Method for preventing hypoxia suffocation and harmful gas through underground airtight unsealing

Abstract

The invention relates to the technical field of prevention of hypoxia suffocation and harmful gas, in particular to a method for preventing hypoxia suffocation and harmful gas through underground airtight unsealing, which comprises the following steps: an unmanned aerial vehicle carries various sensors for comprehensively collecting underground environment data; formulating an oxygen delivery plan based on data analysis; arranging an oxygen pipeline system; oxygen is conveyed, and the closed space environment is gradually improved; the unmanned aerial vehicle continuously inspects and monitors environment change; and after the safety standard is reached, personnel enter to carry out unsealing operation. The advantages of the unmanned aerial vehicle technology and the oxygen conveying technology are combined, so that safe and efficient advanced environment improvement is achieved; accurate and dynamic oxygen conveying control can be realized through real-time data collection and analysis, and the oxygen concentration is controlled within a safe range; and continuous patrol can be realized, and unsealing operation can be carried out safely.

Description

Technical Field

[0001] The invention relates to the technical field of preventing hypoxia, suffocation and harmful gases, and in particular to a method for preventing hypoxia, suffocation and harmful gases by unsealing in an underground well. Background Art

[0002] A mine is a general term for shafts, chambers, equipment, ground buildings and structures that form an underground coal mine production system; sometimes inclined shafts, vertical shafts, horizontal shafts, etc. in underground mine development are also called mines; the size of each mine's mining area, the determination of the mine's production capacity and service life is one of the key issues that must be resolved in the mine's own design.

[0003] With the development of intelligence, there are many ways to supply oxygen in mines; however, there are great deficiencies in the current environmental monitoring in mines: first, it is impossible to monitor the status of personnel in the mine, and it is difficult to provide timely oxygen supply to specific locations based on the movement posture of personnel; second, it is impossible to obtain the sound in the mine, and it is difficult to supply oxygen according to the sound volume; third, it is impossible to take patrol images in the tunnel.

[0004] The disclosure discloses an emergency oxygen supply system and method in a mine with publication number CN108798761B, which comprises a tunnel wall; an infrared camera is installed on the tunnel wall; the infrared camera comprises an infrared camera for collecting human images and an image processor for processing infrared images; a main controller is used to receive the collected image information of the infrared camera and judge whether the people in the image are in a horizontal state, and when the number of people in the horizontal state reaches a certain proportion of the total number of people in the image, an alarm signal is issued, and the main controller controls the oxygen supply device to supply oxygen in the tunnel; a communication module is used to transmit the processing signal of the main controller and the image signal of the infrared camera to a ground control console; the system can monitor the status of people in the mine and timely supply oxygen at specific positions according to the movement posture of the people; the system can obtain the sound in the mine and supply oxygen according to the sound volume; and the system can take patrol images in the tunnel.

[0005] The above technology can realize oxygen supply at specific locations, but when the underground sealed opening is carried out, it cannot effectively understand the underground gas situation, cannot quickly realize the underground oxygen supply, and cannot effectively ensure the underground environmental quality, so it needs to be improved. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a method for preventing hypoxia, suffocation and harmful gases by unsealing underground.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A method for preventing hypoxia, suffocation and harmful gases by unsealing underground, comprising the following steps:

[0009] S1. The drone is equipped with a variety of sensors to comprehensively collect underground environmental data: fire prevention and extinguishing operations are carried out before unsealing; the drone will fly according to the preset route and ensure the flight route through positioning methods, while turning on various sensors to collect data; during the inspection process, the drone will transmit the collected environmental data to the ground control system in real time; ground personnel can view the underground environmental conditions in real time through the monitoring system and make adjustments as needed; the ground control system analyzes the received data in real time, and immediately issues a warning signal when abnormal conditions such as hypoxia and excessive harmful gases are found, so that corresponding measures can be taken;

[0010] S2. Develop an oxygen delivery plan based on data analysis: Analyze the concentration trend of harmful gases in the well through the data collected by the drone, assess the risk of hypoxia and excessive harmful gases, and measure the amount of oxygen required;

[0011] Determine whether ventilation modification is needed through mine ventilation system data to ensure ventilation effect;

[0012] At the same time, according to the underground conditions, choose the appropriate oxygen delivery method;

[0013] At the same time, it is also necessary to monitor the concentration of oxygen and harmful gases and install an alarm system to promptly issue an alarm when the gas concentration exceeds the safety threshold, reminding operators to take emergency measures;

