Life detection systems and methods for mine borehole rescue

Abstract

This application proposes a life detection system and method for mine borehole rescue. The system includes a ground terminal and a multi-functional life detection device. The ground terminal and the multi-functional life detection device are connected via wireless transmission or network transmission. The ground terminal includes a central processing unit and an interaction module. The central processing unit is used to send control commands to the multi-functional life detection device. The multi-functional life detection device includes a controller, a video / infrared image detection module, an audio detection module, and a radar detection module. The controller is used to receive control commands and control the video / infrared image detection module, and / or the audio detection module, and / or the radar detection module based on the control commands. The technical solution proposed in this application is applicable to various situations in borehole rescue, improves the success rate and accuracy of life information detection, and the fully automated detection process improves rescue efficiency.

Description

Technical Field

[0001] This application relates to the field of mine rescue, and in particular to life detection systems and methods for mine borehole rescue. Background Technology

[0002] In recent years, with the depletion of shallow mineral resources, a large number of mines have entered the deep mining stage, making rescue extremely difficult in the event of an accident. Traditional rescue methods require rescuers to go down into the mine and search for trapped miners along the tunnels. However, in reality, situations such as roof collapses blocking tunnels, water seepage, and shaft damage often prevent rescuers from entering through normal mine passages. In such cases, vertical drilling from the surface becomes an essential option. This involves first drilling a small-diameter hole near the location of the trapped miners underground, and then immediately drilling a larger-diameter hole after contact is established. Rescuers then descend through this hole to rescue the miners. According to investigations and analyses of mine accidents worldwide, miners injured or killed instantly in explosions or collapses account for only a small portion of the total casualties. Most trapped miners die from poisoning and suffocation due to their inability to escape toxic gases in time, or from prolonged lack of food and water. Therefore, it is crucial to quickly and accurately locate the trapped miners and obtain information about the underground situation during the critical drilling window to prepare for rescue operations.

[0003] Current life detection equipment, such as video cameras, has a very limited detection range and only triggers an alarm when a trapped person enters the camera's or sensor's field of view. Audio-based detection devices are greatly limited by distance, obstacles, and whether the trapped person is strong and conscious enough to make a sound. When using vertical boreholes in mines for life detection, damage to underground roadways or soft geological conditions at the borehole point can cause the drill bit to deviate, leading to localized collapses. This can cause conventional life detection methods, such as video and audio detection, to fail or introduce measurement errors, reducing the success rate and accuracy of life detection and resulting in lower rescue efficiency. Summary of the Invention

[0004] This application provides a life detection system and method for mine drilling rescue, which at least solves the technical problem that the failure of life detection methods or the occurrence of measurement errors reduces the success rate and accuracy of life information detection, resulting in low rescue efficiency.

[0005] The first aspect of this application provides a life detection system for mine drilling rescue, comprising: a ground terminal and a multi-functional life detection device, wherein the ground terminal and the multi-functional life detection device are connected for communication via wireless transmission or network transmission.

[0006] The ground terminal includes a central processing unit and an interaction module; the central processing unit is used to send control commands to the multifunctional life detection device.

[0007] The central processing unit is also used to receive detection information sent by the multifunctional life detection device and generate control commands based on the detection information;

[0008] The interactive module is used to receive control commands input by staff, and to display detection results and detection information;

[0009] The multifunctional life detection device includes: a controller, a video / infrared image detection module, an audio detection module, and a radar detection module;

[0010] The controller is configured to receive control commands and control the video / infrared image detection module, and / or audio detection module, and / or radar detection module based on the control commands;

[0011] The video / infrared image detection module is used to acquire video / infrared images of the detection area;

[0012] The audio detection module is used to collect audio data in the detection area;

[0013] The radar detection module is used to collect radar echo data of the detection area and determine the location and status information of the trapped personnel based on the radar echo data.

[0014] The radar detection module includes: a distributed radar device;

[0015] The distributed radar device includes a first single-shot dual-receive radar, a second single-shot dual-receive radar, and a third single-shot dual-receive radar, which are arranged in a 120° configuration.

[0016] Preferably, the detection information includes: environmental parameters, the status information of the trapped personnel, location information, video / infrared images of the detection area, and audio data.

[0017] Furthermore, the system also includes: a retractable rotating device;

[0018] The retractable rotating device includes: a retractable rotating mechanism one, a retractable rotating mechanism two, a rotating mechanism three, and a base;

[0019] The second retractable rotating mechanism is connected to the first retractable rotating mechanism;

[0020] Both the first single-shot dual-receive radar and the second single-shot dual-receive radar are connected to the second retractable rotating mechanism.

[0021] The third single-transmit dual-receive radar is connected to the retractable rotating mechanism two via the rotating mechanism three.

[0022] The retractable rotating mechanism is connected to the base.

[0023] The first single-transmit dual-receive radar, the second single-transmit dual-receive radar, and the third single-transmit dual-receive radar are all equipped with handles, which are used to hang tow ropes.

[0024] The controller is mounted on the retractable rotating mechanism.

[0025] Furthermore, the ground terminal also includes: a cable take-up and lay-out device, a storage module, and a first power module;

[0026] The cable reeling device is used for reeling in and releasing the traction rope;

[0027] The storage module is used to store detection results, detection information, and control commands;

[0028] The first power module is used to supply power to the various devices in the ground terminal.

[0029] Furthermore, the multifunctional life detection device also includes: an environmental parameter detection module;

[0030] The environmental parameter detection module is used to detect the environmental parameters of the area and send the environmental parameters to the controller;

[0031] The environmental parameter detection module includes: an environmental multi-parameter detector;

[0032] The environmental parameters include: temperature, pressure, CO concentration, and CH4 concentration.

