Intelligent underground safety online monitoring system and method

Abstract

The invention provides an intelligent underground safety online monitoring system and method, and the method comprises the steps: dividing a target space into a plurality of monitoring regions, and obtaining the wind speed, wind direction and gas concentration information in the monitoring regions, the real-time position of underground personnel, and the position information of an underground emergency door; judging whether the gas concentration in the monitoring area exceeds the limit or not, and determining the position information of a swept area; performing correlation integration on the real-time position of the underground personnel and the position information of the swept area through the spatial position information, judging whether the underground personnel are in the swept area or not, and determining the specific position of the underground personnel if the underground personnel are in the swept area; the position information of the underground emergency door and the specific positions of the underground personnel in the swept area are associated and integrated through the spatial position information, a safety decision is made, gas abnormity monitoring and underground personnel positioning technologies are combined, the underground safety monitoring capability is comprehensively improved, and the accuracy of the safety decision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underground safety monitoring, and relates to an intelligent underground safety online monitoring system and method. Background Art

[0002] Due to the particularity of the mine environment, there are many safety hazards such as gas explosion, mine dust explosion, fire, flood, top pressure, etc. when working in coal mines underground, which threaten the personal safety of mine workers and seriously affect the production and operation of coal mines. In particular, the frequent combustion or explosion accidents caused by excessive gas concentration have caused great losses to the life safety of coal mine personnel. In order to effectively prevent and reduce accidents, a large number of coal mine safety production monitoring systems have begun to be widely used to ensure the safe operation of underground operations.

[0003] CN105240052A discloses a coal mine gas disaster monitoring and early warning information collection system and collection method. Firstly, underground wireless transmission technology, underground ring network and ground local area network are used to develop a series of mine monitoring and surveillance system data interface programs, detection and detection instrument data transmission modules, and information collection terminals based on explosion-proof computers and explosion-proof mobile phones to realize automatic acquisition and transmission of mine basic safety information; then, according to the studied information cleaning algorithm, the obtained mine basic safety information is filtered, corrected, sorted and classified to form coal mine gas disaster monitoring and early warning information; finally, the monitoring and early warning information retrieval logic and information transmission rules are customized through the developed monitoring and early warning information collection management platform, and the corresponding data is automatically extracted from the monitoring and early warning information collection database, and transmitted to the coal mine gas disaster early warning system, so as to realize real-time and automatic collection of monitoring and early warning information.

[0004] CN104020734A discloses a coal mine underground gas monitoring system, including a ground part and an underground part. The ground part includes a data interface device, a central station computer and a network terminal; the underground part includes a substation device, a sensor and a controller. The data interface device in the ground part is connected to a firewall server through a data cable, and the firewall server is provided with an external network device interface; the substation device in the underground part includes a substation flameproof control box, a touch screen, a control component, and a power supply component, and has an external network terminal device access function. The underground equipment is small in size, simple in wiring, easy to install, use and maintain, strong in adaptability, high in stability, good in safety, and has the advantages of a human-computer communication interface, human-computer interaction, and enhanced control capability.

[0005] However, the existing safety monitoring system focuses on the timely acquisition of overall environmental data to predict the occurrence of accidents in advance, but it cannot understand the abnormal conditions of the underground personnel's location in time. When an accident occurs, it is impossible to accurately locate the position of the trapped personnel underground, making the rescue plan less targeted and the rescue efficiency for underground personnel low, which in turn leads to further expansion of the consequences of the disaster.

