Mine monitoring and personnel positioning linkage management and control system and method

Abstract

The invention provides a mine monitoring and personnel positioning linkage management and control system and method, and relates to the technical field of mine safety management. The system comprises a data acquisition module, a data processing module, a collaborative decision module and a linkage execution module which are in communication connection. The method comprises the following steps: S1, acquiring mine environment parameters with timestamps, personnel positioning data and equipment state data; s2, constructing a time evolution model of the disaster diffusion velocity Vs and a correction model of the personnel movement velocity Vp; s3, dynamically generating an evacuation path, performing security verification on the evacuation path, and triggering evacuation path re-planning and emergency response according to a security verification result; and S4, notifying personnel of an evacuation path, and executing graded emergency control according to the emergency response requirement. On the basis, the problems that in the prior art, a linkage mechanism is low in intelligent degree, the time dimension and the space dimension are separated, and interaction between disaster conditions and personnel dynamics is missing are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine safety management, in particular to a mine monitoring and control and personnel positioning linkage management and control system and method. BACKGROUND

[0002] In mine safety production, the linkage management and control of monitoring and control and personnel positioning is a key technical means to protect the life safety of underground workers. However, there are defects in the existing mine safety management technology, which cannot achieve good linkage control effect, specifically: the traditional monitoring and control system and personnel positioning system are usually independent of each other, cannot share data in real time and make linkage decisions, so it is difficult to realize safety emergency response; for example, when the monitoring system detects that the gas concentration exceeds the standard, it cannot automatically trigger the personnel positioning system to accurately position and evacuate the personnel in the area. In recent years, some emergency linkage monitoring systems and methods have been proposed in the field, but in actual application, the following problems still exist:

[0003] Firstly, the intelligence degree of the linkage mechanism is low, that is, although the emergency linkage disposal module is involved, the linkage rules are usually pre-set fixed logic, such as the mine rock-soil industry emergency linkage monitoring system and method provided by the patent with publication number CN114092293A; based on this, dynamic regulation and control cannot be realized according to real-time monitoring data and personnel position, for example, when the roof pressure of the underground is abnormal, the emergency measures such as ventilation and support cannot be automatically optimized according to the personnel distribution. Secondly, the time dimension and the space dimension are separated, that is, only personnel positioning and equipment linkage in three-dimensional space can be realized, but the dynamic change of the time dimension is not considered, and the above-mentioned patent with publication number CN114092293A also has this problem; based on this, it is difficult to effectively deal with the diffusion of dynamic disasters, for example, when a gas outburst accident occurs, the existing linkage strategy can only plan the evacuation path based on the current gas concentration distribution, and cannot predict the gas diffusion range in a few minutes, which may cause the personnel to be affected after evacuating to the temporary safety zone. Thirdly, the interaction between disaster conditions and personnel dynamics is missing, that is, a quantitative model of disaster diffusion speed and personnel moving speed is not established; based on this, the emergency instructions are not specific and effective enough, for example, assuming that the fire smoke diffuses at a speed of 0.8m / s, the existing system and method cannot calculate that the personnel needs to evacuate at a speed of ≥1.2m / s to successfully avoid danger.

[0004] In view of the above, the present application provides a mine monitoring and control and personnel positioning linkage management and control system and method. SUMMARY

[0005] The present application aims to provide a mine monitoring and control system and method, which builds a space-time coupling model of disaster diffusion and personnel movement, establishes a time and space coordinated emergency control mechanism, and realizes dynamic emergency control, to solve the problems of low intelligentization of the linkage mechanism, separation of time and space dimensions, and lack of interaction between disaster conditions and personnel dynamics in the prior art.

[0006] The present application is implemented by adopting the following technical solutions:

[0007] A mine monitoring and control system and method, which builds a space-time coupling model of disaster diffusion and personnel movement, establishes a time and space coordinated emergency control mechanism, and realizes dynamic emergency control, to solve the problems of low intelligentization of the linkage mechanism, separation of time and space dimensions, and lack of interaction between disaster conditions and personnel dynamics in the prior art.

[0008] Further, the data acquisition module includes a multi-modal environment monitoring unit, a space-time fusion positioning unit, and a device state time sequence monitoring unit. The multi-modal environment monitoring unit includes several monitoring devices for real-time acquisition of various mine environment parameters. The space-time fusion positioning unit uses a combination of ultra-wideband and inertial navigation system positioning, and combines with the roadway topology constraint to build a personnel kinematics model, outputting three-dimensional coordinates containing time stamps. The device state time sequence monitoring unit acquires time series data of device parameters through an edge computing terminal, and establishes an association between device state and disaster evolution.