[0033] Furthermore, the multifunctional life detection device also includes: a lighting module and a second power supply module;

[0034] The lighting module is used to illuminate the detection area;

[0035] The second power module is used to supply power to the various devices in the multifunctional life detection device.

[0036] Furthermore, the video / infrared image detection module includes: a video camera and an infrared camera;

[0037] Both the video camera and the infrared camera are mounted on the retractable rotating mechanism.

[0038] The lighting module includes: a lighting lamp;

[0039] The lighting lamp is mounted on the retractable rotating mechanism one;

[0040] The audio detection module includes: a speaker and a microphone;

[0041] Both the loudspeaker and the pickup are mounted on the retractable rotating mechanism.

[0042] The audio detection module is also used to play audio;

[0043] The interactive module is also used for staff to communicate with trapped personnel through audiovisual means.

[0044] Furthermore, the retractable rotating mechanism one, the retractable rotating mechanism two, and the rotating mechanism three are all equipped with a length stop, a length sensor, a rotation stop, and an angle sensor.

[0045] The retractable rotating mechanism may be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure.

[0046] The second retractable rotating mechanism can be a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure.

[0047] The rotating mechanism three can be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure;

[0048] The ground terminal also includes an interface module, which is connected to the controller.

[0049] A second aspect of this application provides a life detection method for mine borehole rescue, the method comprising:

[0050] Step 1: Based on the control commands input by the staff, start the lighting module and the video / infrared image detection module, drive the retractable rotating mechanism to rotate at a constant speed, acquire high-definition video / infrared images around the detection area, and then upload the video / infrared images to the central processing unit through the controller;

[0051] The central processing unit determines whether there are trapped personnel in the detection area based on the video / infrared images and deep learning-based image recognition technology.

[0052] If there are trapped personnel in the detection area, the status information of the trapped personnel is determined based on the video image / infrared image, and the location information of the trapped personnel is determined by combining the rotation angle of the retractable rotating mechanism. Then, the status information and location information are sent to the interactive module for display, and the first preset scheme is executed at the same time.

[0053] If there are no trapped personnel in the detection area, proceed to step 2;

[0054] Step 2: Based on the video / infrared images, determine the distance information of the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the third single-shot dual-receive radar from the coal and rock wall, respectively, send the distance information to the controller, turn off the video / infrared image detection module, start the audio detection module and drive the retractable rotating mechanism to rotate at a constant speed, and upload the audio data around the detection area to the central processing unit through the controller.

[0055] The central processing unit uses the audio data and audio signal processing technology to determine whether there are trapped people in the detection area;

[0056] If there are trapped persons in the detection area, the status information of the trapped persons is determined based on the audio data, and the location information of the trapped persons is determined by combining the rotation angle of the retractable rotating mechanism. Then, the status information and location information are sent to the interactive module for display, and the second preset scheme is executed at the same time.

[0057] If there are no trapped personnel in the detection area, proceed to step 3;

[0058] Step 3: The central processing unit sends a control command to the controller to shut down the audio detection module. Then, based on the distance information of the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the third single-shot dual-receive radar from the coal and rock wall, it adjusts the second telescopic rotating mechanism so that the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the third single-shot dual-receive radar are all close to the coal and rock wall. The radar detection module is activated to detect and obtain the first radar echo data. The corresponding first radar echo data is processed in the main unit of the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the life information identification and positioning technology based on ultra-wideband radar is used to determine whether there are trapped personnel in the detection area.

[0059] If there is a trapped person in the detection area, the controller sends a command to the retractable rotating mechanism 2 to rotate 90° around the axis, and shuts down the single-transmitter dual-receiver radar that has not detected a human target. Then, detection is carried out to obtain the second radar echo data. Based on the first radar echo data and the second radar echo data, the precise location of the trapped person and the status information of the trapped person are determined using the life information identification and positioning technology based on ultra-wideband radar. The precise location of the trapped person and the status information of the trapped person are transmitted to the central processing unit and displayed on the interactive module. At the same time, the third preset scheme is executed.

[0060] If no trapped personnel are identified, proceed to step 4;

[0061] Step 4: Send a command to the rotating mechanism three to return to the initial state through the controller, then rotate 90° in the vertical direction, and adjust the length of the telescopic rotating mechanism one so that the detection surface of the third single-shot dual-receive radar is in contact with the bottom of the borehole. Turn on the third single-shot dual-receive radar to start detection and obtain the radar echo data. Process the radar echo data in the host of the third single-shot dual-receive radar and use the life information identification and positioning technology based on ultra-wideband radar to determine whether there is a trapped person target.

[0062] If there are trapped personnel, the controller sends a command to the rotatable mechanism three to rotate 90° around the axis. The third single-shot dual-receive radar begins detection and obtains the echo data of the fourth radar. Based on the echo data of the third radar and the echo data of the fourth radar, and using the life information identification and positioning technology based on ultra-wideband radar, the host of the third single-shot dual-receive radar determines the precise location of the trapped personnel and their status information. The location and status information of the trapped personnel are transmitted to the central processing unit and displayed on the interactive module. At the same time, the third preset scheme is executed.

[0063] If no trapped personnel are identified, proceed to step 5;

[0064] Step 5: The controller shuts down the lighting module and radar detection module, ends the detection process, and uploads the detection failure results to the central processing unit of the ground terminal and displays them in the interactive module.

