CN108827379A - A kind of Underground Space Environment monitoring network using wireless charging technology - Google Patents

Abstract

The invention discloses an underground space environment monitoring network using wireless charging technology, which comprises a master node computer (10), and the master node computer (10) is connected to a plurality of preset types of sensors by wireless signals; A plurality of sensors of preset types are installed in the thermal pipeline (3) and the water supply pipeline (6) laid in the underground space (100) and on the side walls of the underground space; the plurality of sensors of the preset types are used to collect corresponding The detection data of the underground space. The invention discloses an underground space environment monitoring network using wireless charging technology, 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

An underground space environment monitoring network using wireless charging technology

technical field

The invention relates to the technical field of underground space environment monitoring, in particular to an underground space environment monitoring network using wireless charging technology.

Background technique

At present, the underground pipe network is the top priority in the process of urbanization in my country. It is an important material basis for exerting urban functions and ensuring urban economic and social health and coordinated development. It presents intricate and overlapping three-dimensional characteristics. Pipe network is an important part of urban infrastructure construction, and an important carrier of energy transmission, material transmission, information transmission, drainage and disaster reduction, and waste disposal in a city.

However, a considerable number of cities in my country have not carried out unified layout planning and management of underground pipe networks. The management of underground pipe networks is fragmented, lacks communication with each other, and is in a state of disordered management. Compared with the speed of urban construction. Management is seriously backward and accidents often occur. The consequences of water cuts, power cuts, gas cuts, communication interruptions, fires and explosions caused by accidents not only seriously affect the quality of life and life safety of the people, but also affect the normal progress of economic construction and national defense construction.

For the current underground pipe network, the main problems are: due to the complex spatial structure of the underground pipe network, it is impossible to monitor the environment of the underground pipe network in all directions, so that it is impossible to reduce the safety hazards of the underground pipe network and ensure the safety of the underground pipe network. safe use.

Therefore, there is an urgent need to develop a technology that can safely and reliably monitor the environment of the underground pipe network in all directions, reduce hidden dangers of the underground pipe network, and ensure the safe use of the underground pipe network.

Contents of the invention

In view of this, the purpose of the present invention is to provide an underground space environment monitoring network using wireless charging technology, which can safely and reliably monitor the environment of the underground pipe network in all directions, and can reduce the potential safety hazards of the underground pipe network. Ensuring the safe use of the underground pipe network is conducive to wide application and has great practical significance in production.

For this reason, the present invention provides an underground space environment monitoring network using wireless charging technology, including a master node computer, and a wireless signal connection between the master node computer and a plurality of preset types of sensors;

A plurality of sensors of the preset type are installed in the heating pipes and water supply pipes laid in the underground space and on the side walls of the underground space;

The multiple sensors of the preset type are used to collect detection data of the corresponding underground space.

Wherein, the multiple sensors of the preset type include: a first temperature sensor, a second flow sensor and a second pressure sensor;

The first temperature sensor, the second flow sensor and the second pressure sensor are installed in the water supply pipeline to detect the temperature, flow and water pressure of the water in the water supply pipeline, and then send them to the master node computer.

Wherein, the multiple sensors of the preset type also include: a first pressure sensor, a first flow sensor and a second temperature sensor;

The first pressure sensor, the first flow sensor and the second temperature sensor are installed in the thermal pipeline for detecting the pressure, flow and temperature of the medium transported in the thermal pipeline, and then sending them to the master node computer.

Wherein, the multiple sensors of the preset type also include: oxygen sensor, carbon monoxide sensor, hydrogen sulfide sensor, temperature and humidity sensor and nitrogen oxide sensor;

The oxygen sensor, carbon monoxide sensor, hydrogen sulfide sensor, temperature and humidity sensor and nitrogen oxide sensor are installed on the side wall of the underground space respectively, and are used to collect the oxygen gas concentration, carbon monoxide gas concentration, hydrogen sulfide gas concentration, Temperature, humidity, and nitrogen oxide concentration are then sent to the master node computer.

Wherein, it also includes: a first monitoring camera and a second monitoring camera;

The first monitoring camera is located at the upper right of the second monitoring camera;

The first monitoring camera and the second monitoring camera 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.