[0009] Further, the data processing module includes a disaster diffusion prediction unit and a personnel movement feature extraction unit. The disaster diffusion prediction unit is used to build a differentiated time evolution model of disaster diffusion speed for different disaster types. The personnel movement feature extraction unit uses neural network to analyze the time sequence features of the positioning trajectory, extracts the personnel movement speed, and establishes a correction model of the personnel movement speed in combination with the associated conditions.

[0010] Further, the data processing module further includes a space-time synchronization engine, which is used to realize time synchronization of each monitoring device and correct the time stamp deviation of personnel positioning data and mine environment parameters.

[0011] Further, the cooperative decision module comprises a space-time four-dimensional path planning unit and a space-time intersection judgment unit; the space-time four-dimensional path planning unit is configured to construct a space-time topology graph, dynamically generate an evacuation path according to a time evolution model of disaster diffusion speed and a correction model of personnel moving speed; the space-time intersection judgment unit is configured to verify the safety of the evacuation path, that is, to judge the space-time intersection of disaster diffusion and personnel movement, and trigger an emergency response according to the judgment result.

[0012] Further, the linkage execution module comprises a notification unit and a hierarchical control unit; the notification unit is configured to send an evacuation instruction containing path direction and time constraint to personnel; the hierarchical control unit is configured to perform hierarchical emergency control according to emergency response requirements, that is, to control the work of emergency equipment of different levels correspondingly.

[0013] A mine monitoring and control and personnel positioning linkage management and control method, which applies the mine monitoring and control and personnel positioning linkage management and control system described above, comprises the following steps:

[0014] Step S1: collecting time-stamped mine environment parameters, personnel positioning data and equipment state data;

[0015] Step S2: constructing a time evolution model of disaster diffusion speed V_s and a correction model of personnel moving speed V_p;

[0016] Step S3: dynamically generating an evacuation path, verifying the safety of the evacuation path, triggering evacuation path re-planning and emergency response according to the safety verification result;

[0017] Step S4: notifying the evacuation path to personnel, and performing hierarchical emergency control according to emergency response requirements.

[0018] Further, in the step S2:

[0019] For different disaster types, a differentiated time evolution model of disaster diffusion speed V_s is constructed; the different disaster types include gas outburst disaster, fire spread disaster and roof collapse disaster, wherein:

[0020] For gas outburst disaster: a fluid mechanics model is adopted, wind speed and roadway cross-section parameters are input, and concentration field distribution is output;

[0021] For fire spread disaster: a temperature field evolution is calculated based on a heat conduction equation, and a smoke visibility attenuation model is combined;

[0022] For roof collapse disaster: a rock mass damage mechanics model is used to predict the expansion speed of the collapse range with time;

[0023] When constructing the modified model of the moving speed V_p of the personnel, individual attribute correction factors and environmental resistance correction factors are combined, wherein the individual attribute correction factors include personnel age and work type, and the environmental resistance correction factors include roadway slope, environmental slipperiness and obstacle density.

[0024] Further, the step S3 comprises the following substep:

[0025] Step S3-1: dynamically generating an evacuation path, specifically comprising:

[0026] Step S3-1-1: constructing a space-time topology graph G(V, E, T) containing a time axis, wherein V is a node containing coordinate and time attributes, E is an edge and the weight is a passing time, and T is a time axis;

[0027] Step S3-1-2: based on the obtained disaster diffusion speed V_s, marking a disaster danger area Ω(t) at the t time on the space-time topology graph;

[0028] Step S3-1-3: using an improved A * algorithm to calculate an optimal evacuation path of the personnel from a current position P(t0) to a safety zone S, and a target function is:

[0029] Core: min∑[(t_i+1)-t_i], that is, minimizing the total evacuation time; wherein t_i is a time when the personnel reaches an i-th node in the evacuation path, and t_i+1 is a time when the personnel reaches a next node of the i-th node;

[0030] Constraint condition 1: that is, not entering a danger area at all times; wherein P(t_i) is a position of the personnel at the t_i time, and Ω(t_i) is a disaster danger area at the t_i time;