[0065] Preferably, the method further includes:

[0066] The lighting module and / or video / infrared image detection module and / or audio detection module and / or radar detection module are activated based on the control commands input by the staff.

[0067] The lighting module, and / or video / infrared image detection module, and / or audio detection module, and / or radar detection module execute the control commands to perform life detection. The technical solutions provided by the embodiments of this application offer at least the following beneficial effects:

[0068] This application proposes a life detection system and method for mine borehole rescue. The system includes a ground terminal and a multi-functional life detection device. The ground terminal and the multi-functional life detection device are connected via wireless or network transmission. The ground terminal includes a central processing unit and an interaction module. The central processing unit sends control commands to the multi-functional life detection device. The multi-functional life detection device includes a controller, a video / infrared image detection module, an audio detection module, and a radar detection module. The controller receives the control commands and controls the video / infrared image detection module, and / or the audio detection module, and / or the radar detection module based on the control commands. The technical solution proposed in this application is applicable to various situations in borehole rescue, improving the success rate and accuracy of life information detection. Simultaneously, the fully automated detection process improves rescue efficiency.

[0069] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0070] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0071] Figure 1 This is a first structural diagram of a life detection system for mine drilling rescue according to an embodiment of this application;

[0072] Figure 2 This is a structural diagram of a radar detection module provided according to an embodiment of this application;

[0073] Figure 3 This is a front view of a multifunctional life detection device provided according to an embodiment of this application;

[0074] Figure 4 This is a top view of a multifunctional life detection device provided according to an embodiment of this application;

[0075] Figure 5 This is a second structural diagram of a life detection system for mine borehole rescue according to an embodiment of this application;

[0076] Figure 6 This is a third structural diagram of a life detection system for mine drilling rescue according to an embodiment of this application;

[0077] Figure Labels

[0078] Ground terminal 1, multi-functional life detection device 2, central processing unit 1-1, interaction module 1-2, cable take-up and take-down device 1-3, storage module 1-4, first power supply module 1-5, controller 2-1, video / infrared image detection module 2-2, audio detection module 2-3, radar detection module 2-4, distributed radar device 2-4-1, first single-shot dual-receive radar 2-4-1-1, second single-shot dual-receive radar 2-4-1-2, third single-shot dual-receive radar 2-4-1-3, retractable rotating mechanism 2-5-1, retractable rotating mechanism Mechanism 2 (2-5-2), Rotation Mechanism 3 (2-5-3), Base (2-5-4), Handle (2-4-1-8), Environmental Parameter Detection Module (2-6), Environmental Multi-Parameter Detector (2-6-1), Lighting Module (2-7), Second Power Supply Module (2-8), Video Camera (2-2-1), Infrared Camera (2-2-2), Lighting Lamp (2-7-1), Speaker (2-3-1), Microphone (2-3-2), Length Stopper (2-5-5), Length Sensor (2-5-6), Rotation Stopper (2-5-7), Angle Sensor (2-5-8), and Interface Module (2-9). Detailed Implementation

[0079] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0080] This application proposes a life detection system and method for mine borehole rescue. The system includes a ground terminal and a multi-functional life detection device. The ground terminal and the multi-functional life detection device are connected via wireless or network transmission. The ground terminal includes a central processing unit and an interaction module. The central processing unit sends control commands to the multi-functional life detection device. The multi-functional life detection device includes a controller, a video / infrared image detection module, an audio detection module, and a radar detection module. The controller receives the control commands and controls the video / infrared image detection module, and / or the audio detection module, and / or the radar detection module based on the control commands. The technical solution proposed in this application is applicable to various situations in borehole rescue, improving the success rate and accuracy of life information detection. Simultaneously, the fully automated detection process improves rescue efficiency.

[0081] The following description, with reference to the accompanying drawings, describes a life detection system and method for mine drilling rescue according to embodiments of this application.

[0082] Example 1

[0083] Figure 1This is a structural diagram of a life detection system for mine drilling rescue according to an embodiment of this application, as shown below. Figure 1 As shown, the system includes: a ground terminal 1 and a multi-functional life detection device 2, wherein the ground terminal 1 and the multi-functional life detection device 2 are connected for communication via wireless transmission or network transmission.

[0084] It should be noted that when the communication distance is less than or equal to 300m, wireless transmission is used for communication; when the communication distance is greater than 300m but less than or equal to 6km, network transmission is used for communication.

[0085] The ground terminal 1 includes a central processing unit 1-1 and an interaction module 1-2; the central processing unit 1-1 is used to send control commands to the multifunctional life detection device 2.

[0086] The central processing unit 1-1 is also used to receive detection information sent by the multifunctional life detection device 2, and generate control commands based on the detection information;

[0087] In this embodiment of the disclosure, the detection information includes: environmental parameters, the status information of the trapped personnel, location information, video / infrared images of the detection area, and audio data.

[0088] The interactive modules 1-2 are used to receive control commands input by staff and display detection results and detection information.

[0089] The multifunctional life detection device 2 includes: a controller 2-1, a video / infrared image detection module 2-2, an audio detection module 2-3, and a radar detection module 2-4;

[0090] The controller 2-1 is used to receive control commands and control the video / infrared image detection module 2-2, and / or audio detection module 2-3, and / or radar detection module 2-4 based on the control commands;

[0091] The video / infrared image detection module 2-2 is used to acquire video / infrared images of the detection area;

[0092] The audio detection modules 2-3 are used to collect audio data of the detection area;

[0093] The radar detection modules 2-4 are used to collect radar echo data of the detection area and determine the location and status information of the trapped personnel based on the radar echo data.

