基于UWB技术的无轨胶轮车行车安全距离检测预警  

Detection and early warning of safe distance of trackless rubber-tyred vehicle based on UWB technology

作　　者：韩燕南 HAN Yannan(China Coal Technology and Engineering Group Changzhou Research Institute,Changzhou 213015,China;Tiandi(Changzhou)Automation Co.,Ltd.,Changzhou 213015,China)

机构地区：[1]中煤科工集团常州研究院有限公司,江苏常州213015 [2]天地(常州)自动化股份有限公司,江苏常州213015

出　　处：《煤矿安全》2023年第7期236-242,共7页Safety in Coal Mines

基　　金：天地(常州)自动化股份有限公司科研资助项目(2021TY4003);天地科技股份有限公司科技创新创业资金专项资助项目(2019-TD-ZD007)。

摘　　要：《煤矿安全规程》中对于煤矿采用无轨胶轮车运输时,应遵守同向行进车辆必须保持不小于50 m安全运行距离的硬性规定。设计了一种基于UWB技术的无轨胶轮车行车安全距离检测预警方法;该方法在初始化阶段完成巷道拓扑网络构建;在运行阶段,首先借助UWB精确定位基站获知车辆实时位置,计算车辆行进方向;其次,在空间和路网双重安全距离检索下获得可疑车辆;再次,依据车辆行进方向匹配结果,确定需预警对象;最后,通过车载交互终端发出语音预警信息。在模拟巷道对该方法进行的实验结果表明:逻辑代码运行正常,逻辑响应时间约为140 ms。在环境复杂的新疆伊犁四矿现场的应用结果表明:方法具有安全距离灵活可配,管控精细化、低成本、实用性的特点,现场应用状况良好。It is stipulated in the Coal Mine Safety Regulations that when the coal mine is transported by trackless rubber wheel cars,the safe running distance of the vehicles moving in the same direction must be maintained at least 50 m.Detection and early warning of safety distance of trackless rubber-tyred vehicle based on UWB technology was designed.This method completed the construction of the roadway topology network in the initialization stage.Firstly,the real-time position of the vehicle via accurate positioning on the base station by UWB is obtained to calculate the traveling direction in the operation stage.Secondly,suspicious vehicles are detected under the dual safety distance retrieval of space and road network.Thirdly,vehicles determined to be warned early judged from the matching state of a vehicle traveling direction.Finally,voice warning information is issued through the vehicle interactive terminal.Experiments on this method in a simulated roadway demonstrated that the logic code normally runs with a logic response time of about 140 ms.The application results of this method in the complex environment of Yili No.4 Mine in Xinjiang showed that the method has the characteristics of flexible safety distance,exemplary management and control,low cost and practicability,operating well in the field.

关 键 词：煤矿辅助运输 无轨胶轮车 安全距离检测 UWB 行车安全管理 

分 类 号：TD676[矿业工程—矿山机电]