[0031] Constraint condition 2: V_p(t_i)≤V_p_max, that is, the moving speed of the personnel does not exceed a theoretical maximum moving speed; wherein V_p(t_i) is a moving speed of the personnel at the t_i time, and V_p_max is a theoretical maximum moving speed considering a physiological limit;

[0032] Step S3-2: safety verification and response, specifically comprising the following two operations:

[0033] Operation a: recalculating the disaster danger area Ω(t) and the optimal evacuation path every n seconds, and when the original path will be covered by the disaster danger area Ω(t) within k seconds in the future, triggering an evacuation path re-planning automatically;

[0034] Operation b: determining, through a space-time distance function D(t), whether the personnel moving along the evacuation path intersects with the disaster diffusion in space-time, and triggering an emergency response according to a determination result, wherein:

[0035] The space-time distance function D(t) = ‖P(t)-Q(t)‖-(V_s-V_p)·t, wherein ‖P(t)-Q(t)‖ is the space distance between the personnel position and the disaster danger area at t, and (V_s-V_p)·t is the potential distance compression amount formed by the speed difference between disaster diffusion and personnel movement over time;

[0036] When D(t)>0, it is determined that there is no space-time intersection, and the emergency response is not triggered; when D(t)≤0 and t≥t0, it is determined that there is a space-time intersection, and the emergency response is automatically triggered.

[0037] Further, in the step S4, the hierarchical emergency control includes the following levels:

[0038] First-level emergency: the execution condition is D(t)>0 but a decreasing trend, and the execution content is to start the sound and light alarm, and the alarm intensity and frequency are increased with the decrease of D(t);

[0039] Second-level emergency: the execution condition is D(t)≤0 but t>t0+window threshold seconds l, and the execution content is to remotely adjust the ventilation equipment to form an air curtain isolation belt;

[0040] Third-level emergency: the execution condition is t≤t0+window threshold seconds l, and the execution content is to trigger the hydraulic support automatic support and start the refuge chamber life support system.

[0041] The present application has the following beneficial effects:

[0042] A mine monitoring and control and personnel positioning linkage control system and method, by setting a data acquisition module, a data processing module, a collaborative decision-making module and a linkage execution module, and limiting steps S1 to S4, an emergency control mechanism of space-time cooperation is constructed, accurate space-time matching of disaster diffusion and personnel evacuation is realized, and the efficiency, reliability and complex environment adaptability of mine emergency response can be comprehensively improved, so that good refuge effect can be ensured, and the problems of low intelligent degree of linkage mechanism, separation of time dimension and space dimension and lack of interaction between disaster conditions and personnel dynamics in the prior art are solved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a structural composition schematic diagram of the linkage control system described in the embodiment of the present application;

[0044] Figure 2 is a flow step schematic diagram of the linkage control method described in the embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings in the embodiments of the present application.

[0046] Embodiment 1

[0047] The first aspect of the present embodiment provides a mine monitoring and control system for personnel positioning, please refer to Figure 1 , comprising a data acquisition module, a data processing module, a collaborative decision-making module and a linkage execution module connected in communication, specifically:

[0048] The data acquisition module is used for acquiring time-stamped mine environment parameters, personnel positioning data and equipment state data, including:

[0049] The multi-modal environment monitoring unit: integrates laser gas sensor (sampling frequency 10 Hz), infrared thermal imager (resolution 640x512), microseismic monitor (sampling rate 1 MHz) and the like, which are respectively used for real-time acquisition of mine environment parameters such as gas concentration (accuracy ±0.01%CH4), temperature field distribution, rock mass vibration, etc., to provide data source for disaster diffusion modeling;

[0050] The space-time fusion positioning unit: uses a combination of ultra-wideband (UWB, positioning frequency 20 Hz, baseline accuracy 10 cm) and inertial navigation system (sampling rate 100 Hz) positioning, and combines with the roadway topological constraints (slope, curvature radius) to construct a personnel kinematics model, and outputs a three-dimensional coordinate (x, y, z, t) containing a time stamp;

[0051] The equipment state time sequence monitoring unit: acquires time series data of equipment parameters such as fan air pressure (sampling period 50 ms), hydraulic support working resistance (accuracy ±1MPa) through an edge computing terminal, and establishes an association between equipment state and disaster evolution.