[0094] The radar detection module 2-4 includes: a distributed radar device 2-4-1, such as... Figure 2 As shown;

[0095] The distributed radar device 2-4-1 includes: a first single-shot dual-receive radar 2-4-1-1, a second single-shot dual-receive radar 2-4-1-2, and a third single-shot dual-receive radar 2-4-1-3, which are arranged in a 120° configuration.

[0096] It should be noted that this invention combines the active detection of the radar detection module with the passive detection of the video / infrared image detection module and the audio detection module, which improves both the success rate and accuracy.

[0097] In this embodiment of the disclosure, the interaction modules 1-2 are also used for staff to conduct audiovisual communication with trapped personnel.

[0098] In this embodiment of the disclosure, the system further includes: a retractable rotating device 2-5, such as... Figure 5 As shown;

[0099] like Figure 3 and Figure 4 As shown, the retractable rotating device 2-5 includes: a first retractable rotating mechanism 2-5-1, a second retractable rotating mechanism 2-5-2, a third rotating mechanism 2-5-3, and a base 2-5-4;

[0100] The retractable rotating mechanism 2-5-2 is connected to the retractable rotating mechanism 2-5-1.

[0101] The first single-shot dual-receiver radar 2-4-1-1 and the second single-shot dual-receiver radar 2-4-1-2 are both connected to the retractable rotating mechanism 2-5-2.

[0102] The third single-transmit dual-receive radar 2-4-1-3 is connected to the retractable rotating mechanism 2-5-2 via the rotating mechanism 3 2-5-3.

[0103] The retractable rotating mechanism 2-5-1 is connected to the base 2-5-4;

[0104] The first single-shot dual-receiver radar 2-4-1-1, the second single-shot dual-receiver radar 2-4-1-2, and the third single-shot dual-receiver radar 2-4-1-3 are all equipped with a handle 2-4-1-8, which is used to hang a towing rope.

[0105] The controller 2-1 is located at the top of the retractable rotating mechanism 2-5-1.

[0106] It needs to be explained, such as Figure 4As shown, the retractable rotating mechanism 1 2-5-1, the retractable rotating mechanism 2 2-5-2, and the rotating mechanism 3 2-5-3 are all equipped with a length stop 2-5-5, a length sensor 2-5-6, a rotation stop 2-5-7, and an angle sensor 2-5-8.

[0107] The length stop 2-5-5 is used to adjust the telescopic length;

[0108] The length sensor 2-5-6 is used to provide feedback on the extension / retraction length;

[0109] The rotary stop 2-5-7 is used to fix the rotary position;

[0110] The angle sensor 2-5-8 is used to provide feedback on the rotation angle;

[0111] The retractable rotating mechanism 2-5-1 can be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure.

[0112] The retractable rotating mechanism 2-5-2 can be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure.

[0113] The rotating mechanism 32-5-3 can be a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure.

[0114] In the embodiments disclosed herein, such as Figure 5 As shown, the ground terminal 1 further includes: a cable take-up and release device 1-3, a storage module 1-4, and a first power module 1-5;

[0115] The cable reeling and releasing devices 1-3 are used for reeling in and releasing the traction rope;

[0116] The storage modules 1-4 are used to store detection results, detection information and control commands;

[0117] The first power supply modules 1-5 are used to supply power to various devices in the ground terminal.

[0118] It should be noted that before the detection begins, the traction rope is attached to the handle 2-4-1-8 and the line is released through the line release and take-up device 1-3. After the detection is completed, the line is retrieved using the line release and take-up device 1-3.

[0119] In the embodiments disclosed herein, such as Figure 5 As shown, the multifunctional life detection device 2 also includes: environmental parameter detection modules 2-6;

[0120] The environmental parameter detection module 2-6 is used to detect the environmental parameters of the area and send the environmental parameters to the controller 2-1;

[0121] The environmental parameter detection module 2-6 includes: an environmental multi-parameter detector 2-6-1, such as... Figure 3 As shown;

[0122] The environmental parameters include: temperature, pressure, CO concentration, and CH4 concentration.

[0123] In the embodiments disclosed herein, such as Figure 5 As shown, the multifunctional life detection device 2 also includes: a lighting module 2-7 and a second power supply module 2-8;

[0124] The lighting modules 2-7 are used for illuminating the detection area;

[0125] The second power module 2-8 is used to supply power to the various devices in the multifunctional life detection device 2.

[0126] Furthermore, the video / infrared image detection module 2-2 includes: a video camera 2-2-1 and an infrared camera 2-2-2, as shown below. Figure 3 As shown;

[0127] Both the video camera 2-2-1 and the infrared camera 2-2-2 are mounted on the retractable rotating mechanism 2-5-1.

[0128] The lighting module 2-7 includes: a lighting lamp 2-7-1;

[0129] The lighting lamp 2-7-1 is mounted on the retractable rotating mechanism 2-5-1;

[0130] For example, the lighting lamp 2-7-1 can be mounted on the telescopic rotating mechanism 2-5-1 and located above the video camera 2-2-1 and the infrared camera 2-2-2;

[0131] The audio detection module 2-3 includes: a speaker 2-3-1 and a pickup 2-3-2;

[0132] Both the loudspeaker 2-3-1 and the pickup 2-3-2 are mounted on the retractable rotating mechanism 2-5-1;

[0133] For example, both the speaker 2-3-1 and the pickup 2-3-2 are located on the underside of the telescopic rotating mechanism 2-5-1;

[0134] The audio detection modules 2-3 are also used to play audio, such as playing "Waiting for rescue" when a trapped person is detected.

