the same time as the work site and prevent accidents. preventable and preventable.

1 is a view showing a coal transfer line for transferring coal in a conventional thermal power plant,
2 is an overall configuration diagram of a radar safety fence system for preventing industrial accidents in the coal handling system according to the present invention;
3 is a view for explaining the basic principle of the FMCW radar,
4 is a view for explaining a method of interpreting the collected data of the FMCW radar according to the present invention;
5 is a view for explaining the operation method of the radar safety fence system for preventing industrial accidents in the coal handling system according to the present invention;
6 is a view for explaining an example of designating a dangerous area of the radar safety fence system for the prevention of industrial accidents in the coal handling system according to the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Accordingly, in some embodiments, well-known process steps, well-known device structures, and well-known techniques have not been specifically described in order to avoid obscuring the present invention. Like reference numerals refer to like elements throughout.

In order to clearly express various layers and regions in the drawings, the thicknesses are enlarged. Throughout the specification, like reference numerals are assigned to similar parts. When a part of a layer, film, region, plate, etc. is said to be “on” another part, it includes not only cases where it is “directly on” another part, but also cases where there is another part in between. Conversely, when we say that a part is "just above" another part, we mean that there is no other part in the middle. Also, when a part of a layer, film, region, plate, etc. is said to be “under” another part, it includes not only the case where the other part is “directly under” but also the case where there is another part in between. Conversely, when we say that a part is "just below" another part, it means that there is no other part in the middle.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe a correlation between an element or components and other elements or components. Spatially relative terms should be understood as terms including different orientations of the device during use or operation in addition to the orientation shown in the drawings. For example, when an element shown in the figures is turned over, an element described as "beneath" or "beneath" another element may be placed "above" the other element. Accordingly, the exemplary term “below” may include both directions below and above. The device may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

In the present specification, when it is said that a part is connected to another part, it includes not only a case in which it is directly connected, but also a case in which another element is interposed therebetween. In addition, when it is said that a part includes a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

In this specification, terms such as first, second, third, etc. may be used to describe various components, but these components are not limited by the terms. The above terms are used for the purpose of distinguishing one component from other components. For example, without departing from the scope of the present invention, the first component may be referred to as a second or third component, and similarly, the second or third component may also be alternately named.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly specifically defined.

Hereinafter, a radar safety fence system for preventing industrial accidents in a coal handling system according to a preferred embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

2 is an overall configuration diagram of a radar safety fence system for preventing industrial accidents in the coal handling system according to the present invention, FIG. 3 is a view for explaining the basic principle of the FMCW radar, and FIG. It is a view explaining a method of interpreting collected data, and FIG. 5 is a view for explaining an operation method of a radar safety fence system for preventing industrial accidents in a coal handling system according to the present invention, and FIG. 6 is a coal handling system according to the present invention. It is a diagram explaining an example of designating a dangerous area of a radar safety fence system for the prevention of industrial accidents.

The radar safety fence system 100 for preventing industrial accidents in the coal handling system according to the present invention is a radar module 110 for designating a danger boundary at a coal handling system work site and extracting the location information of the worker, and the radar module 110 and a control module 120 for controlling and judging a risk according to the received information, and a security control server 300 for monitoring the coal handling system.

In this embodiment, only one radar safety fence system 100 for preventing industrial accidents in the coal handling system is shown, but the present invention includes a plurality of safety fence systems 100 according to the area of the coal handling system work site and the radar radiation angle. can do.

The radar safety fence system 100 installed at the site is connected to the security network terminal port 200 at the work site through an RS232 or RS485 cable from the network communication unit 123 of the control module 120 . Since this embodiment describes an example installed at the site of the coal handling system of the thermal power plant, it is connected to the security network terminal port 200 by wire according to the communication regulations in the power plant and then connected to the communication network in the power plant, but in other spaces, WiFi , Ethernet, etc. can be used to connect wirelessly. The secure network terminal port 200 may be designated to operate a warning light or a warning sound in response to a worker's contact or intrusion of the boundary area according to an initial setting. In addition, it is connected to the supplementary control server 300 in the power plant through a predetermined procedure according to the communication regulations in the power plant to monitor the work site situation. For example, when the control module 120 notifies the security network terminal port 200 of the operator detection status, the security network terminal port 200 operates other field equipment such as a pre-specified warning sound, warning light, or traffic light to operate It is possible to warn the site of danger, display the CCTV around the work site on the supplementary control server 300 in the power plant to help with the on-site action, and connect an emergency text message or call to the person involved in the work site.

