Underground environment and human life monitoring method and system and electronic equipment

Abstract

The invention provides an underground environment and human life monitoring method and system, and electronic equipment, and the method comprises the steps: obtaining an underground environment signal and a human life signal of a to-be-monitored site collected by a collection module disposed on a rescue robot according to a first monitoring period, and analyzing the signals to obtain underground environment data and human life data; and a related alarm signal is output according to the underground environment data and the human body life data, and the alarm signal is sent to an information terminal of an overground rescue worker through a UWB receiving module. The change of the underground environment is monitored in real time by comprehensively analyzing the micro-seismic energy data and the rock sound data, whether a dangerous case occurs or not and the rock burst danger level are judged, the blood oxygen saturation degree and the body temperature of a survivor can be monitored, automatic monitoring data are more comprehensive, perfect and intelligent, and the safety of the survivor is improved. The rescue personnel on the well can carry out reasonable, effective, safe and timely rescue according to the vital sign abnormal degree of the survivors, the positions of the survivors and the underground rock burst danger level.

Description

Technical Field

[0001] The present invention relates to the technical field of underground environment and human life monitoring, and in particular to an underground environment and human life monitoring method and system and electronic equipment. Background Art

[0002] In recent years, my country's coal mining technology has developed rapidly, and its mining scale and depth have continued to increase. Since the underground working face has been subjected to the dual effects of mine pressure and coal mine rock conditions for a long time, roof collapse of the working face often occurs, which has a significant impact on production safety. Once a roof collapse accident occurs, it will not only cause casualties to underground personnel, but also damage the coal mining working face. Collapsed stones and other debris will cause blockage of the tunnel, affect the normal operation of the machine, and cause certain losses to the economy. In addition, it is impossible to predict the current status of underground personnel and the existence of life, and rescue work cannot be carried out in time. If the accident is not handled properly, it will lead to another roof collapse, causing greater casualties to personnel. Therefore, there is an urgent need for an underground environment and human life monitoring solution to detect the underground environment and the presence of personnel within a certain range, which is conducive to the development of rescue work.

[0003] At present, the search and rescue of rescue personnel is usually carried out manually by rescue personnel holding search equipment. However, manual search is slow and can only be carried out point by point in the search area. The search efficiency is very low, the detection area is small, and because rescue personnel need to enter, it is easy to cause secondary hazards. The efficiency and success rate of large-scale search and rescue are currently low. Therefore, there is an urgent need for a solution that can monitor the underground environment and human life through rescue robots, so as to achieve faster search and rescue of survivors and more comprehensive and safer underground environment and human life monitoring.

[0004] Therefore, the prior art needs to be further developed. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a method and system for monitoring underground environment and human life, and electronic equipment to solve the problems existing in the prior art.

[0006] To achieve the above technical objectives, according to a first aspect of the present invention, a method for monitoring underground environment and human life is provided, the method comprising: According to the first monitoring cycle, the underground environmental signals and human life signals of the test site are acquired by the acquisition module arranged on the rescue robot, the signals are analyzed to obtain the underground environmental data and human life data, and according to the underground environmental data and human life data, an alarm signal about the underground impact ground pressure hazard level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location is output, and the alarm signal is sent to the information terminal of the rescue personnel on the well through the UWB receiving module.

[0007] Specifically, the downhole environment data includes at least one of the following: Microseismic energy data, earthquake source location data, ground sound data, oxygen concentration data, carbon dioxide concentration data, methane concentration data and ambient temperature data.

[0008] Specifically, the human life data includes at least one of the following: Respiratory rate data, heart rate data, survivor location data, human body temperature data, and blood oxygen saturation data.

[0009] Specifically, the microseismic energy data and earthquake source location data are acquired using a microseismic probe and a vibration pickup device provided on the rescue robot, the ground sound data are acquired using a ground sound sensor provided on the rescue robot, the oxygen concentration data are acquired using an oxygen sensor provided on the rescue robot, the carbon dioxide concentration is acquired using a carbon dioxide sensor provided on the rescue robot, the methane concentration data are acquired using a methane sensor provided on the rescue robot, the ambient temperature data are acquired using the ambient temperature data provided on the rescue robot, the breathing rate data, heart rate data, and survivor location data are acquired using a life detection radar provided on the rescue robot, the human body temperature data are acquired using an infrared thermal imager provided on the rescue robot, and the blood oxygen saturation data are acquired using a PPG device provided on the rescue robot.