[0014] S3. Laying out oxygen pipeline system: The underground oxygen pipeline system adopts a modular design with quick connection to ensure efficient and convenient pipeline installation and maintenance: oxygen diffusers are arranged at multiple points in key areas underground to ensure uniform distribution of oxygen; at the same time, an integrated oxygen concentration real-time monitoring system is used in conjunction with an intelligent regulating valve system to automatically adjust the oxygen supply according to the real-time data provided by the drone and the oxygen concentration real-time monitoring system;

[0015] S4. Start delivering oxygen to gradually improve the environment of the confined space: With the continuous delivery of oxygen, the oxygen concentration in the confined space underground will gradually increase, thereby improving the working environment and ensuring that the breathing needs of the operators are met; the layout of the oxygen pipeline system and the operation of the ventilation equipment will significantly improve the air circulation in the underground space, making the air fresher and flowing more smoothly; and monitor the oxygen concentration in real time to automatically adjust the supply;

[0016] S5. Continuous inspection by drones to monitor environmental changes: Control the drones to automatically take off, fly according to the route, land, and charge in a cycle to achieve uninterrupted monitoring;

[0017] S6. After reaching the safety standards, personnel enter to carry out unsealing operations: through real-time monitoring of the underground space environment, after ensuring safety, the staff enters to carry out operations.

[0018] Compared with the existing technology, this application combines the advantages of drone technology and oxygen delivery technology to achieve safe and efficient advanced environmental improvement; it can achieve accurate and dynamic oxygen delivery control through real-time data collection and analysis, and control the oxygen concentration within a safe range; and it can achieve continuous inspections and ensure safe unsealing operations.

[0019] Preferably, the drone adopts a Molite cage-shaped drone to ensure that it can pass through a narrow space and has a fully protective outer frame to prevent collision; the sensor includes a gas detector, a temperature sensor, a humidity sensor and a high-definition infrared camera.

[0020] Furthermore, the selection of a suitable drone can effectively enable the drone to fly stably underground so as to effectively monitor the environmental conditions underground.

[0021] Preferably, the positioning method in S1 comprises the following steps:

[0022] Step 1: Front-end laser SLAM algorithm and back-end pose correction algorithm based on point cloud map;

[0023] Step 2: SLAM processes the laser radar point cloud data and the angular velocity and acceleration data output by the IMU, and obtains the odometer information through the laser SLAM algorithm, that is, the current position estimation of the drone;

[0024] Step 3: The pose correction algorithm based on the point cloud map uses the point cloud map to determine the coordinate system of the global gas concentration distribution in the well, corrects the pose estimation error of the UAV, and calculates the global pose matrix of the UAV based on the current point cloud frame and the point cloud map;

[0025] Step 4: Use the SLAM algorithm program combined with the three-dimensional non-repetitive scanning radar module for high-precision autonomous positioning.

[0026] Furthermore, it can fully enable the unmanned vehicle to fly according to a pre-set route, ensure the quality of flight, and fully realize the monitoring of the underground environment.

[0027] Preferably, the mine ventilation system data includes air volume, wind speed, and wind flow direction;

[0028] For lanes with better ventilation conditions, analyze the efficiency and stability of their ventilation systems to determine whether the ventilation plan needs to be optimized to support oxygen delivery; for lanes with poorer ventilation conditions, lay oxygen pipes and air ducts.

[0029] The oxygen delivery methods include pipeline delivery and compressed oxygen cylinders.

[0030] Furthermore, the underground ventilation conditions can be fully determined and improved, which can effectively ensure the ventilation and oxygen supply effect.

[0031] Preferably, the oxygen pipeline system in S3 is equipped with an explosion-proof oxygen pump and a precision flow control device to achieve a stable supply of oxygen and on-demand regulation. The precision flow control device can adopt an intelligent regulating valve.

[0032] Furthermore, the accurate supply of oxygen is fully guaranteed.

[0033] Preferably, the number of interfaces in the oxygen pipeline system should be minimized, and the pipeline layout should be as flat as possible to avoid large curvature changes, so as to reduce the impact of oxygen flow on the pipeline and the friction of the pipeline wall, thereby generating high temperature; no sharp corners, burrs, or roughness are allowed at the pipeline interface; and no oil, foreign matter, slag particles, iron particles, or any other items should be left in the pipeline; and static electricity removal facilities are installed on the oxygen pipeline system.