In FIG. 2 , the radar module 110 includes a radar transceiver 111 for transmitting and receiving a radar signal, a signal processing unit 112 for performing the above-described signal processing on a radar signal received from the radar transceiving unit 111 , and a signal It includes an operator detection unit 113 for extracting location information about the object and the operator in the preset boundary area based on the signal of the processing unit 112.

The radar transceiver 111 may set a bandwidth of a transmission wave according to a desired resolution and determine the number of antennas of the transmitter and the receiver. For example, in this embodiment, an antenna pattern to which two transmit antennas and four receive antennas are applied is applied.

In the present invention, the radar transceiver 111 includes a millimeter wave radar sensor.

The millimeter wave radar sensor is a sensor technology that detects an object, and provides not only location information of the object, but also speed and direction information. Millimeter wave is a non-contact technology that operates in the spectrum between 30 GHz and 300 GHz. Because it uses short-wavelength electromagnetic waves, it is a technology that can provide millimeter-level positioning accuracy and can penetrate materials such as plastic, drywall, and cloth. It is also unaffected by environmental conditions such as rain, fog, dust, snow, and lighting. In the present invention, a radar sensor of a 77 GHz band is applied to an industrial site. There is a significant difference in the performance comparison of the 24GHz band and the 77GHz band radar. For example, the resolution and precision of the 77GHz band radar can be confirmed because the distance resolution can be reduced by about 20 times, the speed resolution by about 3 times, and the module size can be reduced to 1/9.

A millimeter wave radar system includes transmit (TX) and receive (RX) radio frequency (RF) components; analog components such as clocks; and digital components such as analog-to-digital converters (ADCs), microcontrollers (MCUs), and digital data processors (DSPs). The present invention applies a frequency modulated continuous wave (FMCW) radar of a 77 GHz band. FMCW radar is a special type of radar sensor that transmits frequency-modulated continuous signals, unlike conventional radars that periodically transmit short pulses. It can also measure speed and direction information. Hereinafter, an operating principle related to the FMCW radar will be briefly described.

A) Measurement of range

에서 결과의 비트 신호(beat signal)을 산출한다. 여기서, S는 톱니형의 첩 신호의 기울기이고, d는 객체까지의 거리이고, c는 빛의 속도이다. 그러므로, 객체까지의 거리는

로 측정된다. f_b를 구하기 위해서 시간 도메인의 IF 신호를 주파수 도메인으로 변환하도록 FFT(Fast Fourier Transform)를 실행하고 결과의 스펙트럼에서 분리된 피크값으로 f_b값을 추정한다. 거리 분해능 R_res는 FMCW 시스템의 RF 대역폭 B에 의해 결정되므로,

로 주어질 수 있다. 예를 들어, 670MHz의 대역폭을 사용하는 경우 예상할 수 있는 거리 분해능은 0.23m이고, 대역폭을 조정하여 원하는 거리 분해능을 얻을 수 있다.As shown in FIG. 3, the FMCW radar transmits a chirp signal sequence and combines the transmitted wave and the received reflected wave to a frequency within an intermediate frequency (IF) band.

to yield the resulting beat signal. Here, S is the slope of the sawtooth chirp signal, d is the distance to the object, and c is the speed of light. Therefore, the distance to the object is

is measured as To obtain f _b , FFT (Fast Fourier Transform) is performed to transform the IF signal of the time domain into the frequency domain, and the value of f _b is estimated with the peak value separated from the resulting spectrum. Since the distance resolution R _res is determined by the RF bandwidth B of the FMCW system,

can be given as For example, if a bandwidth of 670 MHz is used, the expected distance resolution is 0.23 m, and the desired distance resolution can be obtained by adjusting the bandwidth.

B) Velocity measurement

및 페이즈 쉬프트

가 일어난다. 여기서, f_c는 센터 주파수이고, v는 객체 속도이고, T_c는 첩 기간(chirp duration)이고, λ는 파장이다. 비트 주파수 쉬프트와 비교해, 밀리미터파 신호의 페이즈 쉬프트는 객체 이동에 더 민감하다. 그래서, 페이즈 쉬프트를 구하고 이를 속도치로 변환하기 위해 첩에 대해 2차 FFT를 실행한다. 속도 분해능은 다음과 같이 주어진다:

, 여기서 L은 한 프레임 내의 첩의 수이고, T_f는 프레임 주기이다. L = 255, T_c = 120μs인 경우 예상되는 속도 분해능은 0.065m/sec가 되고, 첩 매개변수를 변경하여 원하는 속도 분해능을 얻을 수 있다.Referring back to FIG. 3, when the object moves (Δd), the beat frequency shifts in the received wave

and phase shift

happens where f _c is the center frequency, v is the object velocity, T _c is the chirp duration, and λ is the wavelength. Compared to the beat frequency shift, the phase shift of the millimeter wave signal is more sensitive to object movement. So, to find the phase shift and convert it to a velocity value, a quadratic FFT is performed on the chirp. The velocity resolution is given by:

, where L is the number of chirps in one frame, and T _f is the frame period. For L = 255 and T _c = 120 μs, the expected velocity resolution is 0.065 m/sec, and the desired velocity resolution can be obtained by changing the chirp parameter.