[0135] In the embodiments disclosed herein, such as Figure 6 As shown, the ground terminal 1 further includes an interface module 2-9, which is connected to the controller 2-1.

[0136] It should be noted that interface modules 2-9 can be connected to other detection modules that need to be added during the detection process, and can also be compatible with the coal mine emergency rescue platform; for example, adding humidity detection modules, toxic and harmful gas detection modules, and other detection modules that are beneficial to rescue. For example, when underground drilling rescue is required in a mine:

[0137] 1) The staff inputs control commands into the interaction module 1-2 of the ground terminal 1. The control commands are sent to the controller 2-1 through the central processing unit 1-1. The controller 2-1 starts the lighting module 2-7 and the video / infrared image detection module 2-2 according to the control commands, and drives the retractable rotating mechanism 2-5-1 to rotate at a constant speed to acquire high-definition video / infrared images around the detection area. Then, the video / infrared images are uploaded to the central processing unit 1-2 through the controller 2-1.

[0138] 2) Based on the video / infrared images and deep learning-based image recognition technology, the central processing unit 1-2 determines whether there are trapped personnel in the detection area;

[0139] If there are trapped personnel in the detection area, the central processing unit 1-2 determines the status information of the trapped personnel based on the video image / infrared image, and determines the location information of the trapped personnel in combination with the rotation angle of the retractable rotating mechanism 1. Then, the status information and location information are sent to the interactive module for display, and the first preset scheme is executed at the same time.

[0140] The first preset scheme includes: activating the audio detection module 2-3 to establish audiovisual communication with the trapped personnel, and activating the environmental parameter detection module 2-6 to collect temperature, pressure, CO concentration, and CH4 concentration information in the detection area, upload it to the central processing unit 1-1, and display it on the interaction module 1-2. If there are no trapped personnel in the detection area, proceed to step 3).

[0141] 3) Based on the video / infrared images, the central processing unit 1-2 determines the distance information of the first single-shot dual-receiver radar 2-4-1-1, the second single-shot dual-receiver radar 2-4-1-2, and the third single-shot dual-receiver radar 2-4-1-3 from the coal and rock wall, respectively, and sends the distance information to the controller 2-1. The central processing unit 1-2 also sends a control command to shut down the video / infrared image detection module 2-2, and a control command to start the audio detection module 2-3 and drive the retractable rotating mechanism 2-5-1 to rotate at a constant speed. The control command is executed, and the audio data around the detection area is obtained by the audio detection module 2-3 and uploaded to the central processing unit 1-1 through the controller 2-1.

[0142] 4) Based on the audio data, the central processing unit 1-1 uses audio signal processing technology to determine whether there are trapped personnel in the detection area;

[0143] 5) If there is a trapped person in the detection area, the central processing unit 1-1 determines the status information of the trapped person based on the audio data, and determines the location information of the trapped person in combination with the rotation angle of the retractable rotating mechanism 2-5-1. Then, the status information and location information are sent to the interaction module 1-2 for display, and the second preset scheme is executed at the same time.

[0144] The second preset scheme includes: activating the video / infrared image detection module 2-2 to establish audiovisual communication with the trapped personnel, and activating the environmental parameter detection module 2-6 to collect temperature, pressure, CO concentration, and CH4 concentration information in the detection area and upload it to the central processing unit 1-1, and display it on the interactive module 1-2.

[0145] 6) If there are no trapped personnel in the detection area, proceed to step 7);

[0146] 7) The central processing unit 1-1 sends a control command to the controller 2-1 to shut down the audio detection module 2-3. Then, based on the distance information of the first single-transmitter dual-receiver radar 2-4-1-1, the second single-transmitter dual-receiver radar 2-4-1-2, and the third single-transmitter dual-receiver radar 2-4-1-3 from the coal and rock wall, it adjusts the telescopic rotating mechanism 2-5-2 so that the first single-transmitter dual-receiver radar 2-4-1-1, the second single-transmitter dual-receiver radar 2-4-1-2, and the third single-transmitter dual-receiver radar 2-4-1-3 are all close to the coal and rock wall. It then sends a control command to the controller 2-1 to start the radar detection module 2-4. The control command is executed, and the radar detection module 2-4 is used to detect and obtain the first radar echo data. The corresponding first radar echo data is processed in the main unit of the first single-transmitter dual-receiver radar 2-4-1-1, the second single-transmitter dual-receiver radar 2-4-1-2, and the third single-transmitter dual-receiver radar 2-4-1-3, respectively. Using the life information identification and positioning technology based on ultra-wideband radar, it is determined whether there are trapped personnel in the detection area.

[0147] 8) If there are trapped personnel in the detection area, the central processing unit 1-1 sends a control command to the controller 2-1 to send a control command to the retractable rotating mechanism 2-5-2 to rotate 90° around the axis and shut down the single-transmitter dual-receiver radar that has not detected human targets. The controller executes the control command, performs detection, and obtains the second radar echo data. Based on the first radar echo data and the second radar echo data, the controller uses ultra-wideband radar-based life information identification and positioning technology to determine the precise location of the trapped personnel. The precise location of the trapped personnel is transmitted to the central processing unit 1-1 and displayed on the interactive module 1-2. At the same time, the third preset scheme is executed.

[0148] The third preset scheme includes: turning off the radar detection module 2-3, starting the video / infrared image detection module 2-2 and the audio detection module 2-3 to establish audiovisual communication with the trapped personnel, and starting the environmental parameter detection module 2-6 to collect temperature, pressure, CO concentration and CH4 concentration information in the detection area and upload it to the central processing unit 1-1, and display it on the interactive module 1-2.

