Underground vehicle management and control system and method and storage medium

Abstract

The invention provides an underground vehicle management and control system and method and a storage medium, and the system comprises a sensor array which is used for obtaining the environment monitoring data of each underground region and the position data of an underground vehicle; the management and control module is used for generating vehicle operation indication information based on the position data and the environment monitoring data, and / or generating alarm information based on the environment monitoring data; the display module is used for displaying at least one of the environment monitoring data, the vehicle operation indication information and the alarm information; and the alarm module is used for sending an alarm signal based on the alarm information. According to the technical scheme, the safety of underground production and vehicle operation can be improved.

Description

Technical Field

[0001] The present application relates to the field of mine safety technology, and in particular to an underground vehicle control system, method and storage medium. Background Art

[0002] When multiple vehicles powered by explosion-proof diesel engines enter a certain area underground, the exhaust gas emitted by the vehicles will gather in the area due to the relatively small and closed space underground and poor gas circulation conditions, causing the concentration of gas pollutants in the area to increase, directly endangering the health and personal safety of the workers and posing a hidden danger to the normal operation of the vehicles and production safety in the underground area. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] In a first aspect, the present application proposes an underground vehicle control system, the system comprising: a sensor array for acquiring environmental monitoring data of various areas underground and position data of underground vehicles; a control module for generating vehicle operation indication information based on the position data and the environmental monitoring data, and / or generating alarm information based on the environmental monitoring data; a display module for displaying at least one of the environmental monitoring data, the vehicle operation indication information and the alarm information; and an alarm module for issuing an alarm signal based on the alarm information.

[0005] In one implementation, the sensor array includes at least one of the following sensors: a position sensor; a methane sensor; a carbon monoxide sensor; a dust sensor; a carbon dioxide sensor; an oxygen sensor; a nitric oxide sensor; a nitrogen dioxide sensor; an exhaust gas sensor; a volatile organic compound sensor; and a fine particulate matter sensor.

[0006] In one implementation, the system further includes a network switch for data communication between the sensor array, the management and control module, the display module, and the alarm module.

[0007] In an optional implementation, the sensor array, the management and control module, the display module and the alarm module communicate with each other using a controller area network bus (CAN) communication method.

[0008] In one implementation, the management and control module is also used to control the ventilation system of the mine based on the environmental monitoring data.

[0009] In one implementation, the management and control module is further used to: obtain the configured information to be displayed; and the display module is further used to: display the information to be displayed.

[0010] In one implementation, the management and control module is specifically used to: determine the associated area of ​​the vehicle's travel path based on the location data; obtain the target environmental monitoring data corresponding to the associated area in the environmental monitoring data; determine the traffic condition of the associated area based on the target environmental monitoring data; and generate the vehicle operation indication information based on the traffic condition.

[0011] In the second aspect, the present application proposes a method for underground vehicle control, which includes: obtaining environmental monitoring data of various areas underground and location data of underground vehicles; generating vehicle operation indication information based on the location data and the environmental monitoring data, and / or generating alarm information based on the environmental monitoring data; displaying at least one of the environmental monitoring data, the vehicle operation indication information and the alarm information; and issuing an alarm signal based on the alarm information.

[0012] In one implementation, the environmental monitoring data includes at least one of the following: methane concentration; carbon monoxide concentration; dust concentration; carbon dioxide concentration; oxygen concentration; nitric oxide concentration; nitrogen dioxide concentration; exhaust gas concentration; volatile organic compound concentration; and fine particulate matter concentration.

[0013] In one implementation, the method further includes: controlling a ventilation system of the mine based on the environmental monitoring data.

[0014] In one implementation, the method further includes: acquiring configured information to be displayed; and displaying the information to be displayed.

[0015] In one implementation, the generating of the vehicle operation indication information based on the position data and the environmental monitoring data includes: determining an associated area of ​​a vehicle's travel path based on the position data; obtaining target environmental monitoring data corresponding to the associated area in the environmental monitoring data; determining a traffic condition of the associated area based on the target environmental monitoring data; and generating the vehicle operation indication information based on the traffic condition.

[0016] In a third aspect, the present application proposes a computer-readable storage medium for storing instructions, which, when executed, enables the method described in the second aspect to be implemented.

[0017] In a fourth aspect, the present application proposes a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the underground vehicle control method as described in the second aspect.

