A monitoring and early warning system for a mine-used intelligent safety command vehicle

Abstract

The present invention relates to the field of monitoring and early warning of intelligent safety command vehicles, and specifically to a monitoring and early warning system of an intelligent safety command vehicle for a mine, comprising a vehicle positioning module, a video monitoring module, an environmental monitoring module, a wind speed detection module, an emergency rescue module, an early warning processing module and a tunnel monitoring module. The tunnel monitoring module monitors cracking, surface peeling and tunnel cross-section defects of the tunnel according to a cross-section deformation monitoring sensor and a tunnel monitoring camera for analysis. The environmental monitoring module monitors environmental parameters such as temperature and gas concentration within the visible environment range of a plurality of sensors in real time. The wind speed detection module measures the wind speed distribution in the tunnel according to a three-point wind speed monitoring function of the same cross section in the tunnel. The present invention effectively improves the level of mine safety monitoring and provides a strong guarantee for the sustainable development of mining enterprises.

Description

Technical Field

[0001] The invention relates to the field of monitoring and early warning of intelligent safety command vehicles, and in particular to a monitoring and early warning system of an intelligent safety command vehicle for a mine. Background Art

[0002] The underground working environment in mines is complex, with dangerous factors such as gas, dust and water gushing. The tunnel structure is prone to collapse and roof falls. In addition, there are a large number of personnel and critical equipment underground. Real-time monitoring is required to ensure personnel safety and normal equipment operation, while improving production efficiency and emergency response capabilities.

[0003] Specifically, how to accurately monitor the safety status of tunnel structures in real time, including cracking, surface peeling and cross-sectional defects, monitor and analyze environmental parameters and wind speed distribution, how to quickly locate and rescue when danger occurs and promptly handle various danger signals, including collapse, excessive harmful gases and abnormal wind speed, as well as how to optimize the ventilation system, improve equipment operation reliability and ensure personnel safety operations are the problems to be solved in this application. By providing a monitoring and early warning system for a mining intelligent safety command vehicle, it comprehensively utilizes vehicle positioning, tunnel monitoring, video surveillance, environmental monitoring, wind speed detection, emergency rescue and early warning processing modules, and coordinates data centers and cloud servers to achieve comprehensive monitoring of mine safety conditions and effective early warning processing, thereby improving the level of mine safety production.

[0004] Enterprises continue to improve and upgrade monitoring and early warning technologies to meet the actual needs of safe production, and promote the development and application of monitoring and early warning systems for intelligent safety command vehicles in mines. Summary of the invention

[0005] In order to solve the technical problems raised by the above-mentioned background technology, the present invention provides a monitoring and early warning system for a mining intelligent safety command vehicle.

[0006] The purpose of the present invention can be achieved through the following technical solutions: The present invention is a monitoring and early warning system for a mining intelligent safety command vehicle, including a vehicle positioning module, a tunnel monitoring module, a video monitoring module, an environmental monitoring module, a wind speed detection module, an emergency rescue module, an early warning processing module, a data center and a cloud server.

[0007] The vehicle positioning module locates and manages the command vehicle in real time based on the positioning sensor to improve the efficiency of the command vehicle. The specific acquisition method is as follows:

[0008] The output end of the vehicle positioning module is connected to the input end of the cloud server. By installing a positioning sensor on each command vehicle, each positioning sensor obtains the position coordinates of the corresponding command vehicle in real time, and generates a positioning signal to send to the cloud server. The cloud server receives each positioning signal in real time, and sends the signal to the positioning display terminal. The positioning display terminal updates the position coordinates of each command vehicle in real time. Each user searches for the corresponding command vehicle sensor signal according to the positioning display terminal, and the positioning display obtains the corresponding command vehicle positioning information. If the corresponding sensor position cannot be found, the last signal position of the corresponding command vehicle is obtained, and the abnormal position is marked.