[0006] Therefore, how to detect abnormal conditions underground in a timely and accurate manner and formulate a safe rescue plan based on the location of underground personnel is very important for taking timely and targeted rescue measures and improving the rescue efficiency of underground personnel. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an intelligent underground safety online monitoring system and method, which combines gas anomaly monitoring with underground personnel positioning technology, comprehensively improves the underground safety monitoring capability, improves the accuracy of safety decision-making, and ensures the timeliness of emergency response.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] In a first aspect, the present invention provides an intelligent online monitoring method for underground safety, the intelligent online monitoring method for underground safety comprising:

[0010] S1: Divide the target space into several monitoring areas based on the spatial distribution map, obtain the wind speed, wind direction and gas concentration information in the monitoring area, monitor the real-time position of the underground personnel, and locate the position information of the underground evacuation door;

[0011] S2: According to the wind speed, wind direction and gas concentration, determine whether the gas concentration in the monitoring area exceeds the limit. If the gas concentration exceeds the limit, determine the location information of the affected area. Otherwise, continue to monitor the wind speed, wind direction and gas concentration.

[0012] S3: The real-time position of the underground personnel and the position information of the affected area are associated and integrated through spatial position information to determine whether the underground personnel are in the affected area. If they are in the affected area, their specific position is determined;

[0013] S4: The location information of the underground evacuation door is associated and integrated with the specific location of the underground personnel in the affected area through spatial location information to make safety decisions.

[0014] As a preferred technical solution of the present invention, in step S1, the target space is divided into several monitoring areas according to the principle of equal spacing.

[0015] As a preferred technical solution of the present invention, in step S1, the method for monitoring the real-time position of underground personnel includes:

[0016] 101: The underground personnel carry the positioning identification card when entering the target space;

[0017] 102: Obtain the wireless signal transmitted by the positioning identification card, turn on the infrared camera to perform face recognition on the underground personnel, and then complete the identity information comparison to determine the location information of the underground personnel;

[0018] 103: Obtain a three-dimensional space model of the target space, match the position information of the underground personnel with the three-dimensional space model, and determine the real-time position of the underground personnel.

[0019] As a preferred technical solution of the present invention, in step S1, the method for locating the position information of the underground evacuation door includes: obtaining a spatial distribution map of the target space, superimposing the position information of the underground evacuation door with the spatial distribution map, and generating an evacuation door field map.

[0020] As a preferred technical solution of the present invention, in step S2, the method for determining whether the gas concentration in the monitoring area exceeds the limit includes: setting a concentration excess value in each monitoring area according to the operating status in the monitoring area, and comparing the acquired gas concentration information with the concentration excess value; if the gas concentration information is greater than or equal to the concentration excess value, it is determined that the gas concentration in the monitoring area exceeds the limit; otherwise, it is determined that the gas concentration in the monitoring area does not exceed the limit and is in a safe state.

[0021] As a preferred technical solution of the present invention, in step S2, the method for determining the location information of the affected area includes: when it is detected that the gas concentration exceeds the limit, taking the monitoring area where the gas concentration exceeds the limit as the location center, the circular area within the surrounding danger radius is determined as the selected area; according to the wind speed and wind direction, the diffusion direction and speed of the gas concentration are obtained to judge whether the selected area is reasonable. If so, the selected area is confirmed as the affected area. Otherwise, the area of ​​the selected area is adjusted and the affected area is reconfirmed.

[0022] As a preferred technical solution of the present invention, in step S3, the affected area is divided into a first danger zone, a second danger zone and a third danger zone with increasing radius from inside to outside, and the risk levels in the first danger zone, the second danger zone and the third danger zone are reduced step by step; it is judged whether the underground personnel are in the first danger zone, the second danger zone and the third danger zone, and the danger level of the specific location of the underground personnel is determined.

[0023] As a preferred technical solution of the present invention, in step S4, the method for making a security decision includes:

[0024] 201: Obtaining the location information of the preferred evacuation door with the shortest distance to the underground personnel;

[0025] 202: Confirm that the preferred evacuation door is located in the first danger zone, the second danger zone, the third danger zone, or a safe area outside the affected area;

[0026] 203: Generate the best evacuation route for the underground personnel according to the specific location of the underground personnel and the location information of the preferred evacuation door, then exchange information with the underground personnel to guide the underground personnel to evacuate in an orderly manner.

