CN109029550A - A kind of Underground Space Environment monitoring network - Google Patents

Abstract

Translated fromChinese

本发明公开了一种地下空间环境监测网络，包括主节点计算机(16)，所述主节点计算机(16)与预设种类的多个传感器之间为无线信号连接；所述预设种类的多个传感器安装在地下空间(100)内铺设的热力管道(9)和供水管道(12)中以及地下空间的侧墙上；所述预设种类的多个传感器用于采集对应的地下空间的检测数据。本发明公开的一种便捷电池换装的地下空间环境监测网络，其可以安全、可靠地对地下管网的环境进行全方位的监测，能够减少地下管网的安全隐患，保证地下管网的安全使用，有利于广泛地应用，具有重大的生产实践意义。

The invention discloses an underground space environment monitoring network, which comprises a main node computer (16), and the main node computer (16) is connected with a plurality of preset types of sensors through wireless signals; A sensor is installed in the thermal pipeline (9) and the water supply pipeline (12) laid in the underground space (100) and the side wall of the underground space; a plurality of sensors of the preset type are used to collect the detection of the corresponding underground space data. The invention discloses an underground space environment monitoring network for convenient battery replacement, which can safely and reliably monitor the environment of the underground pipe network in all directions, reduce potential safety hazards of the underground pipe network, and ensure the safety of the underground pipe network The use is conducive to wide application and has great practical significance in production.

Description

A kind of Underground Space Environment monitoring network

Technical field

The present invention relates to Underground Space Environment monitoring technical fields, more particularly to a kind of Underground Space Environment monitoring netNetwork.

Background technique

Currently, underground pipe network is the most important thing in Chinese Urbanization construction process, it is to play city function, it is ensured that cityEconomy, Community health, coordinated development important material base, be presented intricate, mutually overlapping stereoscopic features, cityLower pipe network is the important component of urban infrastructure construction, be a city energy conveying, mass transfer, information transmitting,The important carrier that water drainage mitigation and waste dump.

But China has quite a few city not carry out unified allocation plan and management, underground to underground pipe networkThe management work of pipe network does things in his own way, lacks link up mutually, in unordered controlled state, compared with urban construction speed.PipeReason is serious to fall behind, and accident is frequent occurrence.Because cutting off the water caused by accident, having a power failure, stop the supple of gas or steam, the consequences such as communicating interrupt, fire explosion, noOnly highly impact the quality of life and life security of the people, at the same also influence economic construction and national defense construction it is normal intoRow.

For current underground pipe network, the problem of being primarily present are as follows:, can not since the space structure of underground pipe network is complicatedComprehensive monitoring is carried out to the environment of underground pipe network, so that the security risk of underground pipe network can not be reduced, guarantees underground pipe networkSafe handling.

Therefore, at present there is an urgent need to develop a kind of technology out, can the environment of safe and reliable ground-to-ground down tube net carry outComprehensive monitoring can reduce the security risk of underground pipe network, guarantee the safe handling of underground pipe network.

Summary of the invention

In view of this, the object of the present invention is to provide a kind of Underground Space Environment monitoring network, it can be reliably and securelyComprehensive monitoring is carried out to the environment of underground pipe network, the security risk of underground pipe network can be reduced, guarantee the peace of underground pipe networkIt entirely uses, is conducive to widely apply, be of great practical significance.

For this purpose, the present invention provides a kind of Underground Space Environment monitoring network, including host node computer, the host nodeIt is connected between computer and multiple sensors of default type for wireless signal；

Multiple sensors of the default type be mounted in the heat distribution pipeline and water supply line being laid in the underground space withAnd on the side wall of the underground space；

Multiple sensors of the default type are used to acquire the detection data of the corresponding underground space.

Wherein, multiple sensors of the default type include: the first temperature sensor, second flow sensor and secondPressure sensor；

First temperature sensor, second flow sensor and second pressure sensor are mounted on the water supply lineIn, for detecting the temperature of water, flow and hydraulic pressure in the water supply line, it is then sent to host node computer.

Wherein, multiple sensors of the default type further include: first pressure sensor, first flow sensor andTwo temperature sensors；

The first pressure sensor, first flow sensor and second temperature sensor are mounted on the heat distribution pipelineIn, for detecting pressure, flow and the temperature of institute's transmission medium in the heat distribution pipeline, it is then sent to host node computer.