[0149] 9) If no trapped personnel are identified, proceed to step 10);

[0150] 10) The central processing unit 1-1 sends a control command to the rotating mechanism 2-5-3 via the controller 2-1 to return to the initial state and rotate 90° vertically, and to adjust the length of the telescopic rotating mechanism 2-5-1 so that the detection surface of the third single-shot dual-receiver radar 2-4-1-3 is in contact with the bottom of the borehole. The control command is executed to turn on the third single-shot dual-receiver radar 2-4-1-3 and start detection. The radar echo data is obtained and processed in the host of the third single-shot dual-receiver radar 2-4-1-3. The life information identification and positioning technology based on ultra-wideband radar is used to determine whether there are trapped personnel targets.

[0151] 11) If there are trapped personnel, the central processing unit 1-1 sends a command to the rotatable mechanism 2-5-3 to rotate 90° around the axis through the controller 2-1, executes the control command, and begins to detect the fourth radar echo data. Based on the third radar echo data and the fourth radar echo data, and using the life information identification and positioning technology based on ultra-wideband radar, the host of the third single-transmit dual-receive radar 2-4-1-3 determines the precise location of the trapped personnel target, transmits the location of the trapped personnel to the central processing unit 1-1, and displays it on the interactive module 1-2, while executing the third preset plan.

[0152] 12) If no trapped personnel are identified, proceed to step 13);

[0153] 13) The central processing unit 1-1 sends a control command to the controller 2-1 to shut down the radar detection module 2-4 and the lighting module 2-7. The controller executes the control command, ends the detection process, and uploads the detection failure result to the central processing unit 1-1 and displays it in the interactive module 1-2.

[0154] It should be noted that the detection results, detection information and control commands during the detection process are all stored in the storage modules 1-4.

[0155] It should be noted that in the life detection system, one or more of the following detection modules can be controlled individually: video / infrared image detection module 2-2, audio detection module 2-3, and radar detection module 2-4, to perform life detection.

[0156] In summary, the life detection system for mine drilling rescue proposed in this embodiment is applicable to various situations in drilling rescue, improves the success rate and accuracy of life information detection, and the fully automated detection process improves rescue efficiency.

[0157] Based on the life detection system for mine drilling rescue provided above, the present invention also provides a life detection method for mine drilling rescue, the method comprising:

[0158] Step 1: Based on the control commands input by the staff, start the lighting module and the video / infrared image detection module, drive the retractable rotating mechanism to rotate at a constant speed, acquire high-definition video / infrared images around the detection area, and then upload the video / infrared images to the central processing unit through the controller;

[0159] The central processing unit determines whether there are trapped personnel in the detection area based on the video / infrared images and deep learning-based image recognition technology.

[0160] If there are trapped personnel in the detection area, the status information of the trapped personnel is determined based on the video image / infrared image, and the location information of the trapped personnel is determined by combining the rotation angle of the retractable rotating mechanism. Then, the status information and location information are sent to the interactive module for display, and the first preset scheme is executed at the same time.

[0161] If there are no trapped personnel in the detection area, proceed to step 2;

[0162] Step 2: Based on the video / infrared images, determine the distance information of the first single-shot dual-receive radar, the second single-shot dual-receive radar and the third single-shot dual-receive radar from the coal and rock wall, send the distance information to the controller, turn off the video / infrared image detection module, start the audio detection module and drive the retractable rotating mechanism to rotate at a constant speed, and upload the audio data around the detection area to the central processing unit through the controller.

[0163] The central processing unit uses the audio data and audio signal processing technology to determine whether there are trapped people in the detection area;

[0164] If there are trapped persons in the detection area, the status information of the trapped persons is determined based on the audio data, and the location information of the trapped persons is determined by combining the rotation angle of the retractable rotating mechanism. Then, the status information and location information are sent to the interactive module for display, and the second preset scheme is executed at the same time.

[0165] If there are no trapped personnel in the detection area, proceed to step 3;

[0166] Step 3: The central processing unit sends a control command to the controller to shut down the audio detection module via the wireless communication module / network transmission module. Then, based on the distance information of the first single-transmit dual-receive radar, the second single-transmit dual-receive radar, and the third single-transmit dual-receive radar from the coal and rock wall, it adjusts the second telescopic rotating mechanism so that the first single-transmit dual-receive radar, the second single-transmit dual-receive radar, and the third single-transmit dual-receive radar are all close to the coal and rock wall. The radar detection module is activated to detect and obtain the first radar echo data. The corresponding first radar echo data is processed in the main unit of the first single-transmit dual-receive radar, the second single-transmit dual-receive radar, and the life information identification and positioning technology based on ultra-wideband radar is used to determine whether there are trapped personnel in the detection area.

[0167] If there are trapped personnel in the detection area, the controller sends a command to the retractable rotating mechanism 2 to rotate 90° around the axis, and shuts down the single-transmitter dual-receiver radar that has not detected any human targets. Then, detection is performed to obtain the second radar echo data. Based on the first radar echo data and the second radar echo data, the precise location of the trapped personnel is determined using ultra-wideband radar-based life information identification and positioning technology. The precise location of the trapped personnel is transmitted to the central processing unit and displayed on the interactive module. At the same time, the third preset scheme is executed.