[0018] The underground vehicle control system, method and storage medium provided by the present application can obtain the environmental monitoring data of each area in the underground and the location data of the underground vehicle, so as to generate vehicle operation indication information based on the location data and the environmental monitoring data, and / or generate alarm information based on the environmental monitoring data, and display at least one of the environmental monitoring data, the vehicle operation indication information and the alarm information to control the operation of the underground vehicle. The safety of underground production and vehicle operation can be improved.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 It is a structural schematic diagram of an underground vehicle control system provided by an embodiment of the present application;

[0022] Figure 2 is a structural schematic diagram of a display module provided in an embodiment of the present application;

[0023] Figure 3 is an example diagram of a display module provided in an embodiment of the present application;

[0024] Figure 4 This is an example diagram of an underground vehicle control system provided by an embodiment of the present application;

[0025] Figure 5 This is a regional control flow chart of an underground explosion-proof diesel engine trackless rubber-tyred vehicle provided in an embodiment of the present application;

[0026] Figure 6 This is an example flow chart of an underground vehicle control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0028] The underground vehicle control system of an embodiment of the present application is described below with reference to the accompanying drawings.

[0029] Figure 1 Schematic diagram of the structure of an underground vehicle control system provided by the embodiment of the present application. Figure 1 As shown, the system includes: a sensor array 101, a management and control module 102, a display module 103 and an alarm module 104.

[0030] The sensor array 101 is used to obtain environmental monitoring data of various areas underground and position data of underground vehicles.

[0031] Among them, the above-mentioned areas may include but are not limited to underground comprehensive mining faces, auxiliary transportation tunnels, large substations, vehicle preparation areas and other areas.

[0032] Among them, the above-mentioned vehicle can be an explosion-proof diesel engine trackless rubber-tyred vehicle.

[0033] The sensor array 101 includes at least one of the following sensors: a vehicle position sensor; a methane sensor; a carbon monoxide sensor; a dust sensor; a carbon dioxide sensor; an oxygen sensor; a nitric oxide sensor; a nitrogen dioxide sensor; an exhaust gas sensor; a volatile organic compound sensor; and a fine particle sensor.

[0034] Exemplarily, the vehicle position sensor may be a RFID (Radio Frequency Identification) sensor.

[0035] Exemplarily, the vehicle position sensor may be disposed on an underground vehicle, so that the position information of the vehicle may be acquired based on the vehicle position sensor.

[0036] Exemplarily, the above-mentioned fine particulate matter sensor may include a PM2.5 sensor and a PM10 sensor.

[0037] The control module 102 is used to generate vehicle operation indication information based on the location data and the environmental monitoring data, and / or generate alarm information based on the environmental monitoring data.

[0038] Exemplarily, the control module 102 can obtain the vehicle's running direction information based on the vehicle's position information over a period of time, and determine the first underground area that the vehicle will pass through based on the vehicle's running direction information, thereby determining whether the first underground area meets the vehicle's passage conditions based on the environmental monitoring data corresponding to the first underground area, and when it is determined that the first underground area meets the vehicle's passage conditions, generate vehicle operation indication information indicating that the vehicle is allowed to pass, and send the vehicle operation indication information allowing the vehicle to pass to the display module 103 set in the first underground area, or when it is determined that the first underground area does not meet the vehicle's passage conditions, generate vehicle operation indication information indicating that the vehicle is not allowed to pass, and send the vehicle operation indication information not allowing the vehicle to pass to the display module 103 set in the first underground area.

[0039] Exemplarily, the management and control module 102 can determine the target environment monitoring data of the relevant area between the current position and the target position based on the current position information of the vehicle and the target position to be reached, thereby screening out the target area whose environmental monitoring data does not exceed the corresponding threshold from the relevant area based on the target environment monitoring data, and generating vehicle operation instruction information to guide the vehicle to the target position through the target area.

[0040] Exemplarily, the management and control module 102 can compare each environmental monitoring data of each area underground with the corresponding data threshold. After determining that there is target environmental monitoring data that exceeds the corresponding data threshold, it generates different alarm information according to the data type of the target environmental monitoring data and sends the alarm information to the alarm module 104.

[0041] Exemplarily, the control module 102 may generate corresponding alarm information according to the data type of the environmental monitoring data exceeding the corresponding data threshold. For example, the alarm information generated by the control module 102 may report the data type of the environmental monitoring data exceeding the corresponding data threshold.