[0052] The data processing module is used for respectively constructing a time evolution model of disaster diffusion speed and a correction model of personnel moving speed, including:

[0053] The space-time synchronization engine: based on IEEE1588 PTP protocol to realize time synchronization of each monitoring device (synchronization error ≤100ns), through Kalman filter to correct the time stamp deviation of personnel positioning data, mine environment parameters and equipment state data, to ensure the consistency of space-time reference;

[0054] The disaster diffusion prediction unit: is used for constructing a time evolution model of disaster diffusion speed V_s differentiated for different disaster types, including gas outburst disaster, fire spread disaster and roof collapse disaster, wherein:

[0055] For gas outburst disaster: using fluid mechanics (CFD) model, inputting wind speed and roadway cross section parameters, outputting gas concentration field distribution;

[0056] For fire spreading disaster: calculate temperature field (evolution over time) based on heat conduction equation, combined with smoke visibility attenuation model;

[0057] For roof collapse disaster: predict the expansion speed of collapse range over time through rock mass damage mechanics model;

[0058] Personnel movement feature extraction unit: use LSTM neural network to analyze the time series features of positioning trajectory, extract personnel movement speed V_p (including acceleration, turning frequency), and establish a correction model for personnel movement speed combined with correlation conditions; wherein, the correlation conditions include individual attribute correction factor and environmental resistance correction factor, the individual attribute correction factor includes personnel age, occupation, etc., and the environmental resistance correction factor includes roadway slope, environmental slipperiness, obstacle density, etc.

[0059] Collaborative decision-making module is used for dynamically generating evacuation path, verifying the safety of the evacuation path, and triggering evacuation path re-planning and emergency response according to the safety verification result, including:

[0060] Space-time four-dimensional path planning unit: used to construct a space-time topology graph, dynamically generate evacuation paths according to the time evolution model of disaster diffusion speed V_s and the correction model of personnel movement speed V_p;

[0061] Space-time intersection determination unit: used for safety verification of evacuation path, i.e. determining the space-time intersection of disaster diffusion and personnel movement, and triggering emergency response according to the determination result;

[0062] Digital twin visualization platform: used to construct a 1:1 scale mine digital twin, real-time render the space-time evolution of personnel positioning trajectory (annotating the positions of t-10s, t, t+10s with different colors), the dynamic process of disaster diffusion (semi-transparent cloud map showing the change of concentration / temperature over time), and the space-time preview of path planning results (dotted line indicating the planned path in the next 15 seconds).

[0063] Linkage execution module is used to notify the evacuation path to the personnel, and execute hierarchical emergency control according to the emergency response requirements, including:

[0064] Notification unit: based on regional broadcast of UWB positioning (trigger directional voice broadcast within 0.3m positioning accuracy), send evacuation instructions containing path direction and time constraints to personnel;

[0065] Hierarchical control unit: used to execute hierarchical emergency control according to the emergency response requirements, i.e. control different levels of emergency equipment work accordingly.

[0066] The second aspect of the embodiment provides a mine monitoring and control method for personnel positioning linkage, which applies the mine monitoring and control system for personnel positioning linkage described above, please refer to Figure 2 , comprising the following steps:

[0067] Step S1: spatio-temporal perception data acquisition and synchronization, that is, collecting time-stamped mine environment parameters, personnel positioning data and equipment state data, specifically including the following sub-steps:

[0068] Step S1-1: the multi-modal environment monitoring unit collects mine environment parameters at a set frequency to generate time-stamped monitoring data D_env(t)={gas concentration C(t), temperature T(t), rock vibration acceleration a(t),...}; the equipment state time sequence monitoring unit collects time sequence data of equipment parameters such as fan air pressure and hydraulic support working resistance through the edge computing terminal; the spatio-temporal fusion positioning unit outputs personnel position sequence P(t)={(x1, y1, z1, t1), (x2, y2, z2, t2),...}, sampling interval Δt=0.05s;

[0069] Step S1-2: the spatio-temporal synchronization engine calibrates the time reference of all data through the PTP protocol, corrects the sampling time difference of different equipment by linear interpolation, and ensures that the time stamp error is ≤100ns.