[0168] If no trapped personnel are identified, proceed to step 4;

[0169] Step 4: Send a command to the rotating mechanism three to return to the initial state through the controller, then rotate 90° in the vertical direction, and adjust the length of the telescopic rotating mechanism one so that the detection surface of the third single-shot dual-receive radar is in contact with the bottom of the borehole. Turn on the third single-shot dual-receive radar to start detection and obtain the radar echo data. Process the radar echo data in the host of the third single-shot dual-receive radar and use the life information identification and positioning technology based on ultra-wideband radar to determine whether there is a trapped person target.

[0170] If there are trapped personnel, the controller sends a command to the rotatable mechanism three to rotate 90° around the axis to start the detection and obtain the fourth radar echo data. Based on the third radar echo data and the fourth radar echo data, and using the life information identification and positioning technology based on ultra-wideband radar, the host of the third single-transmit dual-receive radar determines the precise location of the trapped personnel target. The location of the trapped personnel is transmitted to the central processing unit and displayed on the interactive module, while the third preset scheme is executed.

[0171] If no trapped personnel are identified, proceed to step 5;

[0172] Step 5: The controller shuts down the lighting module and radar detection module, ends the detection process, and uploads the detection failure results to the central processing unit of the ground terminal and displays them in the interactive module.

[0173] In this embodiment of the disclosure, the first preset scheme includes: activating the audio detection module to establish audiovisual communication with the trapped personnel, and activating the environmental parameter detection module to collect temperature, pressure, CO concentration, and CH4 concentration information in the detection area, upload it to the central processing unit, and display it on the interactive module;

[0174] The second preset scheme includes: activating the video / infrared image detection module to establish audiovisual communication with the trapped personnel, and activating the environmental parameter detection module to collect temperature, pressure, CO concentration, and CH4 concentration information in the detection area, upload it to the central processing unit, and display it on the interactive module;

[0175] The third preset scheme includes: activating the video / infrared image detection module and the audio detection module to establish audiovisual communication with the trapped personnel, and activating the environmental parameter detection module to collect temperature, pressure, CO concentration, and CH4 concentration information in the detection area, upload it to the central processing unit, and display it on the interactive module.

[0176] It should be noted that the detection results, detection information, and control commands during the detection process are all stored in the storage module.

[0177] In this embodiment of the disclosure, the method further includes:

[0178] The lighting module and / or video / infrared image detection module and / or audio detection module and / or radar detection module are activated based on the control commands input by the staff.

[0179] The lighting module, and / or video / infrared image detection module, and / or audio detection module, and / or radar detection module execute the control commands to perform life detection.

[0180] It should be noted that in the life detection system, one or more of the following detection modules can be controlled individually: video / infrared image detection module, audio detection module, and radar detection module, to perform life detection.

[0181] In summary, the life detection method for mine borehole rescue proposed in this embodiment is applicable to various situations in borehole rescue, improves the success rate and accuracy of life information detection, and the fully automated detection process improves rescue efficiency.

[0182] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0183] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0184] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A life detection system for mine drilling rescue, characterized in that, include: A ground terminal and a multi-functional life detection device, wherein the ground terminal and the multi-functional life detection device are connected for communication via wireless transmission or network transmission; The ground terminal includes a central processing unit and an interaction module; the central processing unit is used to send control commands to the multifunctional life detection device. The central processing unit is also used to receive detection information sent by the multifunctional life detection device and generate control commands based on the detection information; The interactive module is used to receive control commands input by staff, and to display detection results and detection information; The multifunctional life detection device includes: a controller, a video / infrared image detection module, an audio detection module, and a radar detection module; The controller is configured to receive control commands and control the video / infrared image detection module, and / or audio detection module, and / or radar detection module based on the control commands; The video / infrared image detection module is used to acquire video / infrared images of the detection area; The audio detection module is used to collect audio data in the detection area; The radar detection module is used to collect radar echo data of the detection area and determine the location and status information of the trapped personnel based on the radar echo data. The radar detection module includes: a distributed radar device; The distributed radar device includes: a first single-shot dual-receive radar, a second single-shot dual-receive radar and a third single-shot dual-receive radar, and the three single-shot dual-receive radars are arranged in a 120° configuration. The system also includes: a retractable rotating device; The retractable rotating device includes: a retractable rotating mechanism one, a retractable rotating mechanism two, and a rotating mechanism three; The retractable rotating mechanism one, retractable rotating mechanism two, and rotating mechanism three are all equipped with a length stop, a length sensor, a rotation stop, and an angle sensor. The retractable rotating mechanism may be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure. The retractable rotating mechanism 2 can be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure; The rotating mechanism three can be in the form of a turntable structure, a rotating sleeve structure, a gear structure, or a rotating joint structure.

2. The life detection system as described in claim 1, characterized in that, The detection information includes: environmental parameters, the status information and location information of the trapped personnel, video / infrared images of the detection area, and audio data.

3. The life detection system as described in claim 2, characterized in that, The system also includes a base; The second retractable rotating mechanism is connected to the first retractable rotating mechanism; Both the first single-shot dual-receive radar and the second single-shot dual-receive radar are connected to the second retractable rotating mechanism. The third single-transmit dual-receive radar is connected to the retractable rotating mechanism two via the rotating mechanism three. The retractable rotating mechanism is connected to the base. The first single-transmit dual-receive radar, the second single-transmit dual-receive radar, and the third single-transmit dual-receive radar are all equipped with handles, which are used to hang tow ropes. The controller is mounted on the retractable rotating mechanism.

4. The life detection system as described in claim 3, characterized in that, The ground terminal also includes: a cable take-up and release device, a storage module, and a first power module; The cable reeling device is used for reeling in and releasing the traction rope; The storage module is used to store detection results, detection information, and control commands; The first power module is used to supply power to the various devices in the ground terminal.