[0034] Furthermore, it can better protect the internal conditions of the pipeline, reduce the heat of oxygen transmission, and avoid accidents such as explosions.

[0035] Preferably, the fire prevention and extinguishing operation before unsealing is carried out through fire prevention and extinguishing technical measures with nitrogen injection and oxygen reduction, composite colloid cooling and plugging as the core, so as to achieve the fire prevention and extinguishing effect by significantly reducing the temperature and oxygen content in the closed area.

[0036] Furthermore, it can effectively improve safety and avoid fire.

[0037] Preferably, the ground control system includes a remote control and data transmission center, and an intelligent decision support system; the ground control system is connected to the drone and the oxygen pipeline system.

[0038] Furthermore, data transmission can be better realized, facilitating rapid adjustment and control.

[0039] Preferably, the gas detector is mainly used to detect the content of oxygen, carbon monoxide, carbon dioxide and methane.

[0040] Furthermore, the gas content can be accurately detected.

[0041] The beneficial effects of the present invention are:

[0042] 1. This application combines drone technology with traditional oxygen delivery methods to achieve safe and efficient advanced environmental improvement; through real-time data collection and analysis, accurate and dynamic oxygen delivery control is achieved; the risk of direct exposure of personnel to hazardous environments is greatly reduced; and the controllability and flexibility of the unsealing process are improved;

[0043] 2. In this application, an intelligent decision support system is also set up, which can quickly analyze data and facilitate operation; it can also quickly develop a risk assessment model based on machine learning, and can effectively optimize the oxygen delivery strategy algorithm based on the previous underground environment, number of people and ventilation environment, and can produce emergency plans so that the staff can operate according to the emergency plans;

[0044] 3. In this application, a corresponding emergency plan is set up, and a multiple fault protection mechanism can be effectively established according to the actual impact, so that when the staff issues an alarm in an emergency according to the emergency plan, rapid emergency evacuation can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a step diagram of a method for underground sealed unsealing to prevent hypoxia, suffocation and harmful gases proposed by the present invention. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Reference Figure 1 , a method for preventing hypoxia, suffocation and harmful gases by unsealing underground, comprising the following steps:

[0048] S1. The drone is equipped with a variety of sensors to comprehensively collect underground environmental data: Before the underground working face is sealed and unsealed, fire prevention and extinguishing technical measures such as nitrogen injection and oxygen reduction, composite colloid cooling and plugging are used to significantly reduce the temperature and oxygen content in the closed area to achieve fire prevention and extinguishing effects; after unsealing, the drone is turned on to enter the closed area, and customized drones suitable for small spaces and complex environments underground are selected, such as Molite cage drones, which can easily pass through small spaces and have a fully protective outer frame to prevent collisions; drone structural design, including explosion-proof shells and long endurance; multi-sensor integration (gas, temperature, humidity, image, etc.); Autonomous navigation and obstacle avoidance system; real-time data transmission module; sample collection device (optional); the drone is equipped with a variety of sensors, including gas detectors (for detecting oxygen concentration, harmful gases such as methane, carbon monoxide, etc.), temperature sensors, humidity sensors and high-definition infrared cameras, etc., to comprehensively collect underground environmental data; the underground drone positioning method in coal mines mainly includes the front-end laser SLAM algorithm and the back-end posture correction algorithm based on point cloud maps. SLAM processes the laser radar point cloud data and the angular velocity and acceleration data output by the IMU, and obtains the odometer information through the laser SLAM algorithm, that is, the current posture estimation of the drone; based on the point cloud map The pose correction algorithm uses the point cloud map to determine the global gas concentration distribution coordinate system underground, corrects the pose estimation error of the drone, and calculates the global pose matrix of the drone based on the current point cloud frame and point cloud map; uses the SLAM algorithm program combined with the three-dimensional non-repetitive scanning radar module for high-precision autonomous positioning; is equipped with stable self-organizing network communication equipment to ensure the reliability and real-time performance of data transmission; plans the inspection route through the drone control system according to the actual situation underground to ensure that the area that needs to be inspected can be fully covered; first, deploy the drone near the wellhead and start the inspection mission; the drone will fly along the preset route and start the Each sensor collects data; during the inspection process, the drone transmits the collected environmental data to the ground control system in real time; ground personnel can view the underground environment in real time through the monitoring system and make adjustments as needed; the ground control system analyzes the received data in real time, and immediately issues a warning signal when abnormal conditions such as hypoxia and excessive harmful gases are found, so that corresponding measures can be taken; the inspection results are compared with historical data to analyze the changing trend of the underground environment; based on the inspection results and actual conditions, they can be used as deep learning LSTM training data to evaluate the effectiveness and feasibility of drone inspections, and provide reference for subsequent inspection work;