[0009] The tunnel monitoring module monitors the cracking, surface peeling and tunnel section defects of the tunnel based on the section deformation monitoring sensor and the tunnel monitoring camera, and analyzes them to timely discover potential safety hazards. The specific acquisition process is as follows:

[0010] The input end of the tunnel monitoring module is connected to the output end of the early warning processing module. By installing a cross-sectional deformation monitoring sensor on the tunnel wall, the sensor obtains the structural displacement of each area of ​​the tunnel in real time, obtains the structural displacement value of each area, collects all the structural displacement values ​​within a specific period of time, and adds the structural displacement values ​​of the corresponding area to obtain the total structural displacement value of the corresponding area, which is marked as FC.

[0011] The images of each lane area are collected by the lane monitoring camera of the command vehicle to obtain the images of each lane area, and the images of each lane area are enhanced to obtain the added images of each area, and the lane cracks in the added images of each area are extracted to obtain the cracks in each lane. The cracks in each lane are identified to obtain the length and width of each lane crack. The area of ​​each lane crack is obtained through the length and width of each lane crack and marked as FD. Similarly, the surface spalling area of ​​each area added image is extracted to obtain the surface spalling area, which is marked as FG.

[0012] Using the formula The lane change value is obtained, where C1, C2 and C3 are preset proportional coefficients. The preset change threshold of the data center is extracted, and the actual lane change value is compared with the preset change value. If the actual lane change value is less than the preset change value, it means that the lane is safe and qualified. Otherwise, it means that the lane is unsafe. The corresponding lane is marked as a dangerous area, and a collapse signal is generated and sent to the emergency rescue module.

[0013] The video surveillance module monitors the staff situation in real time using high-definition video surveillance equipment, and transmits the video surveillance images to the display screen of the command vehicle. The specific acquisition method is as follows:

[0014] The input end of the video surveillance module is connected to the output end of the emergency rescue module. The video surveillance equipment is installed at key locations in the tunnel, including intersections, working faces and equipment concentration areas. The video surveillance equipment collects real-time images of the staff and transmits the real-time images to the display terminal of the mine control center in real time. The operators of the mine control center view the images of each monitoring point in real time through the display screen and obtain the real-time location of each staff member. When it is found that the staff has entered the dangerous area without authorization, a rescue signal is sent to the emergency rescue module.

[0015] The environmental monitoring module uses a variety of sensors to monitor the temperature and gas concentration in the visible environment of the device in real time and analyzes environmental parameters. The specific acquisition method is as follows:

[0016] The output end of the environmental monitoring module is connected to the input end of the early warning processing module, and the input end of the environmental monitoring module is connected to the output end of the data center. The temperature parameters of a specific period of time are collected in real time through the temperature sensor of the command vehicle to obtain the temperature parameter values ​​of each temperature parameter in the area. The maximum temperature and the minimum temperature of the monitoring point are obtained through each temperature parameter value, and the preset temperature value of the data center is extracted. The maximum temperature value corresponding to the monitoring point in the area is compared with the preset temperature value. If the maximum temperature value corresponding to the monitoring point in the area is greater than the preset temperature value, the monitoring point is marked as an abnormal monitoring point, and the minimum temperature value corresponding to the monitoring point in the area is compared with the preset temperature value. If the minimum temperature value corresponding to the monitoring point in the area is less than the preset temperature value, the monitoring point is recorded as a marked monitoring point, and the abnormal monitoring point and the marked monitoring point are statistically obtained. The temperature value of the historical abnormal monitoring point is extracted, and the temperature value of the abnormal monitoring point is matched with the temperature value of the historical abnormal monitoring point. If the match is successful, it means that the temperature value of the corresponding abnormal monitoring point is abnormal, and if the match is unsuccessful, it means that the temperature value of the corresponding abnormal monitoring point is normal.