[0010] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data includes: Determine whether the respiratory rate data is greater than or equal to a first preset threshold and determine whether the heart rate data is greater than or equal to a second preset threshold. If the respiratory rate data is greater than or equal to the first preset threshold or the heart rate data is greater than or equal to the second preset threshold, determine that there are survivors, use a positioning device provided on the robot to obtain the positioning data of the robot, generate a rescue route according to the positioning data of the robot and the position data of the survivors, and control the robot to move toward the survivors along the rescue route; determine whether the respiratory rate data is less than a third preset threshold or the heart rate data is less than a fourth preset threshold. If the respiratory rate data is less than the third preset threshold or the heart rate data is less than the fourth preset threshold, output an alarm signal regarding serious abnormalities in the survivor's vital signs.

[0011] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: The distance between the rescue robot and the survivor is calculated based on the robot's positioning data and the survivor's position data. When the robot moves along the rescue route towards the survivor, it is determined whether the distance between the rescue robot and the survivor is less than or equal to the fifth preset threshold. If so, it is determined whether the body temperature data is greater than or equal to the sixth preset threshold and whether the blood oxygen saturation data is less than the seventh preset threshold. If the body temperature data is greater than or equal to the sixth preset threshold, an alarm signal about the abnormal body temperature of the survivor is output. If the blood oxygen data is less than the seventh preset threshold, an alarm signal about the abnormal blood oxygen of the survivor is output.

[0012] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: Determine whether the ground sound data is greater than or equal to the eighth preset threshold. If so, output a warning signal regarding the abnormal ground sound data and determine whether the bass data is greater than or equal to the ninth preset threshold. If the bass data is greater than or equal to the ninth preset threshold, output an alarm signal regarding the serious abnormality of the ground sound data.

[0013] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: Determine whether the microseismic energy data is greater than or equal to the tenth preset threshold value, if not, output a signal indicating that there is no impact hazard; if the microseismic energy data is greater than or equal to the tenth preset threshold value, determine whether the microseismic energy data is greater than or equal to the eleventh preset threshold value, if not, output an alarm signal indicating that there is a slight impact hazard underground; if the microseismic energy data is greater than or equal to the eleventh preset threshold value, determine whether the microseismic energy data is greater than or equal to the twelfth preset threshold value, if not, output an alarm signal indicating that there is a moderate impact hazard underground; if the microseismic energy data is greater than or equal to the twelfth preset threshold value, output an alarm signal indicating that there is a high impact hazard underground.

[0014] According to a second aspect of the present invention, there is provided a downhole environment and human life monitoring system, comprising: A collection module, used for acquiring underground environment signals and human life signals of the test site collected by a collection module arranged on the rescue robot according to a first monitoring period; A control module is used to analyze the signal to obtain underground environmental data and human life data, output an alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environmental data and human life data, and control the UWB transceiver module to send the alarm signal to the information terminal of the rescue personnel on the well; The UWB transceiver module is used to send alarm signals to the information terminal of the rescue personnel on the well.

[0015] According to a third aspect of the present invention, there is provided an electronic device, comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the underground environment and human life monitoring method according to any one of claims 1 to 8 is implemented.