[0027] As a preferred technical solution of the present invention, in step S4, the method for making safety decisions also includes: making power-off processing decisions for electromechanical equipment in the affected area, and making alarm processing decisions for safe areas outside the affected area.

[0028] In a second aspect, the present invention provides an intelligent online monitoring system for underground safety, which is used in the intelligent online monitoring method for underground safety described in the first aspect, and comprises:

[0029] The monitoring area division module is used to divide the target space into several monitoring areas according to the spatial distribution map;

[0030] An environmental monitoring module is set in the target space to detect the wind speed and direction in the monitoring area;

[0031] A gas monitoring module is provided in the monitoring area to obtain gas concentration information;

[0032] an affected area division module, which is communicatively connected to the gas monitoring module and the environment monitoring module, respectively, and is used to confirm the affected area;

[0033] Personnel monitoring module, used to monitor the real-time location of underground personnel;

[0034] Rescue positioning module, used to locate the position of the underground evacuation door;

[0035] The analysis and decision-making module is respectively connected to the monitoring area division module, the environmental monitoring module, the affected area division module, the personnel monitoring module and the rescue positioning module for making safety decisions.

[0036] The system refers to an equipment system, a device system or a production device.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention provides an intelligent online underground safety monitoring system and method, which can monitor the gas concentration in the coal mine in real time, detect gas abnormalities in time, and combine with positioning technology to accurately obtain the real-time position of each underground personnel and the position information of the evacuation door, ensuring that when the gas is abnormal, the position status of the underground personnel is mastered to formulate the best evacuation plan, thereby improving the timeliness and accuracy of the rescue operation and ensuring the safety of underground operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The overall block diagram of an intelligent underground safety online monitoring system provided for a specific implementation of the present invention.

[0040] Among them, 100-monitoring area division module; 200-environmental monitoring module; 300-gas monitoring module; 400-affected area division module; 500-personnel monitoring module; 600-rescue positioning module; 700-analysis and decision-making module. DETAILED DESCRIPTION

[0041] It should be understood that, in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] It should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0043] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0044] In a specific embodiment, the present invention provides an intelligent underground safety online monitoring method, comprising the following steps:

[0045] S1: Based on the spatial distribution map, the target space is divided into several monitoring areas, and the wind speed, wind direction and gas concentration information in the monitoring area are obtained. At the same time, the real-time position of the underground personnel is monitored and the position information of the underground evacuation door is located.

[0046] The target space in the present invention can be a working face or underground tunnel area for coal mining, transportation, and tunneling operations. According to the principle of equal spacing, the target space is divided into several monitoring areas to ensure uniform coverage of the target space range, which is conducive to improving the comprehensiveness and accuracy of safety monitoring.

[0047] The method for monitoring the real-time position of underground personnel in the present invention comprises the following sub-steps:

[0048] 101: The underground personnel carry the positioning identification card when entering the target space;

[0049] 102: Obtain the wireless signal transmitted by the positioning identification card, turn on the infrared camera to perform face recognition on the underground personnel, and then complete the identity information comparison to determine the location information of the underground personnel;

[0050] 103: Obtain a three-dimensional space model of the target space, match the position information of the underground personnel with the three-dimensional space model, and determine the real-time position of the underground personnel.

[0051] The present invention is equipped with several detection base stations in the target space for receiving the wireless signal emitted by the positioning identification card. When the detection base station receives the wireless signal, the infrared camera is started to perform face recognition, and the received wireless signal and the face recognition information are compared for personnel identity information recognition. After the recognition comparison is successful, the precise position and identity information of the personnel can be determined. When the recognition comparison is unsuccessful, a suspicious prompt message is issued, and the identity is re-checked to avoid unauthorized entry of irrelevant personnel into the mine and interference with the underground operation. At the same time, the detection base station can communicate and interact with the operation and maintenance personnel on the mine through the transmission network. When the recognition comparison is unsuccessful, the recognition comparison results can be uploaded in time so that the operation and maintenance personnel can take countermeasures. The present invention pre-constructs a three-dimensional space model of the coal mine underground and stores it in the background database. When it is necessary to confirm the position of the underground personnel, the three-dimensional space model of the target space is extracted, and the matching algorithm commonly used by those skilled in the art is used to accurately align the position information with the three-dimensional space model to achieve position matching, thereby obtaining the real-time position of the underground personnel. The matching algorithm can use an iterative closest point algorithm.