[0042] As an example, taking the case where the methane concentration in the second area underground is higher than the preset methane concentration threshold as an example, after determining that the methane concentration in the second area is higher than the preset methane concentration threshold according to the methane concentration monitoring data in the second area, the management and control module 102 may generate an alarm message indicating that the methane concentration in the second area is too high, and send the alarm message to the display module 103 disposed in the second area, so that the display module 103 disposed in the second area displays the alarm message.

[0043] The display module 103 is used to display at least one of environmental monitoring data, vehicle operation indication information and alarm information.

[0044] Exemplarily, there are multiple display modules 103, each display module 103 is arranged in a different area underground, and each display module 103 can display the environmental monitoring data of the area where it is located.

[0045] Exemplarily, there are multiple display modules 103, each of which is arranged in a different area underground, and each display module 103 can display vehicle operation indication information of the area in which it is located. For example, the display module 103 can display vehicle operation indication information indicating whether the area in which it is located allows vehicles to enter.

[0046] Exemplarily, a display module 103 may be provided in each underground vehicle, and the display module 103 in each vehicle may display environmental monitoring data of the area near the vehicle and / or vehicle operation indication information corresponding to the vehicle, and the display module 103 in each vehicle may also display environmental monitoring data and / or vehicle operation indication information of the area that the vehicle plans to pass through.

[0047] In some embodiments, the display module 103 is an intrinsically safe device.

[0048] In some embodiments, the management and control module 102 and the display module 103 may be integrated into one device.

[0049] As an example, see Figure 2 , Figure 2 Schematic diagram of a display module provided in an embodiment of the present application. Figure 2 As shown, the display module may include an LED (light-emitting diode) control card, an LED module, a voice alarm board, and a switch. The LED control card has an RS485 interface and an Ethernet port, and supports the Modbus protocol. The Ethernet port of the LED control card can be connected to the network port of the Ethernet port, and the data is converted to the optical port to communicate with the host computer. The RS485 interface of the LED control card can be connected to the RS485 device for communication. The address of the LED communication board can be configured. The peripheral interfaces of the display module 103 include a power interface, a CAN interface, an RS485 interface, and a speaker interface. The LED communication board collects data from multiple sensors through the CAN interface and converts it into RS485 communication, which is connected to the RS485 interface of the LED control card to realize real-time display of data from various types of sensors.

[0050] As an example, see Figure 3 , Figure 3 is an example diagram of a display module provided in an embodiment of the present application. Figure 3 As shown, 301 is an introduction device that can be used to connect with CAN communication lines, RS485 communication lines, network cables, optical fibers, power lines, etc. 302 is a hanging ring that can hang the mining intrinsically safe LED display screen in the underground tunnel. 303 is an LED display area that can display fixed information or real-time data (for example, alarm information). Multiple display plans can be pre-stored in the display screen, and the control module 102 controls the plan switching display.

[0051] The alarm module 104 is used to send an alarm signal based on the alarm information.

[0052] Exemplarily, the alarm module 104 may be an audible and visual alarm.

[0053] In some embodiments, corresponding alarm signals (eg, different alarm sounds) may be configured for different types of environmental monitoring data.

[0054] In some embodiments, the system further includes a network switch for data communication among the sensor array 101 , the management and control module 102 , the display module 103 and the alarm module 104 .

[0055] Exemplarily, the above-mentioned network switch includes at least one downhole network switch, at least one underground network switch and at least one surface network switch.

[0056] In some optional embodiments, the sensor array 101, the control module 102, the display module and the alarm module 104 communicate with each other using a CAN (Controller Area Network) communication method.

[0057] Exemplarily, the sensor array 101 , the control module 102 , the display module and the alarm module 104 are connected to each other via a switch using a CAN communication method for data transmission.

[0058] In some embodiments, the management and control module 102 is also used to control the ventilation system of the mine based on the environmental monitoring data.

[0059] Exemplarily, the management and control module 102 determines, based on the environmental monitoring data of different areas, that at least one environmental monitoring data in the second area underground exceeds the corresponding data threshold, and then controls the ventilation device in the second area to increase the ventilation or extraction intensity to reduce the pollutant concentration in the second area and ensure production safety in the second area.