[0070] Step S2: disaster diffusion and personnel movement modeling, that is, constructing a time evolution model of disaster diffusion speed V_s and a correction model of personnel movement speed V_p, specifically including the following sub-steps:

[0071] Step S2-1: the disaster diffusion prediction unit calls the corresponding diffusion model after identifying the disaster type according to the monitoring data D_env(t), for example:

[0072] If the integrated laser gas sensor detects that the gas concentration C(t)>0.5% CH4 and continuously rises (an increase of ≥0.3% within 5 seconds), it is judged as a gas outburst disaster, and a gas diffusion CFD model is started, the current wind speed v_wind (real-time monitoring value, accuracy ±0.1m / s), the roadway cross-sectional size (width x height) are input, and the concentration field distribution C(x, y, z, t) within 60 seconds in the future is calculated, with a spatial resolution of 0.5m x 0.5m x 0.5m;

[0073] If the infrared thermal imager detects that the temperature T(t)>150℃ and the temperature rise within 5 seconds is ≥100℃, and it is judged as a fire spread disaster, a fire spread model is started, and based on the heat conduction equation a is the rock thermal diffusion coefficient) to calculate the temperature field evolution, and input the combustible type (coal / wood / cable) synchronously to determine the smoke generation rate, and combine the visibility attenuation model (visibility = initial visibility x e^(-k-t) = 10m x e^(-0.02-t)) to output the high-temperature area (T>50℃) and low-visibility area (visibility<5m) at time t;

[0074] If the microseismic monitor detects a vibration of ≥2.0 and the roof pressure sensor detects a roof pressure σ(t)>25MPa (exceeding the support strength threshold), it is judged that the roof collapse disaster occurs, the roof collapse model is started, the collapse range expansion speed is calculated through the rock mass damage mechanics model (v=k-σ^m, where k and m are geological parameters determined based on geological exploration data, k=0.002-0.005, m=1.2-1.5), and the dangerous area radius R(t)=v-(t-t0) at time t is output, where t0 is the time when the disaster begins to occur;

[0075] Step S2-2: The personnel movement feature extraction unit differentiates the position P(t) of the personnel at time t (P(t)=(x(t),y(t),z(t),t)) to obtain the displacement of the personnel in unit time, and then obtains the personnel movement speed V_p=Δs / Δt=(P(t2)-P(t1)) / (t2-t1); Then, combined with the individual attribute correction factor and the environmental resistance correction factor, it is corrected, such as combined with the roadway slope θ to be corrected to V_p1=V_p×cosθ, combined with the personnel age to be corrected to V_p2=V_p1×(1-0.02×age / 100), and finally output the corrected personnel movement speed V_p'=V_p2.

[0076] Step S3: evacuation path planning and decision-making, that is, dynamically generating an evacuation path, and verifying the safety of the evacuation path, triggering the evacuation path re-planning and emergency response according to the safety verification result, which specifically includes the following sub-steps:

[0077] Step S3-1: dynamically generating an evacuation path, including:

[0078] Step S3-1-1: the space-time four-dimensional path planning unit constructs a space-time topology graph G(V,E,T) containing a time axis (such as t0 to t0+60s), where V is a node containing coordinate and time attributes, E is an edge and its weight is the passing time, and T is a time axis; and the roadway network is discretized according to a 0.5m×0.5m×0.5m×0.5s grid;

[0079] Step S3-1-2: based on the obtained disaster diffusion speed V_s, mark the disaster danger area Ω(t) at time t on the space-time topology graph (marked as impassable);

[0080] Step S3-1-3: Starting from the current position P(t0) of the person and ending at the safety zone S, the improved A * The optimal evacuation path is calculated by the algorithm, and the objective function is:

[0081] Core: min∑[(t_i+1)-t_i], i.e., minimizing the total evacuation time; where t_i is the time when the person reaches the i-th node on the evacuation path, and t_i+1 is the time when the person reaches the next node of the i-th node;

[0082] Constraint condition 1: i.e., not entering the disaster danger zone at all times; where P(t_i) is the position of the person at t_i, and Ω(t_i) is the disaster danger zone at that time;

[0083] Constraint condition 2: V_p(t_i)≤V_p_max, i.e., the moving speed of the person does not exceed the theoretical maximum moving speed; where V_p(t_i) is the moving speed of the person at t_i, and V_p_max is the theoretical maximum moving speed considering physiological limits;

[0084] Step S3-2: Safety verification and response, specifically including the following two operations:

[0085] Operation a: Recalculate the disaster danger zone Ω(t) and the optimal evacuation path every 0.5 seconds, and automatically trigger the evacuation path re-planning when the original path will be covered by the disaster danger zone Ω(t) within the next 3 seconds;

[0086] Operation b: Determine whether there is a spatio-temporal intersection between the person moving along the evacuation path and the disaster spread by using the spatio-temporal distance function D(t), and trigger the emergency response accordingly according to the determination result, where:

[0087] Spatio-temporal distance function D(t) = ‖P(t)-Q(t)‖-(V_s-V_p)·t, where ‖P(t)-Q(t)‖ is the spatial distance between the person's position and the disaster danger zone at t, and (V_s-V_p)·t is the potential distance compression amount formed by the speed difference between the disaster spread and the person's movement over time;

[0088] When D(t)>0, it is determined that there is no spatio-temporal intersection, and no emergency response is triggered; when D(t)≤0 and t≥t0, it is determined that there is a spatio-temporal intersection, and the emergency response is automatically triggered.