Wherein, multiple sensors of the default type further include: oxygen sensor, carbon monoxide transducer, hydrogen sulfideSensor, Temperature Humidity Sensor and NOx sensor；

The oxygen sensor, carbon monoxide transducer, hydrogen sulfide sensor, Temperature Humidity Sensor and nitrogen oxides sensingDevice is separately mounted on the side wall of the underground space, dense for collecting the oxygen gas concentration in the underground space, CO gasDegree, sulfureted hydrogen gas concentration, temperature, humidity and nitrous oxides concentration are then sent to host node computer.

Wherein, further includes: the first monitoring camera and the second monitoring camera；

First monitoring camera is located at the upper right side of the second monitoring camera；

First monitoring camera and the second monitoring camera are mounted on the side wall of the underground space, are respectively used to acquireThe image of institute overlay area, is then sent to host node computer.

Wherein, the host node computer, comprising: data memory module, data processing module and wireless data transmission mouldBlock, in which:

Data memory module, the detection data of the underground space for acquiring multiple sensors of the default type,Real-time perfoming storage；

Data processing module is connected with data memory module, for acquiring multiple sensors of the default typeThe underground space detection data, be compared respectively with preset, corresponding normal value range, if be located at it is preset,Within corresponding normal value range, then corresponding data qualifier is judged, otherwise, then judge corresponding defect of data, sendControl signal starts alarm and control the exhaust system that starting is located at the top of the underground space simultaneously to alarm system carries out air draft,Meanwhile comparable situation being sent to the computer of ground base station by wireless data transfer module in real time；

Data processing module is also used to lead to first monitoring camera and the second monitoring camera acquired imageCross the computer that wireless data transfer module is sent to ground base station.

Wherein, infrared detector is additionally provided in the predeterminated position of the underground space, in which:

Infrared detector is typically mounted at inlet and outlet, feed inlet, escape hole, control station and piping lane inlet, for supervisingIt measures someone or object enters monitoring area, alarm signal is passed into host node computer, then by host node computerControl signal is sent, to start alarm system.

Wherein, liquid level sensor device, the bottom surface of the underground space are also equipped in the side wall predeterminated position of the underground spaceIt is also equipped with draining pump, in which:

Liquid level sensor device is used for when drought and waterlogging occurs in the underground space, if detecting that underground water liquid level goes upWhen to preset danger threshold, level of ground water alarm signal is sent to host node computer；

Host node computer is also used to after receiving level of ground water alarm signal, sends starting control signal plumbingPump is drained to control starting draining pump, while status water-level alarm signal is also passed through wireless data transfer module, hairGive the computer of ground base station.

Wherein, further includes: the ground between heat distribution pipeline and water supply line is arranged in crusing robot, the crusing robotOn face.

Wherein, the bottom of the crusing robot has wheel, is equipped with infrared thermal imager, visible image capturing thereonHead, laser navigation module and trial trench sensor；

The side of the crusing robot is additionally provided with anticollision strip；

Battery, status lamp, antenna and laser vibration measurer are also equipped on the crusing robot；

Battery, respectively with infrared thermal imager, visible image capturing head, laser navigation module, trial trench sensor, status lamp,Antenna is connected with laser vibration measurer.

By the above technical solution provided by the invention as it can be seen that compared with prior art, the present invention provides a kind of undergroundsSpace environment monitor network, can the environment of safe and reliable ground-to-ground down tube net carry out comprehensive monitoring, can reduce groundThe security risk of lower pipe network, guarantees the safe handling of underground pipe network, is conducive to widely apply, and anticipates with great production practicesJustice.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of Underground Space Environment monitoring network provided by the invention；

Fig. 2 is the structure schematic diagram of crusing robot in a kind of Underground Space Environment monitoring network provided by the invention；

In figure, 1 is well lid；2 be infrared detector；3 be exhaust system；

4 be the first monitoring camera；5 be the second monitoring camera；

6 be alarm system；7 be liquid level sensor；8 be draining pump；

9 be heat distribution pipeline；10 be first pressure sensor；11 be the first temperature sensor；12 be water supply line；13 be to patrolExamine robot；14 be first flow sensor；15 be second flow sensor；16 be main node computer；17 be second temperatureSensor；18 be second pressure sensor；

19 be oxygen sensor；20 be carbon monoxide transducer；21 be hydrogen sulfide sensor；22 be Temperature Humidity Sensor；23 be NOx sensor；

24 be infrared thermal imager；25 be visible image capturing head；26 be laser navigation module；27 be trial trench sensor；28For anticollision strip；29 be battery；30 be status lamp；31 be antenna；32 be laser vibration measurer.