C) Angle measurement

의 위상차를 제공하게 된다. 여기서, h는 수신 안테나 한 쌍의 간격이다. 따라서, RX 안테나에 걸친 공간 차원에서의 3차 FFT가 방위각에서의 도착 각도에 따라 객체의 각도를 추정한다. 3차 FFT 처리에 대한 각도 분해능은

이고, 여기서 N_RX는 수신 안테나의 수이다. A reflected wave from an object spaced a certain distance in an azimuth θ is transmitted between an adjacent pair of RX antennas.

will provide a phase difference of Here, h is the distance between the pair of receiving antennas. Thus, a cubic FFT in spatial dimension across the RX antenna estimates the angle of the object according to the angle of arrival in azimuth. The angular resolution for cubic FFT processing is

, where N _RX is the number of receive antennas.

Next, with reference to FIG. 4, a method of interpreting the collected data of the FMCW radar in an embodiment of the present invention to determine accurate location information and designating a boundary will be described.

This collected data is called a point cloud, and it is data collected by generating information displayed for each received signal from various sensors as a single point. The detection, clustering, tracking, and classification processes are performed by determining the characteristics of the point cloud.

First, the radar module 110 of the present invention transmits a signal received from the antenna as an analog-to-digital converting (ADC) signal 20 through a front-end circuit. A first-order FFT is performed on this signal to form a first-order data bin 22 from which clutter, which is an unwanted reflected wave, is removed.

Then, the second FFT is executed to extract the data 24 including not only the position but also the velocity information. Capon beamforming (Beamforming, BF) process is a process of forming a covariance matrix (covariance matrix) to generate a power spectrum (power spectrum) 26 for radar information. Thereafter, the CFAR detection algorithm, which is a process of extracting the point cloud 28 that is the collected data from the power spectrum, is executed. In the case of the 24GH band radar, only the presence or distance is determined because the data cannot be accurately interpreted in this process. Typically, in this process, a point cloud is provided by dividing the received data into small patches and calculating an average value. However, since these result values provide information close to the actual object location or when there is no ambient noise, it was impossible to extract accurate information in a general measurement environment, especially in the working site of a coal handling system in a thermal power plant. Moreover, in the case of radar applying the 77 GHz band, there are many difficulties in interpretation because more large amounts of data are transmitted.

However, the present invention introduces deep learning technology to filter transmitted data in a CNN (Convolutional Neural Network) + Max-pooling method that is differentiated from the existing method, and performs a labeling operation with a predetermined limit value specified. In addition, it extracts a point cloud with fast and accurate location information. In the case of radar sensors that are mostly applied to existing autonomous driving, if there is a section in the power spectrum where the specific frequency output is remarkably high, it is considered that there is a random object, and if it appears continuously for a certain period of time, the distance is calculated. Even if the CFAR detection algorithm is applied, the point cloud is provided by dividing the received data into small patches and calculating the average value. However, as described above, when there is a lot of ambient noise, the accuracy is significantly reduced. Similar to the CFAR detection algorithm of the lidar sensor, data for a certain period is collected, divided into primary patches, the average value is selected, the result data is arranged in ascending or descending order, and the median value is calculated as the limit value to filter the data There is this. Although this method can extract a point cloud including accurate location information even in the presence of ambient noise, it takes a lot of processing time, so it is difficult to detect the location of the operator in real time at the hazardous site. Due to the large data volume and the characteristics of irregular radar data, manual intervention is required for accurate and rapid interpretation. The present invention uses deep learning technology to learn such passive intervention, extracts a feature map through CNN, and then classifies data by selecting a pixel with a maximum value within a predetermined window. To this end, it is necessary to execute a labeling operation based on predetermined point information and extract an optimal density function through learning using a CNN platform. To achieve close to 99% precision, a multi-layered platform can be implemented. In the present invention, a platform is configured based on PointNet. As described above, the present invention implements a sensing technology that can be applied in real time as well as extracting a point cloud including accurate location information.