[0049] S2. Develop an oxygen delivery plan based on data analysis: The drone described in the previous article collects data on the concentration of harmful gases such as oxygen, carbon monoxide, carbon dioxide, and methane in confined areas, analyzes the trend of gas concentration changes, and assesses the risks of hypoxia and excessive harmful gases; before developing an oxygen delivery plan, first collect relevant data on the mine ventilation system, including air volume, wind speed, wind direction, etc.; for tunnels with better ventilation conditions, analyze the efficiency and stability of their ventilation systems to determine whether the ventilation plan needs to be optimized to support oxygen delivery; focus on tunnels with poor ventilation conditions, and lay oxygen pipes and wind tubes; review accident cases in similar operations in the past, analyze the causes of the accidents, the laws of gas concentration changes, and the effectiveness of preventive measures, extract lessons learned from historical data, and provide reference for current operations ; Calculate the required amount of oxygen based on the size of the actual underground confined area, gas concentration monitoring results and the number of operators; and consider factors such as operation time, personnel breathing rate and oxygen consumption rate to ensure adequate oxygen supply; select appropriate oxygen delivery methods based on the actual situation of the mine and oxygen demand, such as pipeline delivery, compressed oxygen cylinders, etc. Since pure oxygen is flammable and explosive to a certain extent, ensure that the delivery method is safe and reliable, and no leakage and oxygen accumulation will occur, ensure that oxygen can be smoothly delivered to the confined area, and at the same time, harmful gases can be effectively discharged and diluted; set up gas concentration monitoring points on the oxygen delivery route and in the confined area to monitor the concentration of oxygen and harmful gases in real time, and install an alarm system to promptly issue an alarm when the gas concentration exceeds the safety threshold to remind operators to take emergency measures;

[0050] Develop a detailed emergency plan, including emergency response procedures, rescue measures and evacuation routes for hypoxia, asphyxiation and poisoning by harmful gases; ensure that all operators are familiar with the contents of the emergency plan and conduct emergency drills regularly;

[0051] S3. Laying out oxygen pipeline system: The oxygen pipeline system adopts a quick-connect modular pipeline design, explosion-proof oxygen pumps and flow control devices, multi-point oxygen diffusers, oxygen concentration real-time monitoring system, and intelligent regulating valve system; the underground oxygen pipeline system adopts a quick-connect modular design to ensure efficient and convenient pipeline installation and maintenance; the system is equipped with explosion-proof oxygen pumps and precision flow control devices to achieve stable oxygen supply and on-demand regulation; oxygen diffusers are arranged at multiple points in key areas of the mine to ensure uniform oxygen distribution; at the same time, an integrated oxygen concentration real-time monitoring system is used in conjunction with an intelligent regulating valve system to automatically adjust the oxygen supply according to real-time data to ensure safe and efficient mine operations; if there are metal debris or sand and gravel in the pipeline, driven by high-speed oxygen flow, they will impact the pipe wall, generate sparks, and cause combustion; if the inner wall of the pipeline is rusted and friction is increased, the valve on the oxygen delivery pipeline is opened. If the pressure difference before and after the valve is large, the oxygen will expand instantly and the instantaneous flow rate will be extremely fast, which can easily cause combustion and fire and cause explosion accidents;