Specific embodiment

In order to understand the present invention program with making those skilled in the art's replacement, with reference to the accompanying drawing with embodiment to thisInvention is described in further detail.

Referring to Fig. 1 to Fig. 2, the present invention provides a kind of Underground Space Environment monitoring network, including host node computer 16,Between multiple sensors (being used as minor node) of the host node computer 16 and default type for wireless signal (especially byPurple honeybee ZigBee wireless communication technique) connection；

Multiple sensors of the default type are mounted on the heating power being laid in the underground space 100 (i.e. underground pipe network space)In pipeline 9 and water supply line 12 and on the side wall of the underground space；

Multiple sensors of the default type are used to acquire the detection data of the corresponding underground space, for example, temperature passesSensor is used to detect the temperature data of institute's installation site.

In the present invention, in specific implementation, multiple sensors of the default type include: the first temperature sensor 11,Second flow sensor 15 and second pressure sensor 182；

First temperature sensor 11, second flow sensor 15 and second pressure sensor 18 are mounted on the water supplyIn pipeline 12, for detecting temperature, flow and the hydraulic pressure of water in the water supply line 12, it is then sent to host node computer16 (especially by purple honeybee ZigBee wireless communication techniques).

In the present invention, in specific implementation, multiple sensors of the default type further include: first pressure sensor10, first flow sensor 14 and second temperature sensor 17；

The first pressure sensor 10, first flow sensor 14 and second temperature sensor 17 are mounted on the heating powerIn pipeline 9, for detecting pressure, flow and the temperature of institute's transmission medium (such as hot water or steam) in the heat distribution pipeline 9,It is then sent to host node computer 16 (especially by purple honeybee ZigBee wireless communication technique, such as ZigBee ad hoc network).

It should be noted that heat distribution pipeline is the transmission pipeline of high-temperature gas or high-temp liquid, such as warm in cityFeed channel.

In the present invention, in specific implementation, multiple sensors of the default type further include: oxygen sensor 19, oneAoxidize carbon sensor 20, hydrogen sulfide sensor 21, Temperature Humidity Sensor 22 and NOx sensor 23；

The oxygen sensor 19, carbon monoxide transducer 20, hydrogen sulfide sensor 21, Temperature Humidity Sensor 22 and nitrogen oxygenCompound sensor 237 is separately mounted on the side wall of the underground space, is collected for the integrated environment information to the underground space,Specifically for collecting the oxygen gas concentration in the underground space, carbon monoxide gas concentration, sulfureted hydrogen gas concentration, temperature, wetDegree and nitrous oxides concentration, are then sent to host node computer 16 (especially by purple honeybee ZigBee wireless communication technique, such asZigBee ad hoc network).

In the present invention, in specific implementation, Underground Space Environment provided by the invention monitors network, further includes: the first prisonControl camera 4 and the second monitoring camera 5；

First monitoring camera 4 is located at the upper right side of the second monitoring camera 5；

First monitoring camera 4 and the second monitoring camera 5 are mounted on the side wall of the underground space, are respectively used to adoptThe image for collecting institute overlay area, is then sent to host node computer 10 (especially by purple honeybee ZigBee wireless communication technique, such asZigBee ad hoc network), institute overlay area is monitored in real time to realize.

In specific implementation, first monitoring camera 1 and the second monitoring camera 2 can be monitoring gunlock.

It should be noted that first monitoring camera 4 can be at 15 meters of pipe network entrance located underground in specific implementationFurred ceiling supports 360 degree of infrared real time monitoring.Side wall at 18 meters of second monitoring camera 5 pipe network entrance located underground,Institute overlay area can be monitored in real time.

It should be noted that in multiple sensors of the default type, each sensor includes for the present inventionPower supply module, central control module, environment acquisition module and wireless communication module.