[0017] The gas sensor of the command vehicle collects the carbon monoxide concentration and methane concentration in real time within the range, obtains the carbon monoxide concentration parameter and the methane concentration parameter, and marks their values ​​as NC and NK respectively, monitors the carbon monoxide concentration duration and the methane concentration duration, and marks their values ​​as T1 and T2 respectively, and uses the formula The gas damage value BC is obtained, where B1 and B2 are preset proportional coefficients. The standard gas threshold of the data center is raised, and the gas damage value is compared with the standard gas threshold. If the gas damage value is greater than the standard gas threshold, it means that the gas hazard is too great. The area is marked as a dangerous area, and a hazard signal is generated and sent to the early warning processing module.

[0018] The wind speed detection module measures the wind speed distribution in the tunnel based on the three-point wind speed monitoring function of the same section in the tunnel. The specific acquisition method is as follows:

[0019] The input end of the wind speed detection module is connected to the output end of the emergency rescue module, and the output end of the wind speed detection module is connected to the input end of the data center. The same section of the tunnel is divided into three points at equal distances and marked. The wind speed sensors are evenly installed on the three marked points. The wind speed parameters in the tunnel are obtained in real time through the wind speed sensors. The average wind speed parameters are calculated to obtain the average wind speed value. , calculated by obtaining the average wind speed The variance value MO of the average wind speed is obtained, where: represents the i-th wind speed parameter, n represents the number of all wind speed parameters, extracts the standard wind speed variance threshold of the data center, compares the actual wind speed variance value obtained with the standard wind speed variance threshold, if the actual wind speed variance value obtained is less than the standard wind speed variance threshold, it means that the wind speed data is relatively concentrated and the wind speed distribution is relatively uniform, on the contrary, it means that the wind speed dispersion is large, and a wind speed dispersion signal is generated and sent to the early warning processing module.

[0020] The emergency rescue module processes the received signals respectively, and the specific acquisition method is as follows:

[0021] The emergency rescue module receives the rescue signal of the personnel, obtains the positioning information of the corresponding dangerous area, then obtains the positioning information of each command vehicle within the radius of the dangerous area and marks it, connects the position of each command vehicle with the position of the corresponding dangerous area, obtains the driving distance of each command vehicle to the dangerous area, marks the command vehicle with the shortest driving distance as the target command vehicle, and sends the positioning information of the dangerous area to the control terminal of the target command vehicle. The control terminal of the target command vehicle receives the positioning information in real time. The target command vehicle is equipped with a self-rescuer device, which includes an oxygen supply system, a breathing mask and a gas detection device. The self-rescuer is used on the staff to monitor the life characteristics of the corresponding staff in real time and take action.

[0022] The emergency rescue module receives the collapse signal and sends the collapse signal to the mine control center. The mine control center obtains the location of the corresponding dangerous area and the positioning information of all command vehicles within the radius of the dangerous area, and sends the acquired dangerous area positioning to each command vehicle. The rescue time of each command vehicle is numbered and arranged. The first command vehicle to enter is numbered 1, and they enter the mine in turn to seek help from the personnel, and the rescue information is fed back to the mine control center.

[0023] The early warning processing module processes the signals sent by each module respectively. The specific acquisition method is as follows:

[0024] A large main ventilation fan is installed at the mine shaft mouth. The early warning processing module receives the hazard signal and sends the hazard signal to the mine control center. The mine control center receives the hazard signal, sends a start command to the sound and light alarm near the dangerous area, notifies personnel to evacuate, and then sends a control command to the main ventilation fan control terminal. The main fan control terminal receives the control command and starts the main fan movement state, and presses and draws fresh air into and out of the mine tunnel through the ventilation duct, forming a stable airflow to dilute and discharge hazardous gases.

[0025] A frequency converter is installed on the local ventilation fan in the tunnel. The early warning processing module receives the wind speed dispersion signal and sends the wind speed dispersion signal to the mine control center. The mine control center receives the wind speed dispersion signal, generates an adjustment instruction and sends it to the control terminal of the local ventilation fan. The control terminal of the local ventilation fan receives the adjustment instruction and enhances the speed of the local ventilation fan through the frequency converter.