Then, a third-order FFT process is performed to form a data group 30 including not only position (x, y, z) but also velocity, direction, and signal-to-noise ratio (SNR) information. As described above, the present invention completes the radar module 110 capable of extracting accurate data information by improving digital signal processing in the firmware stage.

The characteristics of the millimeter wave radar sensor applied to the present invention include excellent material penetrating power, directivity adjustable in units of 1 degree, the ability to focus and specify the direction like general lighting, and the function to distinguish several nearby objects with a wide bandwidth. include According to the present invention to which the FMCW millimeter wave radar sensor of the 77 GHz band is applied, there is provided a radar safety fence system for preventing industrial accidents without detection errors at the work site of the coal handling system.

The signal processing unit 112 executes signal processing by applying a noise filter and an analysis algorithm for information extraction to the radar signal received by the radar transceiver unit 111, and includes an analog component such as a clock and an analog to digital converter (ADC), It consists of digital components such as micro controller unit (MCU) and digital signal processor (DSP). The signal processing unit 112 is responsible for the signal processing described with reference to FIG. 4 .

The operator detection unit 113 includes parameters preset in accordance with a given environment. For example, information on a location of a fixed equipment, an area where a large number of workers are detected, and a path that a moving object other than the operator moves, may be stored in advance.

The control module 120 includes a local control unit 122 that controls the operation of the radar module 110 and determines the level of risk by determining the degree of intrusion of a designated boundary line standard based on the position information of the operator received therefrom, and a local control unit ( 122) includes a network communication unit 123 for transmitting the risk level determination result to the security control server (300). Optionally, the control module 120 receives an image of a built-in CMOS camera or an optical camera or thermal imager installed in the field and displays the screen of the job site together with the location information of the operator provided by the radar module 110 when determining the risk. It may include an image processing unit 121 that can transmit.

Next, an operating method of the radar safety fence system 100 for preventing industrial accidents in the coal handling system according to the present invention will be described with reference to FIG. 5 .

First, the radar safety fence system 100 for preventing industrial accidents in the coal handling system of the present invention is installed in the coal transfer device 10 of the coal handling system work site (S410).

At this time, the millimeter wave of the radar sensor does not pass through the metal object, so the installation quantity and location are designated in consideration of the structure and area of the work site. Considering conventional radar-based devices, there are many cases in which a reflector facing the radar radiation position is installed, but the present invention is a system that can accurately determine the position of an operator within the radiation range without the need for installing a reflector. Depending on the criteria to be detected at the job site of the coal handling system device, for example, whether to detect worker movement within a narrow long distance or closely within a rectangular area that is not far away, the characteristic parameters of the chirp signal to determine the optimal operating mode.

In the next step (S420), a boundary area is set. For example, as shown in FIG. 6 , the area detectable by the radar module is set to be displayed when the measurable resolution is displayed in a grid form and the area where the operator's approach is to be detected is designated.

In the example of FIG. 6, an example of designating warning and warning areas for the safety of workers working around the coal transfer device is displayed.

A warning area (WA) is an area defined by a warning boundary on the outside of the coal transfer device 10, and the warning area (WA) does not directly contact the danger area, but may display a warning light to warn of dangerous substances. . The warning light is turned on by a warning light operation unit (not shown) that operates the warning light.

The alarm area (AA, Alarm Area) is an area defined by an alarm boundary located between the warning boundary and the coal transfer device 10. Since the alarm area is a situation in direct contact with the danger area, it is It can be set to shut down field equipment or to proceed with further action. The warning sound is operated by a warning sound generator (not shown). As for the warning sound, the warning sound may be repeatedly generated, and there may be a non-occurrence (OFF) time between the generation of the warning sound.

On the other hand, in the above example, the warning sound is generated by the warning sound generating unit only in the case of contact with the warning area (AA). At the time of contact, it is possible to shorten the duration of non-occurrence between warning sounds than in the warning area WA.

And, a plurality of compressed air injection nozzles 210 are disposed along the circumferential direction of the coal transport device 10, as shown in FIG. Compressed air is injected from the compressed air injection nozzle 210 when the area AA is in contact.

In addition, when the warning area (AA) is in contact, compressed air may be injected at a higher pressure than the warning area (WA).

In addition, when the warning area or the warning area is in contact, the compressed air injection nozzle 210 closest to the operator's position may be operated and may not be injected from the remaining compressed air injection nozzles 210 . The compressed air injection nozzle 210 operated at this time may be two or three including the closest compressed air injection nozzle 210 as an example.

A compressed air supply unit (not shown) including an air compressor is connected to the compressed air injection nozzle 210 , and compressed air from the compressed air supply unit is injected through the compressed air injection nozzle 210 to remove the worker from the coal transfer device 10 . It acts as a pusher.