[0016] The beneficial effects of the present invention are: The present invention comprehensively analyzes microseismic energy data and ground sound data to monitor the changes of underground environment in real time, controls the rescue robot to automatically judge whether there is any danger, and can judge the danger level of rock burst. For human life characteristic parameters, the existence of survivors and the position of survivors and the abnormal degree of vital signs of survivors and various vital sign parameters can be monitored. The technical scheme of the present invention can monitor the blood oxygen saturation and body temperature of survivors, and the automatic monitoring data is more comprehensive, and the automatic monitoring function is more perfect and intelligent, which can enable the rescue personnel on the well to carry out reasonable, effective, safe and timely rescue according to the abnormal degree of vital signs of survivors, the position of survivors and the danger level of rock burst in the well. The present invention simplifies the complex underground environment and human life monitoring problems through ingenious design, does not require complex algorithm modeling, greatly reduces the application and maintenance cost of the present invention, and greatly expands the application scenario of the present invention. The present invention adopts UWB ultra-wideband transceiver module to realize data communication. The data information in the UWB transceiver module is designed by a special circuit structure to distinguish the information in each probe, and transmits it separately in different channels, overcoming the problem of underground electromagnetic environment interfering with data transmission, and the output transmission has strong anti-interference ability and accurate data transmission and reception. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a method for monitoring underground environment and human life provided in a specific embodiment of the present invention; Figure 2 is a structural diagram of a downhole environment and human life monitoring system provided in a specific embodiment of the present invention; Figure 3 It is a signal connection diagram of a UWB transceiver module provided in a specific embodiment of the present invention; Figure 4 It is a connection diagram of an underground information collection and processing unit, a UWB transceiver module and an information terminal for rescue personnel on the surface of the well provided by a specific embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0019] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0020] See also Figure 1-Figure 4This embodiment provides a method for monitoring underground environment and human life, and the method comprises: S100. Acquire underground environment signals and human life signals of the test site collected by a collection module arranged on the rescue robot according to a first monitoring cycle.

[0021] It should be noted here that before step S100, it includes: presetting a first monitoring cycle, a first preset threshold, a second preset threshold, a third preset threshold, a fourth preset threshold, a fifth preset threshold, a sixth preset threshold, a seventh preset threshold, an eighth preset threshold, a ninth preset threshold, a tenth preset threshold, an eleventh preset threshold, and a twelfth preset threshold, the first preset threshold is less than the third preset threshold, the second preset threshold is less than the fourth preset threshold, the eighth preset threshold is less than the ninth preset threshold, the tenth preset threshold is less than the eleventh preset threshold, and the eleventh preset threshold is less than the twelfth preset threshold.

[0022] S200, analyzing the signal to obtain underground environment data and human life data.

[0023] Specifically, the downhole environment data includes at least one of the following: Microseismic energy data, earthquake source location data, ground sound data, oxygen concentration data, carbon dioxide concentration data, methane concentration data and ambient temperature data.

[0024] Specifically, the human life data includes at least one of the following: Respiratory rate data, heart rate data, survivor location data, human body temperature data, and blood oxygen saturation data.

[0025] Specifically, the microseismic energy data and earthquake source location data are acquired using a microseismic probe and a vibration pickup device provided on the rescue robot, the ground sound data are acquired using a ground sound sensor provided on the rescue robot, the oxygen concentration data are acquired using an oxygen sensor provided on the rescue robot, the carbon dioxide concentration is acquired using a carbon dioxide sensor provided on the rescue robot, the methane concentration data are acquired using a methane sensor provided on the rescue robot, the ambient temperature data are acquired using the ambient temperature data provided on the rescue robot, the breathing rate data, heart rate data, and survivor location data are acquired using a life detection radar provided on the rescue robot, the human body temperature data are acquired using an infrared thermal imager provided on the rescue robot, and the blood oxygen saturation data are acquired using a PPG device provided on the rescue robot.

[0026] It should be noted here that the life detection radar device includes an echo signal receiving unit, a range pulse pressure processing unit, an imaging unit and a detection result output unit which are connected in sequence. The range pulse pressure processing unit performs range pulse pressure processing on the echo signal received by the echo signal receiving unit, and outputs it to the imaging unit for imaging. The detection result output unit outputs the final detection result.

[0027] It should be noted here that the principle of obtaining blood oxygen saturation using the PPG device set on the rescue robot is: due to the presence of a certain ratio of oxygenated hemoglobin HbO2 and hemoglobin Hb in the blood, the absorption coefficient of Hb is higher between 600~800nm, and the absorption coefficient of HbO2 is higher between 800~1000. Therefore, the PPG signals of HbO2 and Hb can be detected respectively by red light (600~800nm) and light close to IR (800~1000nm), and then the corresponding ratio is calculated through program processing to obtain blood oxygen saturation data. Since the DC signal part is a direct current signal converted by light passing through skin tissue, and the AC signal is an alternating current signal converted by blood flow. Since the skin tissue has different absorption degrees for red light and IR, the DC part is different. The present invention processes the red light signal and the IR signal to make the DC signal parts of the red light signal and the IR signal consistent, thereby improving the reliability of the calculated Hb and HbO2 ratio and the reliability of the blood oxygen saturation data.