For the present invention, the host node computer 16, comprising: data memory module, data processing module and without line numberAccording to transmission module, in which:

Data memory module, for the underground of multiple sensors (i.e. as minor node) acquisition of the default type is emptyBetween detection data, real-time perfoming storage, to form database；

Data processing module is connected with data memory module, for (making multiple sensors of the default typeFor minor node) detection data of the underground space of acquisition, it is (such as preset with preset, corresponding normal value range respectivelyTemperature value range, preset humidity range) be compared, if be located at preset, corresponding normal value range itIt is interior, then judge corresponding data qualifier, otherwise, then judge corresponding defect of data, at this time illustrate the underground space there areEvil gas will send control signal and give alarm system 6 (side wall for being mounted on the underground space), to start alarm, and simultaneouslyControl starting is located at the exhaust system 3 at the top of the underground space and carries out air draft, meanwhile, comparable situation is passed by wireless data in real timeDefeated module is sent to the computer of ground base station, so that the staff on ground is recognized that every environment of the underground spaceParameter situation obtains the environmental information of the underground space, realizes the real time monitoring of underground pipe network.In addition, data processing module is also usedIn by 5 acquired image of first monitoring camera 4 and the second monitoring camera, sent by wireless data transfer moduleTo the computer of ground base station.

For the present invention, it is additionally provided in the predeterminated position (at the well lid 1 being provided at the top of such as) of the underground space 100 infraredDetector 2, in which:

Infrared detector 2 is typically mounted at inlet and outlet, feed inlet, escape hole, control station and piping lane inlet, is used forIt monitors that someone or object enter monitoring area, alarm signal is passed into host node computer 16, then by host node meterCalculation machine 16 sends control signal, to start alarm system 6.

For the present invention, liquid level sensor device 7, the underground are also equipped in the side wall predeterminated position of the underground space 100The bottom surface in space 100 is also equipped with draining pump 8, in which:

Liquid level sensor device 7 is used for when drought and waterlogging occurs in the underground space, if detecting that underground water liquid level goes upWhen to preset danger threshold, level of ground water alarm signal is sent to host node computer 16；

Host node computer 16 is also used to after receiving level of ground water alarm signal, sends starting control signal dischargeWater pump 8 is drained to control starting draining pump 8.At the same time it can also which status water-level alarm signal is passed by wireless dataDefeated module is sent to the computer of ground base station.

It should be noted that the alarm system 6 includes at least one loudspeaker, which is previously stored with one section of soundTablet section.

It should be noted that the exhaust system 3 can be the exhaust system of multiple exhaust fans composition.

For the present invention, in order to which more preferably ground-to-ground down space is monitored, Underground Space Environment monitoring provided by the inventionNetwork further include: the ground between heat distribution pipeline 9 and water supply line 12 is arranged in crusing robot 13, the crusing robot 13On.

It should be noted that the crusing robot 13 is mainly used for carrying out the security information monitoring of underground utilities, collectThe security information of underground utilities.The bottom of the crusing robot 13 has wheel, can be equipped with infrared thermal imager thereon24, visible image capturing head 25, laser navigation module 26 (existing laser navigation module) and trial trench sensor 27；

Wherein, by infrared thermal imager 24, it can detecte temperature change, so as to 3 He of real-time monitoring heat distribution pipelineThe leakage problem of the underground utilities such as water supply line 6；

Visible image capturing head 25 monitors in real time for the image to the underground space, for ensureing pipeline performance safetyThere is important role.

Laser navigation module 26, for ensureing route planning and the intelligent detecting of crusing robot 13.

It should be noted that for laser navigation module, in practical application, using its constructing environment map and fixed in real timePosition, so that robot automatic avoiding obstacles in circumstances not known, realize autonomous.Dynamic heuristic path can specifically be adoptedSearching algorithm can allow robot not need preparatory typing map, so that it may which the freedom of movement in foreign environment is hidden dynamic and hinderedHinder object.

In specific implementation, the laser navigation module 26 can be existing laser navigation module, such as can be ShanghaiThe laser navigation module of Si Lan Science and Technology Ltd. production.