[0026] Compared with the prior art, the beneficial effects of the present invention are: in terms of safety assurance, it can timely detect potential dangers through real-time monitoring of the environment, such as accurately sensing temperature and humidity, smoke, harmful gas concentration and noise. When smoke or harmful gases exceed the standard, an alarm is immediately sounded to effectively prevent fire and poisoning accidents. Monitoring of the operating status of the equipment can detect abnormalities in time to avoid safety accidents caused by equipment failures. For example, monitoring the temperature and vibration of the equipment can be repaired at the early stage of the failure. It can also grasp the position of personnel in real time, which is convenient for rapid rescue when an accident occurs. The improvement of production efficiency is also obvious. Its wind speed detection module optimizes the ventilation system in combination with factors such as the shape of the lane, allowing fresh air to reach the working area efficiently, discharge harmful substances, improve the environment, and improve the efficiency of workers. It can detect equipment failures in time, shorten maintenance time, and reduce production interruptions. A large amount of monitoring data provides a basis for scientific decision-making and helps optimize the production process. The emergency response capability is enhanced. Once a danger is detected, the system quickly issues an alarm and transmits information to allow personnel to evacuate in time.

[0027] The emergency rescue equipment on the command vehicle provides emergency rescue for underground personnel. In the event of an accident, the command vehicle can coordinate rescue forces from all parties, use real-time information to formulate scientific rescue plans, and ensure that the rescue is carried out in an orderly manner, which greatly improves the efficiency and success rate of emergency rescue and provides a solid guarantee for the safe production and efficient operation of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The following drawings are not intentionally scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0029] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present invention.

[0031] See also Figure 1 As shown, the present invention is a monitoring and early warning system for a mining intelligent safety command vehicle, including a vehicle positioning module, a tunnel monitoring module, a video monitoring module, an environmental monitoring module, a wind speed detection module, an emergency rescue module, an early warning processing module, a data center and a cloud server.

[0032] The vehicle positioning module locates and manages the command vehicle in real time based on the positioning sensor to improve the efficiency of the command vehicle. The specific acquisition method is as follows:

[0033] The output end of the vehicle positioning module is connected to the input end of the cloud server. By installing a positioning sensor on each command vehicle, each positioning sensor obtains the position coordinates of the corresponding command vehicle in real time, and generates a positioning signal to send to the cloud server. The cloud server receives each positioning signal in real time, and sends the signal to the positioning display terminal. The positioning display terminal updates the position coordinates of each command vehicle in real time. Each user searches for the corresponding command vehicle sensor signal according to the positioning display terminal, and the positioning display obtains the corresponding command vehicle positioning information. If the corresponding sensor position cannot be found, the last signal position of the corresponding command vehicle is obtained, and the abnormal position is marked.

[0034] The tunnel monitoring module monitors the cracking, surface peeling and tunnel section defects of the tunnel based on the section deformation monitoring sensor and the tunnel monitoring camera, and analyzes them to timely discover potential safety hazards. The specific acquisition process is as follows:

[0035] The input end of the tunnel monitoring module is connected to the output end of the early warning processing module. By installing a cross-sectional deformation monitoring sensor on the tunnel wall, the sensor obtains the structural displacement of each area of ​​the tunnel in real time, obtains the structural displacement value of each area, collects all the structural displacement values ​​within a specific period of time, and adds the structural displacement values ​​of the corresponding area to obtain the total structural displacement value of the corresponding area, which is marked as FC.

[0036] The images of each lane area are collected by the lane monitoring camera of the command vehicle to obtain the images of each lane area, and the images of each lane area are enhanced to obtain the added images of each area, and the lane cracks in the added images of each area are extracted to obtain the cracks in each lane. The cracks in each lane are identified to obtain the length and width of each lane crack. The area of ​​each lane crack is obtained through the length and width of each lane crack and marked as FD. Similarly, the surface spalling area of ​​each area added image is extracted to obtain the surface spalling area, which is marked as FG.