[0028] S300, outputting alarm signals regarding the underground rock burst danger level and / or the degree of abnormality of the survivor's vital signs and / or the survivor's location based on the underground environmental data and the human life data.

[0029] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data includes: Determine whether the respiratory rate data is greater than or equal to a first preset threshold and determine whether the heart rate data is greater than or equal to a second preset threshold. If the respiratory rate data is greater than or equal to the first preset threshold or the heart rate data is greater than or equal to the second preset threshold, determine that there are survivors, use a positioning device provided on the robot to obtain the positioning data of the robot, generate a rescue route according to the positioning data of the robot and the position data of the survivors, and control the robot to move toward the survivors along the rescue route; determine whether the respiratory rate data is less than a third preset threshold or the heart rate data is less than a fourth preset threshold. If the respiratory rate data is less than the third preset threshold or the heart rate data is less than the fourth preset threshold, output an alarm signal regarding serious abnormalities in the survivor's vital signs.

[0030] It should be noted here that if the survivor has vital signs, the respiratory rate data should be greater than or equal to the first preset threshold or the heart rate data should be greater than or equal to the second preset threshold. Due to the influence of environmental factors, the respiratory rate data and the heart rate data may not be detected at the same time. Therefore, in the technical solution of the present invention, when it is detected that the respiratory rate data should be greater than or equal to the first preset threshold or the heart rate data is greater than or equal to the second preset threshold, it is judged that there is a survivor, which improves the reliability and intelligence of the present invention. At this time, the positioning data of the robot is obtained by using the positioning device set on the robot, and a rescue route is generated according to the positioning data of the robot and the position data of the survivor, and the robot is controlled to move toward the survivor along the rescue route. At the same time, the abnormality of the survivor's vital signs is judged. If the survivor's vital signs are normal, the survivor's respiratory rate data and heart rate data are within the normal range, that is, the respiratory rate data should be greater than or equal to the third preset threshold and the heart rate data should be greater than or equal to the fourth preset threshold. At this time, it is judged whether the respiratory rate data is less than the third preset threshold or the heart rate data is less than the fourth preset threshold. If the respiratory rate data is less than the third preset threshold or the heart rate data is less than the fourth preset threshold, it proves that the survivor's vital signs are seriously abnormal at this time, and an alarm signal about the serious abnormality of the survivor's vital signs is output. The safety, reliability and intelligence of the present invention are further improved, and the application scenarios of the present invention are expanded to a great extent.

[0031] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: The distance between the rescue robot and the survivor is calculated based on the robot's positioning data and the survivor's position data. When the robot moves along the rescue route towards the survivor, it is determined whether the distance between the rescue robot and the survivor is less than or equal to the fifth preset threshold. If so, it is determined whether the body temperature data is greater than or equal to the sixth preset threshold and whether the blood oxygen saturation data is less than the seventh preset threshold. If the body temperature data is greater than or equal to the sixth preset threshold, an alarm signal about the survivor's abnormal body temperature is output. If the blood oxygen saturation data is less than the seventh preset threshold, an alarm signal about the survivor's abnormal blood oxygen is output.

[0032] It should be noted here that when the distance between the rescue robot and the survivor is less than or equal to the fifth preset threshold, at this time, the detection distance requirements of the PPG device and the infrared thermal imager device for the survivor have been met, and the PPG device and the infrared thermal imager device can be used to further test the survivor's vital signs data, including monitoring the survivor's body temperature and blood oxygen saturation, which improves the comprehensiveness of the monitoring parameters. When the survivor's body temperature data and blood oxygen saturation data are normal, the survivor's body temperature data and blood oxygen saturation data should be within the normal range, that is, the body temperature data should be less than the sixth preset threshold, and the blood oxygen saturation data should be greater than or equal to the seventh preset threshold. When the body temperature data is greater than or equal to the sixth preset threshold, it proves that the survivor's body temperature is abnormal, and an alarm signal about the survivor's abnormal body temperature is output. When the survivor's blood oxygen saturation data is less than the seventh preset threshold, it proves that the survivor's blood oxygen saturation is abnormal at this time, and an alarm signal about the survivor's abnormal blood oxygen is output. The intelligence and reliability of the present invention are further improved, and the application scenarios of the present invention are further expanded.