5. The life detection system as described in claim 4, characterized in that, The multifunctional life detection device also includes: an environmental parameter detection module; The environmental parameter detection module is used to detect the environmental parameters of the area and send the environmental parameters to the controller; The environmental parameter detection module includes: an environmental multi-parameter detector; The environmental parameters include: temperature, pressure, CO concentration, and CH4 concentration.

6. The life detection system as described in claim 5, characterized in that, The multifunctional life detection device also includes: a lighting module and a second power supply module; The lighting module is used to illuminate the detection area; The second power module is used to supply power to the various devices in the multifunctional life detection device.

7. The life detection system as described in claim 6, characterized in that, The video / infrared image detection module includes: a video camera and an infrared camera; Both the video camera and the infrared camera are mounted on the retractable rotating mechanism. The lighting module includes: a lighting lamp; The lighting lamp is mounted on the retractable rotating mechanism one; The audio detection module includes: a speaker and a microphone; Both the loudspeaker and the pickup are mounted on the retractable rotating mechanism. The audio detection module is also used to play audio; The interactive module is also used for staff to communicate with trapped personnel through audiovisual means.

8. The life detection system as described in claim 7, characterized in that, The ground terminal also includes an interface module, which is connected to the controller.

9. A method for life detection in mine drilling rescue based on the life detection system for mine drilling rescue according to any one of claims 1-8, characterized in that, The method includes: Step 1: Based on the control commands input by the staff, start the lighting module and the video / infrared image detection module, drive the retractable rotating mechanism to rotate at a constant speed, acquire high-definition video / infrared images around the detection area, and then upload the video / infrared images to the central processing unit through the controller; The central processing unit determines whether there are trapped personnel in the detection area based on the video / infrared images and deep learning-based image recognition technology. If there are trapped personnel in the detection area, the status information of the trapped personnel is determined based on the video image / infrared image, and the location information of the trapped personnel is determined by combining the rotation angle of the retractable rotating mechanism. Then, the status information and location information are sent to the interactive module for display, and the first preset scheme is executed at the same time. If there are no trapped personnel in the detection area, proceed to step 2; Step 2: Based on the video / infrared images, determine the distance information of the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the third single-shot dual-receive radar from the coal and rock wall, respectively, send the distance information to the controller, turn off the video / infrared image detection module, start the audio detection module and drive the retractable rotating mechanism to rotate at a constant speed, and upload the audio data around the detection area to the central processing unit through the controller. The central processing unit uses the audio data and audio signal processing technology to determine whether there are trapped people in the detection area; If there are trapped persons in the detection area, the status information of the trapped persons is determined based on the audio data, and the location information of the trapped persons is determined by combining the rotation angle of the retractable rotating mechanism. Then, the status information and location information are sent to the interactive module for display, and the second preset scheme is executed at the same time. If there are no trapped personnel in the detection area, proceed to step 3; Step 3: The central processing unit sends a control command to the controller to shut down the audio detection module. Then, based on the distance information of the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the third single-shot dual-receive radar from the coal and rock wall, it adjusts the second telescopic rotating mechanism so that the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the third single-shot dual-receive radar are all close to the coal and rock wall. The radar detection module is activated to detect and obtain the first radar echo data. The corresponding first radar echo data is processed in the main unit of the first single-shot dual-receive radar, the second single-shot dual-receive radar, and the life information identification and positioning technology based on ultra-wideband radar is used to determine whether there are trapped personnel in the detection area. If there is a trapped person in the detection area, the controller sends a command to the retractable rotating mechanism 2 to rotate 90° around the axis, and shuts down the single-transmitter dual-receiver radar that has not detected a human target. Then, detection is carried out to obtain the second radar echo data. Based on the first radar echo data and the second radar echo data, the precise location of the trapped person and the status information of the trapped person are determined using the life information identification and positioning technology based on ultra-wideband radar. The precise location of the trapped person and the status information of the trapped person are transmitted to the central processing unit and displayed on the interactive module. At the same time, the third preset scheme is executed. If no trapped personnel are identified, proceed to step 4; Step 4: Send a command to the rotating mechanism three to return to the initial state through the controller, then rotate 90° in the vertical direction, and adjust the length of the telescopic rotating mechanism one so that the detection surface of the third single-shot dual-receive radar is in contact with the bottom of the borehole. Turn on the third single-shot dual-receive radar to start detection and obtain the radar echo data. Process the radar echo data in the host of the first single-shot dual-receive radar and use the life information identification and positioning technology based on ultra-wideband radar to determine whether there is a trapped person target. If there are trapped personnel, the controller sends a command to the rotatable mechanism three to rotate 90° around the axis, activating the third single-shot dual-receive radar to begin detection and obtain fourth radar echo data. Based on the third and fourth radar echo data, and using ultra-wideband radar-based life information identification and positioning technology, the host of the third single-shot dual-receive radar determines the precise location of the trapped personnel and their status information. The location and status information of the trapped personnel are then transmitted to the central processing unit and displayed on the interactive module, while the third preset scheme is executed. If no trapped personnel are identified, proceed to step 5; Step 5: The controller shuts down the lighting module and radar detection module, ends the detection process, and uploads the detection failure results to the central processing unit of the ground terminal and displays them in the interactive module.

10. The method as described in claim 9, characterized in that, The method further includes: The lighting module and / or video / infrared image detection module and / or audio detection module and / or radar detection module are activated based on the control commands input by the staff. The lighting module, and / or video / infrared image detection module, and / or audio detection module, and / or radar detection module execute the control commands to perform life detection.

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