The side of crusing robot 13 is arranged in trial trench sensor 27, for crusing robot 13 underground complexity ringAutonomous operation in border.In specific implementation, can by position immediately with map structuring (SLAM) algorithm, when being detected with gullyWhen appearing in travelling route, automatic obstacle avoiding is carried out.

In specific implementation, the trial trench sensor 27 can pass for the image recognition of Keyemce (China) Co., Ltd productionSensor.

In addition, being additionally provided with anticollision strip 28 for crusing robot 13 provided by the invention in side, can to patrolInspection robot 13 avoids the sharp impacts with surroundings wall, ensures its stable operation.

Battery 29, status lamp 30, antenna 31 and laser vibration measurer 32 are also equipped on the crusing robot 13, in which:

Laser vibration measurer 32 is eliminated, structure for the material flaw detection of underground utilities, the fault diagnosis of mechanical system, noiseThe dynamic analysis of part.

Meanwhile antenna 31, data for monitoring crusing robot 13 by wireless communication network (especially by purpleBee ZigBee cordless communication network) it is sent in host node computer 16 and carries out data process&analysis, finally realize buried pipe360 degree of line monitor automatically without dead angle all the period of time；

Battery 29, respectively with infrared thermal imager 24, visible image capturing head 25, (the existing laser of laser navigation module 26Navigation module), trial trench sensor 27, status lamp 30, antenna 31 be connected with laser vibration measurer 32, for providing these portionsThe work electricity consumption of part.

It should be noted that the crusing robot 13 is used to move and carry out the main structure of environmental monitoring, it is existingThe structure of crusing robot be not unfolded to describe herein herein similarly to the prior art.

In specific implementation, the data memory module, data processing module and wireless data transfer module are located at host nodeThe lower part of computer 16.

It should be noted that the data of all minor nodes can be transmitted to master by zigbee network for the present inventionIn node computer, data are collected, handle, compare and are retrieved by each data module of host node computer, mostThe environmental information that will be obtained afterwards can be transferred out by zigbee wireless communication module.Acquired by the data of whole system,Storage, processing and transmission, realize the comprehensive utilization of underground pipe gallery information, mention for the overall planning and integrated dispatch of the underground spaceFor strong data supporting.