[0033] Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: Determine whether the ground sound data is greater than or equal to the eighth preset threshold. If so, output a warning signal regarding the abnormal ground sound data and determine whether the bass data is greater than or equal to the ninth preset threshold. If the bass data is greater than or equal to the ninth preset threshold, output an alarm signal regarding the serious abnormality of the ground sound data.

[0034] It should be noted here that when the ground sound data is normal, the ground sound data should be within a reasonable range, that is, the ground sound data should be less than the eighth preset threshold. If the ground sound data is greater than the eighth preset threshold and less than the ninth preset threshold, it proves that the ground sound data is abnormal at this time, and an early warning signal about the abnormal ground sound data is output. When the ground sound data is greater than the ninth threshold, it proves that the ground sound data is seriously abnormal at this time, and an alarm signal about the serious abnormality of the ground sound data is output. This further improves the intelligence and reliability of the present invention, and further expands the application scenarios of the present invention. The complex underground environment and human life monitoring problems are simplified through clever design, without the need for complex algorithm modeling, which greatly reduces the application and maintenance costs of the present invention and greatly expands the application scenarios of the present invention. Specifically, the output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: Determine whether the microseismic energy data is greater than or equal to the tenth preset threshold value, if not, output a signal indicating that there is no impact hazard; if the microseismic energy data is greater than or equal to the tenth preset threshold value, determine whether the microseismic energy data is greater than or equal to the eleventh preset threshold value, if not, output an alarm signal indicating that there is a slight impact hazard underground; if the microseismic energy data is greater than or equal to the eleventh preset threshold value, determine whether the microseismic energy data is greater than or equal to the twelfth preset threshold value, if not, output an alarm signal indicating that there is a moderate impact hazard underground; if the microseismic energy data is greater than or equal to the twelfth preset threshold value, output an alarm signal indicating that there is a high impact hazard underground.

[0035] It should be noted here that when the microseismic energy data is normal, the microseismic energy data should be within a reasonable range, that is, the microseismic energy data should be less than the tenth preset threshold value. When the microseismic energy data is greater than or equal to the tenth preset threshold value and the microseismic energy data is less than the eleventh preset threshold value, it proves that there is a slight impact hazard underground at this time, and an alarm signal about the slight impact hazard underground is output; when the microseismic energy data is greater than or equal to the eleventh preset threshold value and the microseismic energy data is less than the twelfth preset threshold value, it proves that there is a moderate impact hazard underground at this time, and an alarm signal about the moderate impact hazard underground is output; when the microseismic energy data is greater than or equal to the twelfth preset threshold value, it proves that there is a high impact hazard underground at this time, and an alarm signal about the high impact hazard underground is output; comprehensive underground environment monitoring combining geoacoustic data monitoring and microseismic energy monitoring is realized, which further improves the intelligence and reliability of the present invention and further expands the application scenarios of the present invention. The complex underground environment and human life monitoring problems are simplified through clever design, without the need for complex algorithm modeling, which greatly reduces the application and maintenance costs of the present invention and greatly expands the application scenarios of the present invention. It should be noted here that the present invention also monitors the underground oxygen concentration data, carbon dioxide concentration data, methane concentration data and ambient temperature data. When the oxygen concentration data, carbon dioxide concentration data, methane concentration data and ambient temperature data are abnormal, an alarm signal regarding the abnormal gas concentration or the abnormal ambient temperature data is output, which further improves the intelligence and reliability of the present invention, further improves the safety of the search and rescue process, and greatly expands the application scenarios of the present invention.