[0089] Step S4: Spatio-temporal linkage execution and feedback, i.e., notifying the evacuation path to the person and executing the hierarchical emergency control according to the emergency response requirements, specifically including the following sub-steps:

[0090] Step S4-1: Notify and execute hierarchical emergency control, where:

[0091] The notification unit sends evacuation information containing the countdown to the target personnel through the mine intrinsically safe terminal, such as "the area 50 m ahead will be covered by gas in 8 seconds, please evacuate to the southeast direction at a speed of ≥1.5 m / s".

[0092] The hierarchical emergency control includes the following levels:

[0093] Primary emergency: the execution condition is D(t)>0 but a decreasing trend, and the execution content is to start the sound and light alarm, and the alarm intensity and frequency increase with the decrease of D(t);

[0094] Secondary emergency: the execution condition is D(t)≤0 but t>t0+window threshold seconds l, and the execution content is to remotely adjust the ventilation equipment to form a gas curtain isolation belt; wherein t>t0+window threshold seconds l represents that the distance from the initial time of the disaster (t0) has exceeded the window threshold seconds l, which indicates that the disaster diffusion speed is slow or there is a certain safety distance between the personnel and the disaster front, so there is enough time to control the disaster spread by adjusting the ventilation equipment, etc. to gain buffer time for evacuation;

[0095] Tertiary emergency: the execution condition is t≤t0+window threshold seconds l, and the execution content is to trigger the hydraulic support automatic support and start the refuge chamber life support system; wherein the window threshold seconds l within the initial time of the disaster is the golden window period of emergency response, at this time the disaster may spread rapidly (such as roof collapse, gas explosion), so high-intensity support and refuge chamber, etc. life-saving measures need to be started immediately to prioritize personnel survival space;

[0096] Step S4-2: Real-time monitor the deviation of the actual moving track of the personnel from the planned path, and when the deviation exceeds 5 m for 3 seconds, recalculate the path and update the instructions.

[0097] Through the above linkage control system and method, the embodiment constructs a time-space coordinated emergency control mechanism, and realizes the accurate time-space matching of disaster diffusion and personnel evacuation; specifically, taking the gas outburst emergency linkage of high-gas mine as an example of practical application:

[0098] 1) Triggering condition: the gas sensor of 302 mining face detected that the gas concentration C(t) was 0.8% CH4 at t0=10:05:23, and rose to 1.5% (exceeding the threshold value 1.0%) after 10 seconds, while the microseismic monitor recorded 3 times of ≥1.2 vibration, and the system judged it as a gas outburst disaster.

[0099] 2) Time-space modeling process:

[0100] The multi-modal environment monitoring unit collects relevant data as wind speed 2.3 m / s, roadway cross section 5 m x 3 m, and initial gas diffusion speed V_s=1.2 m / s;

[0101] The spatio-temporal fusion positioning unit displays that there are 2 workers in the area, with position coordinates P1 and P2, and an average moving speed V_p = 1.1 m / s (after age correction);

[0102] The disaster diffusion prediction unit outputs the gas concentration field at t0+10s, t0+20s, and t0+30s, and displays that the dangerous area will cover a range of 35 m from the outburst point at 30 s.

[0103] 3) Evacuation path planning:

[0104] A roadway topology graph containing a time axis is constructed, and the dangerous area Ω(30) at t0+30s is marked.

[0105] The optimal path of each person to the safety zone S (50 m from the outburst point) is calculated, specifically: P1 (20 m from the safety zone S), the planned path takes 18.2 s (person moving speed V_p = 1.1 m / s), and the whole time-space distance function D(t) > 0.5 m (safe); P2 (32 m from the safety zone S, located at the edge of the dangerous area Ω(30)), the original path needs 29.1 s, and will enter Ω(t) at t0+29s, so path re-planning is triggered, and an alternative path through the connecting roadway is selected (takes 31 s, but avoids the dangerous area Ω(t) throughout).