[0037] Using the formula The lane change value is obtained, where C1, C2 and C3 are preset proportional coefficients. The preset change threshold of the data center is extracted, and the actual lane change value is compared with the preset change value. If the actual lane change value is less than the preset change value, it means that the lane is safe and qualified. Otherwise, it means that the lane is unsafe. The corresponding lane is marked as a dangerous area, and a collapse signal is generated and sent to the emergency rescue module.

[0038] The video surveillance module monitors the staff situation in real time using high-definition video surveillance equipment, and transmits the video surveillance images to the display screen of the command vehicle. The specific acquisition method is as follows:

[0039] The input end of the video surveillance module is connected to the output end of the emergency rescue module. The video surveillance equipment is installed at key locations in the tunnel, including intersections, working faces and equipment concentration areas. The video surveillance equipment collects real-time images of the staff and transmits the real-time images to the display terminal of the mine control center in real time. The operators of the mine control center view the images of each monitoring point in real time through the display screen and obtain the real-time location of each staff member. When it is found that the staff has entered the dangerous area without authorization, a rescue signal is sent to the emergency rescue module.

[0040] The environmental monitoring module uses a variety of sensors to monitor the temperature and gas concentration in the visible environment of the device in real time and analyzes environmental parameters. The specific acquisition method is as follows:

[0041] The output end of the environmental monitoring module is connected to the input end of the early warning processing module, and the input end of the environmental monitoring module is connected to the output end of the data center. The temperature parameters of a specific period of time are collected in real time through the temperature sensor of the command vehicle to obtain the temperature parameter values ​​of each temperature parameter in the area. The maximum temperature and the minimum temperature of the monitoring point are obtained through each temperature parameter value, and the preset temperature value of the data center is extracted. The maximum temperature value corresponding to the monitoring point in the area is compared with the preset temperature value. If the maximum temperature value corresponding to the monitoring point in the area is greater than the preset temperature value, the monitoring point is marked as an abnormal monitoring point, and the minimum temperature value corresponding to the monitoring point in the area is compared with the preset temperature value. If the minimum temperature value corresponding to the monitoring point in the area is less than the preset temperature value, the monitoring point is recorded as a marked monitoring point, and the abnormal monitoring point and the marked monitoring point are statistically obtained. The temperature value of the historical abnormal monitoring point is extracted, and the temperature value of the abnormal monitoring point is matched with the temperature value of the historical abnormal monitoring point. If the match is successful, it means that the temperature value of the corresponding abnormal monitoring point is abnormal, and if the match is unsuccessful, it means that the temperature value of the corresponding abnormal monitoring point is normal.

[0042] The gas sensor of the command vehicle collects the carbon monoxide concentration and methane concentration in real time within the range, obtains the carbon monoxide concentration parameter and the methane concentration parameter, and marks their values ​​as NC and NK respectively, monitors the carbon monoxide concentration duration and the methane concentration duration, and marks their values ​​as T1 and T2 respectively, and uses the formula The gas damage value BC is obtained, where B1 and B2 are preset proportional coefficients. The standard gas threshold of the data center is raised, and the gas damage value is compared with the standard gas threshold. If the gas damage value is greater than the standard gas threshold, it means that the gas hazard is too great. The area is marked as a dangerous area, and a hazard signal is generated and sent to the early warning processing module.