[0052] The oxygen filling pipeline should minimize the number of interfaces, and the pipeline layout should be as flat as possible to avoid large changes in curvature to reduce the impact of oxygen flow on the pipe wall and generate high temperature; the necessary pipeline interfaces should ensure good processing technology, and no sharp corners, burrs, or rough places are allowed. The friction of oxygen flow is too strong and can generate high heat; the ignition point of combustibles in a pure oxygen environment will decrease; the oxygen flow rate should meet the relevant national standards; generally speaking, the oxygen flow rate in the oxygen delivery pipe should not exceed this value, and the carbon steel pipe must be less than this value; the oxygen pipeline should be kept clean, and debris or sand, metal powder, and particles will impact the pipe wall under the drive of high-speed oxygen flow, generate sparks, and cause combustion; when the pipeline is connected, it is not allowed to contain any Oil stains and foreign matter, slag particles, iron particles and any other items left in the pipeline, especially the inner wall, must be kept smooth; after the oxygen pipeline and valve are installed, the system strength, air tightness and leakage test should be carried out as required; the oxygen pipeline should have good static electricity removal facilities; in summary, the oxygen pipeline system is designed with corrosion-resistant and pressure-resistant stainless steel materials, and the thickness of the pipeline is scientifically determined according to the number of workers and oxygen supply needs to ensure sufficient oxygen supply; when laying the pipe, avoid dangerous areas and lay it out reasonably along the tunnel wall or roof, which not only ensures safety but also facilitates maintenance; at the same time, oxygen supply points are set up in key operating areas, equipped with monitoring instruments to monitor the concentration of oxygen and harmful gases in real time, and detailed emergency plans are formulated to deal with emergencies

[0053] S4. Start delivering oxygen and gradually improve the environment of the confined space: With the continuous delivery of oxygen, the oxygen concentration in the confined space underground will gradually increase, thereby improving the working environment and ensuring that the breathing needs of the operators are met; while the oxygen concentration increases, due to the effect of ventilation, the concentration of harmful gases (such as carbon monoxide, methane, etc.) in the underground space will be relatively reduced; the layout of the oxygen pipeline system and the operation of the ventilation equipment will significantly improve the air circulation in the underground space, making the air fresher and the circulation smoother; in the confined space underground, excessive oxygen concentration may also bring safety hazards; therefore, during the oxygen injection process, it is necessary to closely monitor the oxygen concentration. The oxygen concentration in the underground space should be monitored in real time using gas concentration monitors and other equipment, and an alarm should be sounded in time when the concentration exceeds the safety threshold. Once the oxygen concentration is found to be too high, the supply of the oxygen pipeline system should be adjusted immediately to reduce the input of oxygen to control the oxygen concentration within a safe range. The ventilation effect of the underground space should be enhanced by increasing the operating intensity of the ventilation equipment or opening more vents to further reduce the oxygen concentration and discharge harmful gases. In extreme cases, if the oxygen concentration continues to rise and cannot be effectively controlled, the underground workers should be evacuated to a safe area immediately to avoid safety accidents.

[0054] S5. Continuous inspection by drones to monitor environmental changes: Control the drones to automatically take off, fly according to the route, land, and charge in a cycle to achieve uninterrupted monitoring;

[0055] S6. After reaching the safety standards, personnel enter to carry out unsealing operations: by real-time monitoring of the underground space environment, after ensuring safety, the staff enter to carry out operations. When this method is in use, it is composed of special explosion-proof drones, oxygen delivery pipeline systems, remote control and data transmission centers, and intelligent decision support systems, so as to accurately monitor and operate the corresponding automated components.

[0056] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for preventing hypoxia, suffocation and harmful gases by unsealing underground, characterized in that: The following steps are involved: S1. The drone is equipped with a variety of sensors to comprehensively collect underground environmental data: fire prevention and extinguishing operations are carried out before unsealing; the drone will fly according to the preset route and ensure the flight route through positioning methods, while turning on various sensors to collect data; during the inspection process, the drone will transmit the collected environmental data to the ground control system in real time; ground personnel can view the underground environmental conditions in real time through the monitoring system and make adjustments as needed; the ground control system analyzes the received data in real time, and immediately issues a warning signal when abnormal conditions such as hypoxia and excessive harmful gases are found, so that corresponding measures can be taken; S2. Develop an oxygen delivery plan based on data analysis: Analyze the concentration trend of harmful gases in the well through the data collected by the drone, assess the risk of hypoxia and excessive harmful gases, and measure the amount of oxygen required; Determine whether ventilation modification is needed through mine ventilation system data to ensure ventilation effect; At the same time, according to the underground conditions, choose the appropriate oxygen delivery method; At the same time, it is also necessary to monitor the concentration of oxygen and harmful gases and install an alarm system to promptly issue an alarm when the gas concentration exceeds the safety threshold, reminding operators to take emergency measures; S3. Laying out oxygen pipeline system: The underground oxygen pipeline system adopts a modular design with quick connection to ensure efficient and convenient pipeline installation and maintenance: oxygen diffusers are arranged at multiple points in key areas underground to ensure uniform distribution of oxygen; at the same time, an integrated oxygen concentration real-time monitoring system is used in conjunction with an intelligent regulating valve system to automatically adjust the oxygen supply according to the real-time data provided by the drone and the oxygen concentration real-time monitoring system; S4. Start delivering oxygen to gradually improve the environment of the confined space: With the continuous delivery of oxygen, the oxygen concentration in the confined space underground will gradually increase, thereby improving the working environment and ensuring that the breathing needs of the operators are met; the layout of the oxygen pipeline system and the operation of the ventilation equipment will significantly improve the air circulation in the underground space, making the air fresher and flowing more smoothly; and monitor the oxygen concentration in real time to automatically adjust the supply; S5. Continuous inspection by drones to monitor environmental changes: Control the drones to automatically take off, fly according to the route, land, and charge in a cycle to achieve uninterrupted monitoring; S6. After reaching the safety standards, personnel enter to carry out unsealing operations: through real-time monitoring of the underground space environment, after ensuring safety, the staff enters to carry out operations.