[0036] It is understandable that the present invention can monitor the changes of the underground environment in real time for the comprehensive monitoring of microseismic energy data and ground sound data, control the rescue robot to automatically determine whether there is a dangerous situation, and can determine the impact ground pressure danger level. For human life characteristic parameters, the existence of survivors can be monitored, and the location of the survivors and the degree of abnormality of the survivors' vital signs and various vital sign parameters can be monitored. The technical solution of the present invention can monitor the blood oxygen saturation and body temperature of the survivors. The automatic monitoring data is more comprehensive, and the automatic monitoring function is more complete and more intelligent, which can enable the well rescue personnel to carry out reasonable, effective, safe and timely rescue according to the degree of abnormality of the survivors' vital signs, the location of the survivors and the impact ground pressure danger level in the well. The present invention adopts UWB ultra-wideband transceiver module to realize data communication. The data information in the UWB transceiver module is designed by a special circuit structure to distinguish the information in each probe, and transmit it separately in different channels, which overcomes the problem of underground electromagnetic environment interfering with data transmission, and the output transmission has strong anti-interference ability and accurate data transmission and reception.

[0037] It can be understood that the present invention simplifies the complex underground environment and human life monitoring problems through clever design, without the need for complex algorithm modeling, which greatly reduces the application and maintenance costs of the present invention and greatly expands the application scenarios of the present invention.

[0038] S400. Send an alarm signal to an information terminal of a rescuer on the well through a UWB receiving module.

[0039] Please continue reading Figure 1-Figure 4 The present invention provides another specific embodiment, which provides a downhole environment and human life monitoring system, the system comprising: The acquisition module 100 is used to acquire the underground environment signals and human life signals of the test site collected by the acquisition module arranged on the rescue robot according to the first monitoring period; The control module 200 is used to analyze the signal to obtain underground environmental data and human life data, output an alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environmental data and human life data, and control the UWB transceiver module to send the alarm signal to the information terminal of the rescue personnel on the well; The UWB transceiver module 300 is used to send the alarm signal to the information terminal of the rescue personnel on the well.

[0040] It should be noted that the UWB transceiver module 300 includes a UWB receiver and a UWB transmitter. After the downhole data signal is monitored by the environmental monitoring probe and the life monitoring probe, the downhole information is transmitted through the UWB technology, and the collected data information is transmitted to the information collection platform. The environmental monitoring probe and the life monitoring probe are both set to multiple. The environmental monitoring probe includes various sensors and instruments used in the technical solution of the present invention for collecting downhole environmental data. The life monitoring probe includes various sensors and instruments used in the technical solution of the present invention for collecting human life data. The acquisition module 100 of the present invention includes an environmental monitoring probe and a life detection probe. The downhole environment and human life monitoring system of the present invention also includes a downhole information acquisition processing unit 400. The downhole information acquisition processing unit 400 includes an environmental monitoring probe, a life detection probe and a control module. Preferably, the information acquisition platform is an information terminal for rescue personnel to realize the monitoring of the downhole environment and life. The present invention adopts UWB technology to realize downhole information collection, and distinguishes the life signals and environmental signals collected by each probe through a special circuit structure design, and transmits them separately in different channels. The present invention also performs noise reduction processing on environmental parameters and human life characteristic parameters and adds a state self-checking module in each channel for self-checking, which is conducive to timely discovering system errors and processing them.

[0041] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for monitoring the underground environment and human life is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0042] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0043] It will be appreciated by a person skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0044] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0045] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for monitoring underground environment and human life, characterized in that: According to the first monitoring cycle, the underground environmental signals and human life signals of the test site are acquired by the acquisition module arranged on the rescue robot, the signals are analyzed to obtain the underground environmental data and human life data, and according to the underground environmental data and human life data, an alarm signal about the underground impact ground pressure hazard level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location is output, and the alarm signal is sent to the information terminal of the rescue personnel on the well through the UWB receiving module.

2. The underground environment and human life monitoring method according to claim 1, characterized in that: The downhole environment data includes at least one of the following: Microseismic energy data, earthquake source location data, ground sound data, oxygen concentration data, carbon dioxide concentration data, methane concentration data and ambient temperature data.

3. The underground environment and human life monitoring method according to claim 2, characterized in that: The human life data includes at least one of the following: Respiratory rate data, heart rate data, survivor location data, human body temperature data, and blood oxygen saturation data.