In conclusion compared with prior art, a kind of Underground Space Environment monitoring network provided by the invention can be withThe environment of safe and reliable ground-to-ground down tube net carries out comprehensive monitoring, can reduce the security risk of underground pipe network, guarantees groundThe safe handling of lower pipe network is conducive to widely apply, be of great practical significance.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the artFor member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answeredIt is considered as protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种地下空间环境监测网络，其特征在于，包括主节点计算机(16)，所述主节点计算机(16)与预设种类的多个传感器之间为无线信号连接；1. a kind of underground space environment monitoring network, it is characterized in that, comprise master node computer (16), be wireless signal connection between described master node computer (16) and a plurality of sensors of preset kind;所述预设种类的多个传感器安装在地下空间(100)内铺设的热力管道(9)和供水管道(12)中以及地下空间的侧墙上；A plurality of sensors of the preset type are installed in the thermal pipeline (9) and the water supply pipeline (12) laid in the underground space (100) and on the side wall of the underground space;所述预设种类的多个传感器用于采集对应的地下空间的检测数据。The multiple sensors of the preset type are used to collect detection data of the corresponding underground space.2.如权利要求1所述的地下空间环境监测网络，其特征在于，所述预设种类的多个传感器包括：第一温度传感器(11)、第二流量传感器(15)和第二压力传感器(18)；2. the underground space environment monitoring network as claimed in claim 1, is characterized in that, a plurality of sensors of described preset kind comprises: the first temperature sensor (11), the second flow sensor (15) and the second pressure sensor (18);所述第一温度传感器(11)、第二流量传感器(15)和第二压力传感器(18)安装在所述供水管道(12)中，用于检测所述供水管道(12)中水的温度、流量以及水压，然后发送给主节点计算机(16)。The first temperature sensor (11), the second flow sensor (15) and the second pressure sensor (18) are installed in the water supply pipeline (12) for detecting the temperature of water in the water supply pipeline (12) , flow and water pressure, then send to the main node computer (16).3.如权利要求2所述的地下空间环境监测网络，其特征在于，所述预设种类的多个传感器还包括：第一压力传感器(10)、第一流量传感器(14)和第二温度传感器(17)；3. the underground space environment monitoring network as claimed in claim 2, is characterized in that, the multiple sensors of described preset kind also comprise: the first pressure sensor (10), the first flow sensor (14) and the second temperature sensor (17);所述第一压力传感器(10)、第一流量传感器(14)和第二温度传感器(17)安装在所述热力管道(9)中，用于检测所述热力管道(9)中所传输介质的压力、流量和温度，然后发送给主节点计算机(16)。The first pressure sensor (10), the first flow sensor (14) and the second temperature sensor (17) are installed in the thermal pipeline (9) for detecting the transmission medium in the thermal pipeline (9) The pressure, flow and temperature are then sent to the master node computer (16).4.如权利要求3所述的地下空间环境监测网络，其特征在于，所述预设种类的多个传感器还包括：氧气传感器(19)、一氧化碳传感器(20)、硫化氢传感器(21)、温湿度传感器(22)和氮氧化物传感器(23)；4. underground space environment monitoring network as claimed in claim 3, is characterized in that, a plurality of sensors of described preset kind also comprises: oxygen sensor (19), carbon monoxide sensor (20), hydrogen sulfide sensor (21), Temperature and humidity sensor (22) and nitrogen oxide sensor (23);所述氧气传感器(19)、一氧化碳传感器(20)、硫化氢传感器(21)、温湿度传感器(22)和氮氧化物传感器(23)分别安装在地下空间的侧墙上，用于收集地下空间中的氧气气体浓度、一氧化碳气体浓度、硫化氢气体浓度、温度、湿度以及氮氧化物浓度，然后发送给主节点计算机(16)。The oxygen sensor (19), the carbon monoxide sensor (20), the hydrogen sulfide sensor (21), the temperature and humidity sensor (22) and the nitrogen oxide sensor (23) are respectively installed on the side walls of the underground space for collecting Oxygen gas concentration, carbon monoxide gas concentration, hydrogen sulfide gas concentration, temperature, humidity and nitrogen oxide concentration in the gas are sent to the main node computer (16) then.5.如权利要求4所述的地下空间环境监测网络，其特征在于，还包括：第一监控摄像头(4)和第二监控摄像头(5)；5. The underground space environment monitoring network as claimed in claim 4, further comprising: a first monitoring camera (4) and a second monitoring camera (5);所述第一监控摄像头4位于第二监控摄像头(5)的右上方；The first monitoring camera 4 is positioned at the upper right of the second monitoring camera (5);所述第一监控摄像头(4)和第二监控摄像头(5)安装在地下空间的侧墙上，分别用于采集所覆盖区域的图像，然后发送给主节点计算机(16)。The first monitoring camera (4) and the second monitoring camera (5) are installed on the side wall of the underground space, and are respectively used to collect images of the covered areas, and then send them to the master node computer (16).6.