2. A method for preventing hypoxia, suffocation and harmful gases by unsealing underground according to claim 1, characterized in that: The drone adopts a Molite cage-shaped drone to ensure that it can pass through a narrow space and has a fully protective outer frame to prevent collision; the sensors include a gas detector, a temperature sensor, a humidity sensor and a high-definition infrared camera.

3. A method for preventing hypoxia, suffocation and harmful gases by unsealing underground according to claim 1, characterized in that: The positioning method in S1 comprises the following steps: Step 1: Front-end laser SLAM algorithm and back-end pose correction algorithm based on point cloud map; Step 2: SLAM processes the laser radar point cloud data and the angular velocity and acceleration data output by the IMU, and obtains the odometer information through the laser SLAM algorithm, that is, the current position estimation of the drone; Step 3: The pose correction algorithm based on the point cloud map uses the point cloud map to determine the coordinate system of the global gas concentration distribution in the well, corrects the pose estimation error of the UAV, and calculates the global pose matrix of the UAV based on the current point cloud frame and the point cloud map; Step 4: Use the SLAM algorithm program combined with the three-dimensional non-repetitive scanning radar module for high-precision autonomous positioning.

4. A method for preventing hypoxia, suffocation and harmful gases by unsealing underground according to claim 1, characterized in that: The mine ventilation system data includes air volume, wind speed, and wind flow direction; For lanes with better ventilation conditions, analyze the efficiency and stability of their ventilation systems to determine whether the ventilation plan needs to be optimized to support oxygen delivery; for lanes with poorer ventilation conditions, lay oxygen pipes and air ducts. The oxygen delivery methods include pipeline delivery and compressed oxygen cylinders.

5. A method for preventing hypoxia, suffocation and harmful gases by sealing and unsealing underground according to claim 1, characterized in that: The oxygen pipeline system in S3 is equipped with an explosion-proof oxygen pump and a precision flow control device to achieve a stable supply of oxygen and on-demand regulation. The precision flow control device can use an intelligent regulating valve.

6. A method for preventing hypoxia, suffocation and harmful gases by sealing and unsealing underground according to claim 1, characterized in that: The number of interfaces in the oxygen pipeline system should be minimized, and the pipeline layout should be as flat as possible to avoid large curvature changes, so as to reduce the impact of oxygen flow on the pipeline and the friction of the pipeline wall, thereby generating high temperature; no sharp corners, burrs, or roughness are allowed at the pipeline interfaces; and no oil, foreign matter, slag, iron particles, or any other items should be left in the pipeline; and static electricity removal facilities are installed on the oxygen pipeline system.

7. A method for preventing hypoxia, suffocation and harmful gases by sealing and unsealing underground according to claim 1, characterized in that: The fire prevention and extinguishing operation before unsealing is carried out through fire prevention and extinguishing technical measures centered on nitrogen injection and oxygen reduction, composite colloid cooling and sealing, etc., which achieve the fire prevention and extinguishing effect by significantly reducing the temperature and oxygen content in the enclosed area.

8. A method for preventing hypoxia, suffocation and harmful gases by sealing and unsealing underground according to claim 1, characterized in that: The ground control system includes a remote control and data transmission center and an intelligent decision support system; the ground control system is connected with the UAV and the oxygen pipeline system.

9. A method for preventing hypoxia, suffocation and harmful gases by unsealing underground according to claim 2, characterized in that: The gas detector is mainly used to detect the content of oxygen, carbon monoxide, carbon dioxide and methane.

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