In step S430, if the operator is not detected, it returns to the step of determining whether the operator is detected again. If the operator is detected, in step S440, it is determined again whether it continues for a predetermined time. Since the radar signal is delivered at 30 frames per second, the duration is tailored to the job site.

If it continues for a certain period of time, in step S460, it is determined that the situation is in danger, and an alarm including an alarm light and a warning sound is operated, and the process proceeds to step S470.

If the operator detection time does not last for the specified time, the operation designated as the warning device is executed in step S450. For example, a warning light or a traffic light is operated. Then, the process proceeds to step S470 to determine whether to work with other devices. If it is determined that the device is interworking with another device, in step S480 , a signal is transmitted to the server 300 to receive a command for a subsequent procedure.

As described above, according to the present invention, even in a harsh working environment with a lot of dust or moisture, by designating a hazardous area according to the on-site situation to detect the movement of the worker and designating the safety boundary of the worker without malfunction, damage to the worker or the operation of the production equipment is stopped A radar safety fence system that effectively prevents accidents without In addition, according to the present invention, a safety fence system that can identify a dangerous situation and prevent an accident at the same time as the field by designating a hazardous area of the work site in the central control room in advance and monitoring the movement of workers around the site through the on-site CCTV is provided. .

In the above, the present invention has been described with reference to preferred embodiments, but the present invention is not limited thereto and is applicable to all prefabricated bows. It will be readily understood that various modifications are possible within the scope.

100: radar safety fence system 110: radar module
111: radar transceiver 112: signal processing unit
113: operator detection unit 120: control module
121: image processing unit 122: local control unit
123: network communication unit 200: secure network terminal port
300: security control server

Claims (17)

delete delete delete delete delete delete delete delete Installing a radar module 110 in or around the coal handling system device, and designating a danger boundary of the coal handling system device using the radar module 110;
extracting the position information of the operator from the radar module 110;
determining a risk level according to a predetermined criterion for information received from the radar module 110 when the operator's contact is detected at the designated danger boundary;
transmitting the risk level determination result to the security control server 300; and
injecting compressed air from a plurality of compressed air injection nozzles 210 disposed along the circumferential direction of the coal handling system device when it is determined as the level of intrusion risk by worker contact with the designated danger boundary;
including,
The step of extracting the location information of the operator from the radar module 110,
transmitting the signal received from the antenna as an analog-to-digital converted signal 20 through a front-end circuit;
forming a primary data bin (22) from which unwanted reflected wave clutter is removed by performing a primary FFT (Fast Fourier Transform) on the transferred ADC signal;
extracting data 24 including velocity information by adding to the position information by executing a secondary FFT;
generating a power spectrum (26) for the extracted data (24);
extracting a point cloud (28) that is collected data from the power spectrum; and
Radar safety fence management method for preventing industrial accidents in the coal handling system, including the step of forming a data group 30 including position, speed, direction, and signal-to-noise ratio (SNR) information by performing tertiary FFT processing . 10. The method of claim 9,
Radar safety fence management method for preventing industrial accidents in the coal handling system further comprising the step of transmitting a screen to the security control server 300 through a camera when it is determined that the level of intrusion risk is determined by the worker's contact with the designated danger boundary . 10. The method of claim 9,
The step of designating the danger boundary of the coal handling system device is spaced apart from the coal handling system device and designating a warning boundary;
Radar safety fence management method for preventing industrial accidents in the coal handling system, comprising the step of designating an alarm boundary formed between the coal handling system device and the warning boundary. 12. The method of claim 11,
The compressed air injection nozzle 210 prevents industrial accidents in the coal handling system in which compressed air is injected at a higher pressure than the warning area (WA) formed by the warning boundary upon contact with the alarm area (AA) formed by the alarm boundary. Radar safety fence management method for 10. The method of claim 9,
generating a warning sound according to the risk level; and
Radar safety fence management method for preventing industrial accidents in the coal handling system further comprising operating a warning light according to the risk level. 10. The method of claim 9,
Radar safety fence management method for preventing industrial accidents in the coal handling system further comprising operating a warning light and a warning sound when the operator's contact detection time continues for a predetermined time in the step of determining the risk level. 15. The method of claim 14,
Radar safety fence management method for preventing industrial accidents in the coal handling system further comprising the step of operating a warning light when the contact detection time of the worker does not last for a predetermined time in the step of determining the risk level. 10. The method of claim 9,
The radar module 110 is a radar safety fence management method for preventing industrial accidents in the coal handling system including a millimeter wave radar sensor. delete

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