4. The underground environment and human life monitoring method according to claim 3, characterized in that: The microseismic energy data and source location data are obtained using a microseismic probe and a vibration pickup device installed on the rescue robot, the ground sound data are obtained using a ground sound sensor installed on the rescue robot, the oxygen concentration data are obtained using an oxygen sensor installed on the rescue robot, the carbon dioxide concentration is obtained using a carbon dioxide sensor installed on the rescue robot, the methane concentration data are obtained using a methane sensor installed on the rescue robot, the ambient temperature data are obtained using the ambient temperature data installed on the rescue robot, the breathing rate data, heart rate data, and survivor location data are obtained using a life detection radar installed on the rescue robot, the human body temperature data are obtained using an infrared thermal imager installed on the rescue robot, and the blood oxygen saturation data are obtained using a PPG device installed on the rescue robot.

5. The underground environment and human life monitoring method according to claim 3, characterized in that: The output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data includes: Determine whether the respiratory rate data is greater than or equal to a first preset threshold and determine whether the heart rate data is greater than or equal to a second preset threshold. If the respiratory rate data is greater than or equal to the first preset threshold or the heart rate data is greater than or equal to the second preset threshold, determine that there are survivors, use a positioning device provided on the robot to obtain the positioning data of the robot, generate a rescue route according to the positioning data of the robot and the position data of the survivors, and control the robot to move toward the survivors along the rescue route; determine whether the respiratory rate data is less than a third preset threshold or the heart rate data is less than a fourth preset threshold. If the respiratory rate data is less than the third preset threshold or the heart rate data is less than the fourth preset threshold, output an alarm signal regarding serious abnormalities in the survivor's vital signs.

6. The underground environment and human life monitoring method according to claim 5, characterized in that: The output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: The distance between the rescue robot and the survivor is calculated based on the robot's positioning data and the survivor's position data. When the robot moves along the rescue route towards the survivor, it is determined whether the distance between the rescue robot and the survivor is less than or equal to the fifth preset threshold. If so, it is determined whether the body temperature data is greater than or equal to the sixth preset threshold and whether the blood oxygen saturation data is less than the seventh preset threshold. If the body temperature data is greater than or equal to the sixth preset threshold, an alarm signal about the abnormal body temperature of the survivor is output. If the blood oxygen data is less than the seventh preset threshold, an alarm signal about the abnormal blood oxygen of the survivor is output.

7. The underground environment and human life monitoring method according to claim 3, characterized in that: The output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: Determine whether the ground sound data is greater than or equal to the eighth preset threshold. If so, output a warning signal regarding the abnormal ground sound data and determine whether the bass data is greater than or equal to the ninth preset threshold. If the bass data is greater than or equal to the ninth preset threshold, output an alarm signal regarding the serious abnormality of the ground sound data.

8. The underground environment and human life monitoring method according to claim 7, characterized in that: The output of the alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environment data and the human life data also includes: Determine whether the microseismic energy data is greater than or equal to the tenth preset threshold value, if not, output a signal indicating that there is no impact hazard; if the microseismic energy data is greater than or equal to the tenth preset threshold value, determine whether the microseismic energy data is greater than or equal to the eleventh preset threshold value, if not, output an alarm signal indicating that there is a slight impact hazard underground; if the microseismic energy data is greater than or equal to the eleventh preset threshold value, determine whether the microseismic energy data is greater than or equal to the twelfth preset threshold value, if not, output an alarm signal indicating that there is a moderate impact hazard underground; if the microseismic energy data is greater than or equal to the twelfth preset threshold value, output an alarm signal indicating that there is a high impact hazard underground.

9. An underground environment and human life monitoring system, characterized in that: include: A collection module, used for acquiring underground environment signals and human life signals of the test site collected by a collection module arranged on the rescue robot according to a first monitoring period; A control module is used to analyze the signal to obtain underground environmental data and human life data, output an alarm signal about the underground rock burst danger level and / or the abnormal degree of the survivor's vital signs and / or the survivor's location according to the underground environmental data and human life data, and control the UWB transceiver module to send the alarm signal to the information terminal of the rescue personnel on the well; The UWB transceiver module is used to send alarm signals to the information terminal of the rescue personnel on the well.

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the underground environment and human life monitoring method according to any one of claims 1 to 8 is implemented.

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