[0043] The wind speed detection module measures the wind speed distribution in the tunnel based on the three-point wind speed monitoring function of the same section in the tunnel. The specific acquisition method is as follows:

[0044] The input end of the wind speed detection module is connected to the output end of the emergency rescue module, and the output end of the wind speed detection module is connected to the input end of the data center. The same section of the tunnel is divided into three points at equal distances and marked. The wind speed sensors are evenly installed on the three marked points. The wind speed parameters in the tunnel are obtained in real time through the wind speed sensors. The average wind speed parameters are calculated to obtain the average wind speed value. , calculated by obtaining the average wind speed The variance value MO of the average wind speed is obtained, where: represents the i-th wind speed parameter, n represents the number of all wind speed parameters, extracts the standard wind speed variance threshold of the data center, compares the actual wind speed variance value obtained with the standard wind speed variance threshold, if the actual wind speed variance value obtained is less than the standard wind speed variance threshold, it means that the wind speed data is relatively concentrated and the wind speed distribution is relatively uniform, on the contrary, it means that the wind speed dispersion is large, and a wind speed dispersion signal is generated and sent to the early warning processing module.

[0045] The emergency rescue module processes the received signals respectively, and the specific acquisition method is as follows:

[0046] The emergency rescue module receives the rescue signal of the personnel, obtains the positioning information of the corresponding dangerous area, then obtains the positioning information of each command vehicle within the radius of the dangerous area and marks it, connects the position of each command vehicle with the position of the corresponding dangerous area, obtains the driving distance of each command vehicle to the dangerous area, marks the command vehicle with the shortest driving distance as the target command vehicle, and sends the positioning information of the dangerous area to the control terminal of the target command vehicle. The control terminal of the target command vehicle receives the positioning information in real time. The target command vehicle is equipped with a self-rescuer device, which includes an oxygen supply system, a breathing mask and a gas detection device. The self-rescuer is used on the staff to monitor the life characteristics of the corresponding staff in real time and take action.

[0047] The emergency rescue module receives the collapse signal and sends the collapse signal to the mine control center. The mine control center obtains the location of the corresponding dangerous area and the positioning information of all command vehicles within the radius of the dangerous area, and sends the acquired dangerous area positioning to each command vehicle. The rescue time of each command vehicle is numbered and arranged. The first command vehicle to enter is numbered 1, and they enter the mine in turn to seek help from the personnel, and the rescue information is fed back to the mine control center.

[0048] The early warning processing module processes the signals sent by each module respectively. The specific acquisition method is as follows:

[0049] A large main ventilation fan is installed at the mine shaft mouth. The early warning processing module receives the hazard signal and sends the hazard signal to the mine control center. The mine control center receives the hazard signal, sends a start command to the sound and light alarm near the dangerous area, notifies personnel to evacuate, and then sends a control command to the main ventilation fan control terminal. The main fan control terminal receives the control command and starts the main fan movement state, and presses and draws fresh air into and out of the mine tunnel through the ventilation duct to form a stable airflow to dilute and discharge hazardous gases.

[0050] A frequency converter is installed on the local ventilation fan in the tunnel. The early warning processing module receives the wind speed dispersion signal and sends the wind speed dispersion signal to the mine control center. The mine control center receives the wind speed dispersion signal, generates an adjustment instruction and sends it to the control terminal of the local ventilation fan. The control terminal of the local ventilation fan receives the adjustment instruction and enhances the speed of the local ventilation fan through the frequency converter.