[0106] 4) Linkage execution effect:

[0107] t0+12s: hierarchical instructions are sent to the 2 persons, explaining the evacuation path;

[0108] t0+15s: the 302 mine return airway air door is automatically started, and the air volume is increased to 8 m 3 / s, forming an air curtain isolation zone;

[0109] t0+30s: the digital twin visualization platform displays that both persons have reached the safety zone, and the gas concentration field has a prediction deviation of ≤8%.

[0110] It should be particularly noted that the parts not described in detail or expanded in the above scheme are all prior art, do not belong to the improvements made by the present application to the prior art, and do not belong to the protection scope of the technical solution of the present application, therefore, they will not be described here.

[0111] Of course, the above content is only a preferred embodiment of the present application, and cannot be considered as limiting the scope of the embodiments of the present application. The present application is also not limited to the above examples, and equivalent changes and improvements made by ordinary skilled persons in the technical field within the essential scope of the present application should also be attributed to the patent coverage scope of the present application.

Claims

1. A mine monitoring and control system that integrates personnel positioning and management, characterized in that: The system includes a data acquisition module, a data processing module, a collaborative decision-making module, and a coordinated execution module for communication connectivity. The data acquisition module is used to collect timestamped mine environmental parameters, personnel location data, and equipment status data. The data processing module is used to construct a time evolution model of disaster spread speed and a correction model of personnel movement speed, respectively. The collaborative decision-making module is used to dynamically generate evacuation routes, verify the safety of evacuation routes, and trigger evacuation route replanning and emergency response based on the safety verification results. The coordinated execution module is used to notify personnel of the evacuation routes and execute graded emergency control according to emergency response requirements.

2. The mine monitoring and personnel positioning linkage control system according to claim 1, characterized in that: The data acquisition module includes a multimodal environment monitoring unit, a spatiotemporal fusion positioning unit, and an equipment status time-series monitoring unit. The multimodal environment monitoring unit includes several monitoring devices for real-time acquisition of various mine environmental parameters. The spatiotemporal fusion positioning unit uses a combination of ultra-wideband and inertial navigation systems for positioning, and constructs a kinematic model of personnel based on roadway topological constraints, outputting three-dimensional coordinates including timestamps. The equipment status time-series monitoring unit collects time-series data of equipment parameters through an edge computing terminal to establish the correlation between equipment status and disaster evolution.

3. The mine monitoring and personnel positioning linkage control system according to claim 1, characterized in that: The data processing module includes a disaster spread prediction unit and a personnel movement feature extraction unit. The disaster spread prediction unit is used to construct a differentiated time evolution model of disaster spread speed for different disaster types. The personnel movement feature extraction unit uses a neural network to analyze the time series features of the positioning trajectory, extracts the personnel movement speed, and establishes a correction model of the personnel movement speed in combination with correlation conditions.

4. The mine monitoring and personnel positioning linkage control system according to claim 3, characterized in that: The data processing module also includes a spatiotemporal synchronization engine, which is used to synchronize the time of each monitoring device and correct the timestamp deviation between personnel positioning data and mine environmental parameters.

5. The mine monitoring and personnel positioning linkage control system according to claim 1, characterized in that: The collaborative decision-making module includes a spatiotemporal four-dimensional path planning unit and a spatiotemporal intersection determination unit. The spatiotemporal four-dimensional path planning unit is used to construct a spatiotemporal topology map and dynamically generate evacuation paths based on the time evolution model of disaster spread speed and the correction model of personnel movement speed. The spatiotemporal intersection determination unit is used to verify the safety of the evacuation paths, that is, to determine the spatiotemporal intersection of disaster spread and personnel movement, and to trigger an emergency response based on the determination result.

6. The mine monitoring and personnel positioning linkage control system according to claim 1, characterized in that: The linkage execution module includes a notification unit and a hierarchical control unit; the notification unit is used to send evacuation instructions containing path direction and time constraints to personnel; the hierarchical control unit is used to perform hierarchical emergency control according to emergency response requirements, that is, to control the operation of emergency equipment of different levels accordingly.