[0052] The method for locating the position information of the underground evacuation door in the present invention comprises: obtaining a spatial distribution map of the target space, superimposing the position information of the underground evacuation door with the spatial distribution map, and generating an evacuation door field map. The spatial distribution map can be a geographic information map pre-stored in a background database, and the evacuation door field map is generated by superimposing multiple layers to display the position information of the evacuation door one by one on the spatial distribution map, which can provide accurate position data for the decision-making of the evacuation plan and realize accurate scheduling.

[0053] S2: Based on wind speed, wind direction and gas concentration, determine whether the gas concentration in the monitoring area exceeds the limit. If the gas concentration exceeds the limit, determine the location information of the affected area. Otherwise, continue to monitor the wind speed, wind direction and gas concentration.

[0054] The method for determining whether the gas concentration in the monitoring area exceeds the limit in the present invention includes:

[0055] The concentration limit value in each monitoring area is set according to the operating status in the monitoring area, and the obtained gas concentration information is compared with the concentration limit value. If the gas concentration information is greater than or equal to the concentration limit value, it is determined that the gas concentration in the monitoring area exceeds the limit. Otherwise, it is determined that the gas concentration in the monitoring area does not exceed the limit and is in a safe state.

[0056] The operating state described in the present invention may include the operating form, such as coal mining, transportation or excavation, and may also include the operating environment, such as ventilation status, geological structure or hydrological status. The present invention pre-sets the concentration limit value according to the actual operating conditions of the coal mine in different monitoring areas, and combines the safety production regulations and industry standards, and detects the gas concentration information in real time, so as to timely detect the abnormal situation that the detection value exceeds the concentration limit value, reduce the risk of combustion or explosion accidents, and ensure the life safety of underground personnel and the production safety of the mine.

[0057] The method for determining the location information of the affected area in the present invention includes:

[0058] First, when it is detected that the gas concentration exceeds the limit, the monitoring area where the gas concentration exceeds the limit is taken as the location center, and the circular area within the surrounding danger radius is determined as the candidate area.

[0059] Secondly, according to the wind speed and direction, the diffusion direction and speed of the gas concentration are obtained to judge whether the selected area is reasonable. If so, the selected area is confirmed as the affected area. Otherwise, the area of ​​the selected area is adjusted and the affected area is reconfirmed.

[0060] The affected area is a spherical range around the periphery of the monitoring area and includes the monitoring area. When a gas outburst occurs in a coal mine, high-concentration gas will be ejected in an undirected manner along the target space under high pressure, and gradually migrate and diffuse with the underground wind flow, thereby affecting other safe areas outside the monitoring area where the gas exceeds the limit, posing a threat not only to the personal safety and production safety of underground personnel in the monitoring area, but also to the personal safety and production safety of underground personnel in other areas. Therefore, it is necessary to expand the area of ​​the assessment area to judge the overall safety.

[0061] S3: The real-time position of the underground personnel and the position information of the affected area are associated and integrated through spatial position information to determine whether the underground personnel are in the affected area. If they are in the affected area, their specific position is determined.