[0060] In some embodiments, the management and control module 102 is further used to obtain the configured information to be displayed; and the display module 103 is further used to display the information to be displayed.

[0061] Exemplarily, the operator of the system may configure the information to be displayed through the management and control module 102 so that the display module 103 displays the information to be displayed.

[0062] For example, the operator of the system may configure a plurality of information to be displayed through the management and control module 102 so that the display module 103 cyclically displays the plurality of information to be displayed.

[0063] In some embodiments, the management and control module 102 can be used to: determine the associated area of ​​the vehicle's travel path based on the location data; obtain the target environment monitoring data corresponding to the associated area in the environmental monitoring data; determine the traffic condition of the associated area based on the target environment monitoring data; and generate vehicle operation indication information based on the traffic condition.

[0064] Exemplarily, the management and control module 102 determines the target environment monitoring data of the relevant area between the current position and the target position based on the current position data of any vehicle and the target position to be reached, thereby screening out the target area whose environmental monitoring data does not exceed the corresponding threshold from the relevant area according to the target environment monitoring data, and generates vehicle operation instruction information to guide the vehicle to the target position through the target area.

[0065] See also Figure 4 , Figure 4 is an example diagram of an underground vehicle control system provided by an embodiment of the present application. Figure 4 As shown in the figure, the system consists of underground equipment and surface equipment. The underground equipment includes a mine intrinsically safe LED display screen (which can also be used as a signal sign), various types of sensors (for example, CH4 sensor, CO sensor, dust sensor, CO2 sensor, O2 sensor, NO sensor, NO2 sensor), sound and light alarm, mine explosion-proof and intrinsically safe DC regulated power supply, and multiple underground network switches. The surface equipment includes a single underground network switch, a ground network switch, a server (with a vehicle area control platform installed), a printer, a UPS (Uninterruptible Power Supply), and a power supply lightning arrester.

[0066] In actual applications, CH4 sensors, CO sensors, dust sensors, CO2 sensors, O2 sensors, NO sensors, NO2 sensors and other types of sensors are installed in large underground fully-mechanized mining faces, auxiliary transportation tunnels, large substations, vehicle preparation areas and other areas to monitor vehicle exhaust parameters in the underground area. Various types of sensors and sound and light alarms are connected to the mine intrinsically safe LED display screen using CAN communication. Various types of sensor data are updated and displayed in real time on the mine intrinsically safe LED display screen. When the monitoring value of a sensor is higher than the alarm value of the sensor, the corresponding sensor monitoring data turns red, and the sound and light alarm is linked to issue a voice alarm reminder. The mine intrinsically safe LED display screen can upload monitoring data to the vehicle area management and control platform through the underground ring network.

[0067] See also Figure 5 , Figure 5 It is a regional control flow chart of an underground explosion-proof diesel engine trackless rubber-tyred vehicle provided by an embodiment of the present application. In multiple preset areas underground, various types of sensors are arranged to monitor pollutants such as NO, NO2, CO, CO2, O2, VOCs, PM2.5, PM10, etc. The monitoring data is uploaded to an LED display screen, and the LED display screen scrolls to display real-time data of various types of sensors. Before entering the air door, the driver watches the monitoring status of the exhaust gas in the area corresponding to the air door, and can enter only when the entry conditions are met. If the conditions are not met, the vehicle regional control platform above the well links the vehicle dispatching and commanding system, controls the signal signs for traffic command, and the driver drives according to the instructions of the signal signs.

[0068] See also Figure 6 , Figure 6 : is a flowchart of an underground vehicle control method provided by an embodiment of the present application. Figure 6 As shown, the method may include but is not limited to the following steps:

[0069] Step S601: Obtain environmental monitoring data of each area underground and location data of underground vehicles.

[0070] Exemplarily, environmental monitoring data of each area underground is obtained by multiple sensors installed in each area underground, and position data of the underground vehicle is obtained by a vehicle position sensor installed in the vehicle, so as to obtain the position data of the underground vehicle based on the position data.

[0071] In some embodiments, the environmental monitoring data includes at least one of the following: methane concentration; carbon monoxide concentration; dust concentration; carbon dioxide concentration; oxygen concentration; nitric oxide concentration; nitrogen dioxide concentration; exhaust gas concentration; volatile organic matter concentration; and fine particulate matter concentration.