[0051] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. A monitoring and early warning system for a mine-used intelligent safety command vehicle, comprising a tunnel monitoring module; characterized in that: The tunnel monitoring module monitors the cracking, surface peeling and tunnel cross-sectional defects of the tunnel according to the cross-sectional deformation monitoring sensor and the tunnel monitoring camera for analysis. The input end of the tunnel monitoring module is connected to the output end of the early warning processing module. The cross-sectional deformation monitoring sensor is installed on the tunnel wall to obtain the structural displacement of each area of ​​the tunnel in real time, and then obtain the structural displacement value of each area. All structural displacement values ​​within a specific period of time are collected, and the structural displacement values ​​of the corresponding area are added to obtain the total structural displacement value of the corresponding area; The images of each lane area are collected by the lane monitoring camera of the command vehicle to obtain the images of each lane area, the images of each lane area are enhanced to obtain the added images of each area, the lane cracks of the added images of each area are extracted to obtain the cracks of each lane, the cracks of each lane are identified to obtain the length and width of each lane crack, the area of ​​each lane crack is obtained by the length and width of each lane crack, and the surface spalling area of ​​each surface spalling area is extracted in the same way; The total structural displacement value, the area of ​​each lane crack and the surface spalling area are analyzed to obtain the lane change value, the preset change threshold of the data center is extracted, and the actual lane change value is compared with the preset change value. If the actual lane change value is greater than or equal to the preset change value, the corresponding lane is marked as a dangerous area, and a collapse signal is generated and sent to the emergency rescue module; Environmental monitoring module: The environmental monitoring module uses a variety of sensors to monitor the temperature and gas concentration environmental parameters within the visible environment of the equipment in real time for analysis, specifically: The output end of the environmental monitoring module is connected to the input end of the early warning processing module, and the input end of the environmental monitoring module is connected to the output end of the data center. The temperature parameters of a specific period of time are collected in real time through the temperature sensor of the command vehicle to obtain the temperature parameter values ​​of each temperature parameter in the area. The maximum temperature and the minimum temperature of the monitoring point are obtained through each temperature parameter value, and the preset temperature value of the data center is extracted. The maximum temperature value corresponding to the monitoring point in the area is compared with the preset temperature value. If the maximum temperature value corresponding to the monitoring point in the area is greater than the preset temperature value, the monitoring point is marked as an abnormal monitoring point, and the minimum temperature value corresponding to the monitoring point in the area is compared with the preset temperature value. If the minimum temperature value corresponding to the monitoring point in the area is less than the preset temperature value, the monitoring point is recorded as a marked monitoring point, and the abnormal monitoring point and the marked monitoring point are statistically obtained, and the temperature value of the historical abnormal monitoring point is extracted. The temperature value of the abnormal monitoring point is matched with the temperature value of the historical abnormal monitoring point. If the match is successful, it means that the temperature value of the corresponding abnormal monitoring point is abnormal, and if the match is unsuccessful, it means that the temperature value of the corresponding abnormal monitoring point is normal. The gas sensor of the command vehicle collects the carbon monoxide concentration and methane concentration in real time within the range, obtains the carbon monoxide concentration parameter and the methane concentration parameter, and marks their values ​​as NC and NK respectively, monitors the carbon monoxide concentration duration and the methane concentration duration, and marks their values ​​as T1 and T2 respectively, and uses the formula The gas damage value BC is obtained, where B1 and B2 are preset proportional coefficients. The standard gas threshold of the data center is extracted, and the gas damage value is compared with the standard gas threshold. If the gas damage value is greater than the standard gas threshold, the area is marked as a dangerous area, and a hazard signal is generated and sent to the early warning processing module.

2. The monitoring and early warning system for a mine-used intelligent safety command vehicle according to claim 1 is characterized in that: It also includes a wind speed detection module, which measures the wind speed distribution in the tunnel according to the three-point wind speed monitoring function of the same section in the tunnel. The specific method is as follows: The input end of the wind speed detection module is connected to the output end of the emergency rescue module, and the output end of the wind speed detection module is connected to the input end of the data center. The same section of the tunnel is divided into three points at equal distances and marked. The wind speed sensors are evenly installed on the three marked points. The wind speed parameters in the tunnel are obtained in real time through the wind speed sensors. The average wind speed parameters are calculated to obtain the average wind speed value. , calculated by the average wind speed The variance value MO of the average wind speed is obtained, where: represents the i-th wind speed parameter, n represents the number of all wind speed parameters, extracts the standard wind speed variance threshold of the data center, compares the actual wind speed variance value obtained with the standard wind speed variance threshold, and generates a wind speed dispersion signal to be sent to the early warning processing module if the actual wind speed variance value obtained is greater than or equal to the standard wind speed variance threshold.