[0062] The present invention accurately matches the real-time position of the underground personnel with the position of the affected area through geographic coordinates or a spatial positioning method commonly used in the field, so as to accurately obtain the specific position of each underground personnel. Further, the present invention divides the affected area into a first danger zone, a second danger zone and a third danger zone with increasing radius from the inside to the outside, and the risk level in the first danger zone, the second danger zone and the third danger zone decreases step by step. Then it is judged whether the underground personnel are in the first danger zone, the second danger zone and the third danger zone, and the danger level at the specific position of the underground personnel is determined. Since the gas gradually diffuses in the target space after being ejected, the farther away from the gas ejection accident point, the lower the gas concentration, and the degree of danger decreases accordingly. The first danger zone is a circular area within the first radius with the gas ejection accident point as the center; the second danger zone is an annular area within the second radius with the gas ejection accident point as the center, which does not include the first danger zone; the third danger zone is an annular area within the third radius with the gas ejection accident point as the center, which does not include the first danger zone and the second danger zone. The underground personnel in the first danger zone are marked as the first danger level, the underground personnel in the second danger zone are marked as the second danger level, and the underground personnel in the third danger zone are marked as the third danger level. Different safety decisions can be made and different treatment measures can be taken for underground personnel at different danger levels to ensure the timeliness and effectiveness of personnel evacuation.

[0063] S4: The location information of the underground evacuation door is associated and integrated with the specific location of the underground personnel in the affected area through spatial location information to make safety decisions.

[0064] The method for making a security decision in the present invention comprises the following sub-steps:

[0065] 201: Obtaining the location information of the preferred evacuation door with the shortest distance to the underground personnel;

[0066] 202: Confirm that the preferred evacuation door is located in the first danger zone, the second danger zone, the third danger zone, or a safe area outside the affected area;

[0067] 203: Generate the best evacuation route for the underground personnel according to the specific location of the underground personnel and the location information of the preferred evacuation door, then exchange information with the underground personnel to guide the underground personnel to evacuate in an orderly manner.

[0068] In the present invention, after confirming the specific location of the underground personnel, the location information of the preferred evacuation door with the shortest distance to the underground personnel is obtained through the generated evacuation door field map. Then the location information of the optimal evacuation door is compared with the first danger zone, the second danger zone, the third danger zone and the safe area to confirm the area where the preferred evacuation door is located. Finally, according to the danger level of the underground personnel, the best evacuation route is formulated and the underground personnel are notified to evacuate.

[0069] The generated optimal evacuation routes include the following situations:

[0070] (1) When the preferred evacuation door for underground personnel belonging to the first danger level is located in the first danger zone, when the preferred evacuation door for underground personnel belonging to the second danger level is located in the second danger zone, and when the preferred evacuation door for underground personnel belonging to the third danger level is located in the third danger zone, notify the corresponding underground personnel to evacuate safely through the preferred evacuation door in their area.

[0071] (2) When the preferred evacuation door for underground personnel belonging to the first hazard level is located in areas other than the first hazard area, when the preferred evacuation door for underground personnel belonging to the second hazard level is located in areas other than the first hazard area and the second hazard area, and when the preferred evacuation door for underground personnel belonging to the third hazard level is located in a safe area, the underground personnel belonging to the third hazard level shall be notified to retreat to the safe area and evacuate safely through the evacuation doors located in the safe area, and the underground personnel belonging to the first hazard level or the second hazard level shall be notified to evacuate safely through the corresponding preferred evacuation door.

[0072] (3) When the preferred evacuation door for underground personnel belonging to the second danger level is located in the first danger zone, and when the preferred evacuation door for underground personnel belonging to the third danger level is located in the first danger zone or the second danger zone, the evacuation door that is shortest to the underground personnel and located outside the first danger zone is retrieved as the preferred evacuation door, and the corresponding underground personnel are notified to evacuate safely through their preferred evacuation door.

[0073] The method for making safety decisions in the present invention also includes: making power-off processing decisions for electromechanical equipment in the affected area, and making alarm processing decisions for safe areas outside the affected area. The present invention can perform remote power-off operations through the well monitoring center to prevent the accident from further expanding, and at the same time, alarm prompts the underground personnel in the safe area to wait for subsequent processing measures.