[0072] Step S602: Generate vehicle operation indication information based on the position data and the environmental monitoring data, and / or generate alarm information based on the environmental monitoring data.

[0073] Exemplarily, based on the position data and the environmental monitoring data, it is determined whether the area to be reached by the underground vehicle meets the traffic conditions, thereby generating the vehicle operation indication information.

[0074] Exemplarily, each environmental monitoring data is compared with a corresponding data threshold to determine whether the pollutant concentration in the environment of each area underground is too high, and an alarm message is generated when at least one environmental monitoring data is greater than the corresponding data threshold.

[0075] In one implementation, the above-mentioned generation of vehicle operation indication information based on location data and environmental monitoring data may include the following steps: determining an associated area of ​​the vehicle's travel path based on the location data; obtaining target environmental monitoring data corresponding to the associated area in the environmental monitoring data; determining the traffic condition of the associated area based on the target environmental monitoring data; and generating the vehicle operation indication information based on the traffic condition.

[0076] Step S603: display at least one of environmental monitoring data, vehicle operation indication information and alarm information.

[0077] Exemplarily, at least one of environmental monitoring data, vehicle operation indication information and alarm information is displayed to underground personnel through display devices pre-installed in various areas underground and underground vehicles.

[0078] Step S604: issuing an alarm signal based on the alarm information.

[0079] Exemplarily, a corresponding alarm signal is issued according to the data type of the environmental monitoring data corresponding to the alarm signal and which is greater than the corresponding data threshold.

[0080] By implementing the embodiments of the present application, environmental monitoring data of various areas in the mine and location data of underground vehicles can be obtained, so as to generate vehicle operation indication information based on location data and environmental monitoring data, and / or generate alarm information based on environmental monitoring data, and display at least one of environmental monitoring data, vehicle operation indication information and alarm information to control the operation of underground vehicles. The safety of underground production and vehicle operation can be improved.

[0081] It should be noted that the aforementioned explanation of the underground vehicle control system embodiment is also applicable to the underground vehicle control method of this embodiment, and will not be repeated here.

[0082] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0083] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0084] In the description of this application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0085] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0088] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0089] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0090] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0091] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0092] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An underground vehicle control system, characterized in that: include: A sensor array is used to obtain environmental monitoring data of various areas underground and location data of underground vehicles; a control module, configured to generate vehicle operation indication information based on the location data and the environmental monitoring data, and / or generate alarm information based on the environmental monitoring data; A display module, used to display at least one of the environmental monitoring data, the vehicle operation indication information and the alarm information; An alarm module is used to send out an alarm signal based on the alarm information.

2. The system according to claim 1, characterized in that The sensor array includes at least one of the following sensors: Vehicle position sensor; Methane sensor; Carbon monoxide sensor; Dust sensor; Carbon dioxide sensor; Oxygen sensor; Nitric oxide sensor; Nitrogen dioxide sensor; Exhaust gas sensor; Volatile organic compound sensors; Fine particle sensor.

3. The system according to claim 1, characterized in that The system also includes a network switch for data communication between the sensor array, the management and control module, the display module and the alarm module.

4. The system according to claim 3, characterized in that The sensor array, the control module, the display module and the alarm module communicate with each other using a controller area network bus (CAN) communication method.

5. The system according to claim 1, wherein: The control module is also used for: The ventilation system of the mine is controlled based on the environmental monitoring data.

6. The system according to claim 1, characterized in that The control module is also used for: Get the configured information to be displayed; The display module is also used for: The information to be displayed is displayed.

7. The system according to claim 1, characterized in that The control module is specifically used for: determining an associated area of ​​a vehicle's travel path based on the position data; Obtaining target environmental monitoring data corresponding to the associated area in the environmental monitoring data; Determine the traffic condition of the associated area based on the target environment monitoring data; The vehicle operation instruction information is generated based on the traffic condition.

8. A method for controlling underground vehicles, characterized in that: include: Obtain environmental monitoring data of various areas underground and location data of underground vehicles; generating vehicle operation indication information based on the location data and the environment monitoring data, and / or generating alarm information based on the environment monitoring data; displaying at least one of the environmental monitoring data, the vehicle operation indication information and the alarm information; An alarm signal is issued based on the alarm information.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to claim 8 when executed by a processor.

10. A computer program product, characterized in that A computer program is included which, when executed by a processor, implements the method as claimed in claim 8.

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