7. A method for linkage control of mine monitoring and personnel positioning, using the linkage control system for mine monitoring and personnel positioning as described in any one of claims 1-6, characterized in that, Includes the following steps: Step S1: Collect timestamped mine environmental parameters, personnel location data, and equipment status data; Step S2: Construct a time evolution model of the disaster spread rate V_s and a modified model of the personnel movement rate V_p; Step S3: Dynamically generate evacuation routes and verify their safety. Based on the safety verification results, trigger evacuation route replanning and emergency response. Step S4: Notify personnel of the evacuation route and implement tiered emergency control measures according to emergency response requirements.

8. The mine monitoring and personnel positioning linkage control method according to claim 7, characterized in that, In step S2: For different disaster types, a time evolution model of the disaster spread rate V_s is constructed; the different disaster types include gas outburst disaster, fire spread disaster, and roof collapse disaster, among which: For gas outburst disasters: a fluid dynamics model is used, with wind speed and roadway cross-sectional parameters as inputs, and the concentration field distribution as output. For fire spread disasters: calculate the temperature field evolution based on the heat conduction equation, combined with the smoke visibility attenuation model; For roof collapse disasters: the rate of expansion of the collapse range over time is predicted using a rock mass damage mechanics model; When constructing the correction model for personnel movement speed V_p, an individual attribute correction factor and an environmental resistance correction factor are combined. The individual attribute correction factor includes personnel age and job type, and the environmental resistance correction factor includes roadway slope, environmental slipperiness, and obstacle density.

9. The mine monitoring and personnel positioning linkage control method according to claim 8, characterized in that, Step S3 includes the following sub-steps: Step S3-1: Dynamically generate evacuation routes, specifically including: Step S3-1-1: Construct a spatiotemporal topology graph G(V,E,T) containing a time axis, where V is a node with coordinates and time attributes, E is an edge with weight equal to the time passed, and T is the time axis; Step S3-1-2: Based on the obtained disaster spread rate V_s, mark the disaster hazard area Ω(t) at time t on the spatiotemporal topology map; Step S3-1-3: Adopt improved A * The algorithm calculates the optimal evacuation path from the current position P(t0) to the safe zone S, with the objective function being: Core: min∑[(t_i+1)-t_i], which means minimizing the total evacuation time; where t_i is the time when personnel arrive at the i-th node in the evacuation path, and t_i+1 is the time when personnel arrive at the next node after the i-th node; Constraint 1: That is, never enter the danger zone at any time; where P(t_i) is the position of the person at time t_i, and Ω(t_i) is the disaster danger zone at that time; Constraint 2: V_p(t_i)≤V_p_max, that is, the movement speed of the personnel does not exceed the theoretical maximum movement speed; where V_p(t_i) is the movement speed of the personnel at time t_i, and V_p_max is the theoretical maximum movement speed considering physiological limits; Step S3-2: Security verification and response, specifically including the following two operations: Operation a: Recalculate the hazard zone Ω(t) and the optimal evacuation route every n seconds. When the original route will be covered by the hazard zone Ω(t) within the next k seconds, automatically trigger the evacuation route replanning. Operation b: Using the spatiotemporal distance function D(t), determine whether there is a spatiotemporal intersection between the movement of personnel along the evacuation path and the spread of the disaster, and trigger an emergency response accordingly based on the determination result, wherein: The spatiotemporal distance function D(t) = ||P(t) - Q(t)|| - (V_s - V_p)·t, where ||P(t) - Q(t)|| is the spatial distance between the location of the person and the disaster-prone area at time t, and (V_s - V_p)·t is the potential distance compression caused by the difference in speed between disaster spread and personnel movement over time; When D(t)>0, it is determined that there is no spatiotemporal intersection and no emergency response is triggered; when D(t)≤0 and t≥t0, it is determined that there is a spatiotemporal intersection and an emergency response is automatically triggered.

10. The mine monitoring and personnel positioning linkage control method according to claim 9, characterized in that, In step S4, the graded emergency control includes the following levels: Level 1 Emergency: The execution condition is D(t)>0 but it shows a decreasing trend. The execution content is to activate the audible and visual alarm, and the alarm intensity and frequency increase as D(t) decreases. Level 2 Emergency Response: The execution condition is D(t)≤0 but t>t0+window threshold secondsl, and the execution content is to remotely adjust the ventilation equipment to form an air curtain isolation zone; Level 3 Emergency Response: The execution condition is t≤t0+window threshold secondsl, and the execution content is to trigger the automatic support of the hydraulic support and simultaneously start the life support system of the refuge chamber.

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