[0074] In another specific embodiment, the present invention provides an intelligent underground safety online monitoring system, such as Figure 1 As shown, it includes a monitoring area division module 100, an environment monitoring module 200, a gas monitoring module 300, an affected area division module 400, a personnel monitoring module 500, a rescue positioning module 600 and an analysis and decision module 700.

[0075] The monitoring area division module 100 is used to divide the target space into several monitoring areas according to the spatial distribution map, and the monitoring area division module 100 is communicatively connected to the analysis and decision module 700, and is used to upload the division result to the analysis and decision module 700. The environmental monitoring module 200 is used to detect the wind speed and wind direction of the monitoring area, and specifically may include a wind speed sensor and a wind direction sensor set in the target space. And the environmental monitoring module 200 is communicatively connected to the analysis and decision module 700 to upload the detected wind speed and wind direction information to the analysis and decision module 700. The gas monitoring module 300 is used to obtain gas concentration information, and specifically may include a gas concentration sensor set in the monitoring area. The affected area division module 400 is respectively connected to the gas monitoring module 300, the environmental monitoring module 200 and the analysis and decision module 700 in communication. The concentration exceeding limit value in each monitoring area is preset inside. It can first determine whether the gas concentration in the monitoring area exceeds the limit according to the wind speed, wind direction and gas concentration. When the gas concentration exceeds the limit, the affected area is determined and then uploaded to the analysis and decision module 700. The personnel monitoring module 500 is connected to the analysis and decision module 700 in communication, and is used to monitor the real-time position of the underground personnel. Specifically, it includes several detection base stations arranged in the target space, and the positioning identification card worn by the underground personnel. The positioning identification card is used to transmit wireless signals, and the detection base station is used to receive wireless signals. After confirming the real-time position information and identity information of the underground personnel, it is uploaded to the analysis and decision module 700. The rescue positioning module 600 is connected to the analysis and decision module 700 in communication, and is used to locate the position of the underground evacuation door, and upload the positioning information to the analysis and decision module 700. The analysis and decision module 700 is used to make safety decisions based on monitoring data so as to take timely treatment measures. As a terminal for operation and monitoring by operation and maintenance personnel, the analysis and decision module 700 may include a monitoring center arranged on the well, and establish a complete communication network in the entire inspection area to achieve two-way data interaction. The communication network may include one or more of ZigBee network, Bluetooth, 5G network, WIFI network and Ethernet to achieve wireless transmission of data.

[0076] The present invention enables operation and maintenance personnel to understand the gas concentration status of coal mines in real time, promptly discover abnormal gas conditions underground, and conduct fusion analysis in combination with personnel positioning technology, so as to quickly make safety decisions and take corresponding emergency measures, thereby improving scheduling efficiency, avoiding the expansion of accidents, and ensuring the life safety of underground workers.

[0077] The applicant declares that the above is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention shall fall within the protection scope and disclosure scope of the present invention.

Claims

1. An intelligent underground safety online monitoring method, characterized in that: The intelligent underground safety online monitoring method comprises: S1: Divide the target space into several monitoring areas based on the spatial distribution map, obtain the wind speed, wind direction and gas concentration information in the monitoring area, monitor the real-time position of the underground personnel, and locate the position information of the underground evacuation door; S2: According to the wind speed, wind direction and gas concentration, determine whether the gas concentration in the monitoring area exceeds the limit. If the gas concentration exceeds the limit, determine the location information of the affected area. Otherwise, continue to monitor the wind speed, wind direction and gas concentration. S3: The real-time position of the underground personnel and the position information of the affected area are associated and integrated through spatial position information to determine whether the underground personnel are in the affected area. If they are in the affected area, their specific position is determined; S4: The location information of the underground evacuation door is associated and integrated with the specific location of the underground personnel in the affected area through spatial location information to make safety decisions.

2. The intelligent underground safety online monitoring method according to claim 1 is characterized in that: In step S1, the target space is divided into several monitoring areas according to the principle of equal spacing.