如权利要求5所述的地下空间环境监测网络，其特征在于，所述主节点计算机(16)，包括：数据存储模块、数据处理模块和无线数据传输模块，其中：6. the underground space environment monitoring network as claimed in claim 5, is characterized in that, described main node computer (16), comprises: data storage module, data processing module and wireless data transmission module, wherein:数据存储模块，用于将所述预设种类的多个传感器采集的地下空间的检测数据，实时进行存储；The data storage module is used to store the detection data of the underground space collected by the plurality of sensors of the preset type in real time;数据处理模块，与数据存储模块相连接，用于将所述预设种类的多个传感器采集的地下空间的检测数据，分别与预设的、对应的正常取值范围进行比较，如果位于预设的、对应的正常取值范围之内，则判断相应的数据合格，否则，则判断相应的数据不合格，发送控制信号给报警系统启动报警以及同时控制启动位于地下空间顶部的排风系统进行排风，同时，实时将比较情况通过无线数据传输模块发送给地面基站的计算机；The data processing module is connected with the data storage module, and is used to compare the detection data of the underground space collected by the plurality of sensors of the preset type with the preset and corresponding normal value ranges respectively. If it is within the corresponding normal value range, the corresponding data will be judged to be qualified; otherwise, the corresponding data will be judged to be unqualified, and a control signal will be sent to the alarm system to start the alarm and at the same time control the start of the exhaust system at the top of the underground space for exhaust. At the same time, the comparison situation is sent to the computer of the ground base station through the wireless data transmission module in real time;数据处理模块还用于将所述第一监控摄像头和第二监控摄像头所采集的图像，通过无线数据传输模块发送给地面基站的计算机。The data processing module is also used to send the images collected by the first monitoring camera and the second monitoring camera to the computer of the ground base station through the wireless data transmission module.7.如权利要求6所述的地下空间环境监测网络，其特征在于，在地下空间(100)的预设位置还设置有红外探测器(2)，其中：7. The underground space environment monitoring network as claimed in claim 6, characterized in that, an infrared detector (2) is also arranged at the preset position of the underground space (100), wherein:红外探测器(2)，一般安装在进出风口、进料口、逃生孔、控制站和管廊入口处，用于监测到有人或者物进入到监控区域，将报警信号传递给主节点计算机(16)，然后由主节点计算机(16)发送控制信号，以启动报警系统(6)。Infrared detectors (2) are generally installed at air inlets and outlets, material inlets, escape holes, control stations, and pipe corridor entrances, and are used to detect people or objects entering the monitoring area, and transmit alarm signals to the main node computer (16 ), then the master node computer (16) sends a control signal to start the alarm system (6).8.如权利要求6所述的地下空间环境监测网络，其特征在于，在地下空间(100)的侧壁预设位置还安装有液位传感器器(7)，所述地下空间(100)的底面还安装有排水泵(8)，其中：8. The underground space environment monitoring network as claimed in claim 6, characterized in that, a liquid level sensor (7) is also installed at a preset position on the side wall of the underground space (100), and the underground space (100) The bottom surface is also equipped with a drainage pump (8), wherein:液位传感器器(7)，用于当地下空间内发生旱涝灾害时，如果检测到地下水液位上涨至预设的危险阈值时，将地下水位报警信号发送给主节点计算机(16)；The liquid level sensor (7) is used to send the groundwater level alarm signal to the master node computer (16) when it is detected that the groundwater level rises to a preset dangerous threshold when a drought or flood disaster occurs in the underground space;主节点计算机(16)，还用于在接收到地下水位报警信号后，发送启动控制信号给排水泵(8)，从而控制启动排水泵(8)进行排水，同时还将地位水位报警信号通过无线数据传输模块，发送给地面基站的计算机。The main node computer (16) is also used to send a start control signal to the drainage pump (8) after receiving the groundwater level alarm signal, thereby controlling the start of the drainage pump (8) to drain water, and simultaneously sending the ground water level alarm signal through wireless The data transmission module sends to the computer of the ground base station.9.如权利要求1至8中任一项所述的地下空间环境监测网络，其特征在于，还包括：巡检机器人(13)，所述巡检机器人(13)设置在热力管道(9)和供水管道(12)之间的地面上。9. The underground space environment monitoring network according to any one of claims 1 to 8, further comprising: an inspection robot (13), and the inspection robot (13) is arranged on the thermal pipeline (9) and on the ground between the water supply pipe (12).10.如权利要求1至8中任一项所述的地下空间环境监测网络，其特征在于，所述巡检机器人(13)的底部具有车轮，其上安装有红外热成像仪(24)、可见光摄像头(25)、激光导航模块(26)和探沟传感器(27)；10. the underground space environment monitoring network as described in any one in claim 1 to 8, it is characterized in that, the bottom of described inspection robot (13) has wheel, and infrared thermal imager (24) is installed on it, Visible light camera (25), laser navigation module (26) and ditch detection sensor (27);所述巡检机器人(13)的侧面还设置有防撞条(28)；The side of described inspection robot (13) is also provided with anti-collision strip (28);所述巡检机器人(13)上还安装有电池(29)、状态灯(30)、天线(31)和激光测振仪(32)；A battery (29), a status light (30), an antenna (31) and a laser vibrometer (32) are also installed on the inspection robot (13);电池(29)，分别与红外热成像仪(24)、可见光摄像头(25)、激光导航模块(26)、探沟传感器(27)、状态灯(30)、天线(31)和激光测振仪(32)相连接。Battery (29), respectively connected with infrared thermal imager (24), visible light camera (25), laser navigation module (26), trench detection sensor (27), status light (30), antenna (31) and laser vibrometer (32) are connected.