3. The monitoring and early warning system for a mine-used intelligent safety command vehicle according to claim 2 is characterized in that: The emergency rescue module processes the received signals separately, and the specific methods are as follows: The emergency rescue module receives the rescue signal of the personnel, obtains the positioning information of the corresponding dangerous area, then obtains the positioning information of each command vehicle within the radius of the dangerous area and marks it, connects the position of each command vehicle with the position of the corresponding dangerous area, obtains the driving distance of each command vehicle to the dangerous area, marks the command vehicle with the shortest driving distance as the target command vehicle, and sends the positioning information of the dangerous area to the control terminal of the target command vehicle. The control terminal of the target command vehicle receives the positioning information in real time. The target command vehicle is equipped with a self-rescuer device, which includes an oxygen supply system, a breathing mask and a gas detection device. The self-rescuer is used on the staff to monitor the life characteristics of the corresponding staff in real time and process them; The emergency rescue module receives the collapse signal and sends the collapse signal to the mine control center. The mine control center obtains the location of the corresponding dangerous area and the positioning information of all command vehicles within the radius of the dangerous area, and sends the acquired dangerous area positioning to each command vehicle. The rescue time of each command vehicle is numbered and arranged. The first command vehicle to enter is numbered 1, and they enter the mine in turn to seek help from the personnel, and the rescue information is fed back to the mine control center.

4. The monitoring and early warning system for a mine-used intelligent safety command vehicle according to claim 2 is characterized in that: The early warning processing module processes the signals sent by each module separately, and the specific methods are as follows: A large main fan is installed at the mine mouth. The early warning processing module receives the hazard signal and sends the hazard signal to the mine control center. The mine control center receives the hazard signal and sends a start command to the sound and light alarm near the dangerous area to notify personnel to evacuate. Then, the control command is sent to the main fan control terminal. The main fan control terminal receives the control command and starts the main fan movement state, and fresh air is pressed into and extracted from the mine tunnel through the ventilation duct to form a stable airflow, dilute and discharge the hazardous gas; A frequency converter is installed on the local ventilation fan in the tunnel. The early warning processing module receives the wind speed dispersion signal and sends the wind speed dispersion signal to the mine control center. The mine control center receives the wind speed dispersion signal, generates an adjustment instruction and sends it to the control terminal of the local ventilation fan. The control terminal of the local ventilation fan receives the adjustment instruction and enhances the speed of the local ventilation fan through the frequency converter.

5. The monitoring and early warning system for a mine-used intelligent safety command vehicle according to claim 1 is characterized in that: It also includes a vehicle positioning module, which locates and manages the command vehicle in real time based on the positioning sensor. The specific method is as follows: The output end of the vehicle positioning module is connected to the input end of the cloud server. By installing a positioning sensor on each command vehicle, each positioning sensor obtains the position coordinates of the corresponding command vehicle in real time, and generates a positioning signal to send to the cloud server. The cloud server receives each positioning signal in real time, and sends each positioning signal to the positioning display terminal. The positioning display terminal updates the position coordinates of each command vehicle in real time. Each user searches for the corresponding command vehicle sensor signal according to the positioning display terminal, and the positioning display obtains the corresponding command vehicle positioning information. If the corresponding sensor position cannot be found, the last signal position of the corresponding command vehicle is obtained, and the abnormal position is marked.

6. The monitoring and early warning system for a mine-used intelligent safety command vehicle according to claim 1 is characterized in that: It also includes a video monitoring module, which monitors the safety of staff in real time using high-definition video monitoring equipment. The specific methods are as follows: The input end of the video surveillance module is connected to the output end of the emergency rescue module. The video surveillance equipment is installed at key locations in the tunnel, including intersections, working faces and equipment concentration areas. The video surveillance equipment collects real-time images of the staff and transmits the real-time images to the display terminal of the mine control center in real time. The operators of the mine control center view the images of each monitoring point in real time through the display screen and obtain the real-time location of each staff member. When it is found that the staff has entered the dangerous area without authorization, a rescue signal is sent to the emergency rescue module.

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