3. The intelligent underground safety online monitoring method according to claim 1 is characterized in that: In step S1, the method for monitoring the real-time position of underground personnel includes: 101: The underground personnel carry the positioning identification card when entering the target space; 102: Obtain the wireless signal transmitted by the positioning identification card, turn on the infrared camera to perform face recognition on the underground personnel, and then complete the identity information comparison to determine the location information of the underground personnel; 103: Obtain a three-dimensional space model of the target space, match the position information of the underground personnel with the three-dimensional space model, and determine the real-time position of the underground personnel.

4. The intelligent underground safety online monitoring method according to claim 1 is characterized in that: In step S1, the method for locating the position information of the underground evacuation door includes: obtaining a spatial distribution map of the target space, superimposing the position information of the underground evacuation door with the spatial distribution map, and generating an evacuation door field map.

5. The intelligent underground safety online monitoring method according to claim 1 is characterized in that: In step S2, the method for determining whether the gas concentration in the monitoring area exceeds the limit includes: The concentration limit value in each monitoring area is set according to the operating status in the monitoring area, and the obtained gas concentration information is compared with the concentration limit value. If the gas concentration information is greater than or equal to the concentration limit value, it is determined that the gas concentration in the monitoring area exceeds the limit. Otherwise, it is determined that the gas concentration in the monitoring area does not exceed the limit and is in a safe state.

6. The intelligent underground safety online monitoring method according to claim 5 is characterized in that: In step S2, the method for determining the location information of the affected area includes: When it is detected that the gas concentration exceeds the limit, the monitoring area where the gas concentration exceeds the limit is taken as the location center, and the circular area within the danger radius around it is determined as the candidate area; According to the wind speed and direction, the diffusion direction and speed of the gas concentration are obtained to determine whether the selected area is reasonable. If so, the selected area is confirmed as the affected area. Otherwise, the area of ​​the selected area is adjusted and the affected area is reconfirmed.

7. The intelligent underground safety online monitoring method according to claim 6 is characterized in that: In step S3, the affected area is divided into a first danger zone, a second danger zone and a third danger zone, the radius of which increases from the inside to the outside, and the risk levels in the first danger zone, the second danger zone and the third danger zone decrease step by step; Determine whether the underground personnel are in the first danger zone, the second danger zone and the third danger zone, and determine the danger level of the specific location of the underground personnel.

8. The intelligent underground safety online monitoring method according to claim 7 is characterized in that: In step S4, the method for making a security decision includes: 201: Obtaining the location information of the preferred evacuation door with the shortest distance to the underground personnel; 202: Confirm that the preferred evacuation door is located in the first danger zone, the second danger zone, the third danger zone, or a safe area outside the affected area; 203: Generate the best evacuation route for the underground personnel according to the specific location of the underground personnel and the location information of the preferred evacuation door, then exchange information with the underground personnel to guide the underground personnel to evacuate in an orderly manner.

9. The intelligent underground safety online monitoring method according to claim 8 is characterized in that: In step S4, the method for making safety decisions also includes: making power-off processing decisions for electromechanical equipment in the affected area, and making alarm processing decisions for safe areas outside the affected area.

10. An intelligent underground safety online monitoring system, characterized in that: The intelligent underground safety online monitoring system is used for the intelligent underground safety online monitoring method according to any one of claims 1 to 9, and the intelligent underground safety online monitoring system comprises: The monitoring area division module is used to divide the target space into several monitoring areas according to the spatial distribution map; An environmental monitoring module is set in the target space to detect the wind speed and direction in the monitoring area; A gas monitoring module is provided in the monitoring area to obtain gas concentration information; an affected area division module, which is communicatively connected to the gas monitoring module and the environment monitoring module, respectively, and is used to confirm the affected area; Personnel monitoring module, used to monitor the real-time location of underground personnel; Rescue positioning module, used to locate the position of the underground evacuation door; The analysis and decision-making module is respectively connected to the monitoring area division module, the environmental monitoring module, the affected area division module, the personnel monitoring module and the rescue positioning module for making safety decisions.

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