Wherein, the master node computer includes: a data storage module, a data processing module and a wireless data transmission module, wherein:

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;

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 is judged to be qualified, otherwise, the corresponding data is judged to be unqualified, and 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;

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.

Wherein, it also includes: an inspection robot, and the inspection robot is arranged on the ground between the thermal pipeline and the water supply pipeline;

The bottom of the inspection robot has wheels on which an infrared thermal imager, a visible light camera, a laser navigation module and a ditch sensor are installed;

The side of the inspection robot is also provided with anti-collision strips;

The inspection robot is also equipped with a battery, a status light, an antenna and a laser vibrometer;

The battery is respectively connected with the infrared thermal imager, the visible light camera, the laser navigation module, the trench detection sensor, the status light, the antenna and the laser vibrometer.

Wherein, the master node computer is also arranged on the ground between the thermal pipeline and the water supply pipeline;

The upper part of the main node computer has horizontally distributed and concave robot access passages;

A wireless charging pile is provided on the bottom surface of the robot access channel;

When the inspection robot is located in the robot entrance and exit passage, a coil is arranged on the bottom surface of the inspection robot directly above the wireless charging pile.

Wherein, the left and right sides of the robot access passage also have inclined ramps.

Wherein, the coil is conductively connected with the battery through an AC-to-DC circuit.

It can be seen from the above technical solutions provided by the present invention that compared with the prior art, the present invention provides an underground space environment monitoring network using wireless charging technology, which can safely and reliably monitor the environment of the underground pipe network in all directions. Monitoring can reduce hidden dangers of underground pipe network, ensure the safe use of underground pipe network, is conducive to wide application, and has great practical significance in production.

In addition, the underground space environment monitoring network using wireless charging technology provided by the present invention uses a patrol robot, which can conveniently wirelessly charge the patrol robot and prolong the working hours of the patrol robot, thereby significantly improving the monitoring of underground pipes. Network monitoring effect.

Description of drawings

Fig. 1 is a schematic structural diagram of an underground space environment monitoring network utilizing wireless charging technology provided by the present invention;

Fig. 2 is a schematic diagram of data transmission formed based on the ZigBee wireless communication technology of an underground space environment monitoring network using wireless charging technology provided by the present invention;

Fig. 3 is a schematic diagram of the cooperative working state of the master node computer and the inspection robot in an underground space environment monitoring network utilizing wireless charging technology provided by the present invention;

Fig. 4 is a schematic structural diagram of an inspection robot in an underground space environment monitoring network utilizing wireless charging technology provided by the present invention;

In the figure, 1 is the first monitoring camera; 2 is the second monitoring camera; 3 is the thermal pipeline; 4 is the first pressure sensor; 5 is the first temperature sensor; 6 is the water supply pipeline; 7 is the inspection robot; 8 is the second A flow sensor; 9 is the second flow sensor; 10 is the main node computer; 11 is the second temperature sensor; 12 is the second pressure sensor; 13 is the oxygen sensor; 14 is the carbon monoxide sensor; 15 is the hydrogen sulfide sensor; 16 is the temperature sensor Humidity sensor; 17 is nitrogen oxide sensor;

18 is a coil, and 19 is a wireless charging pile;

20 is a data storage module; 21 is a data processing module; 22 is a wireless data transmission module;

23 is an infrared thermal imager; 24 is a visible light camera; 25 is a laser navigation module; 26 is a trench sensor; 27 is an anti-collision strip; 28 is a battery; 29 is a status light; 30 is an antenna; 31 is a laser vibration meter.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Referring to Fig. 1 to Fig. 4, the present invention provides a kind of underground space environment monitoring network utilizing wireless charging technology, comprises main node computer 10, and described main node computer 10 and a plurality of sensors of preset types (that is, as secondary nodes) They are connected by wireless signals (specifically through ZigBee wireless communication technology);

A plurality of sensors of the preset type are installed in the thermal pipeline 3 and the water supply pipeline 6 laid in the underground space 100 (ie, the underground pipe network space) and on the side walls of the underground space;

The multiple sensors of the preset type are used to collect detection data of the corresponding underground space, for example, a temperature sensor is used to detect temperature data of the installed location.

In the present invention, in specific implementation, the multiple sensors of the preset type include: a first temperature sensor 5, a second flow sensor 9 and a second pressure sensor 12;

The first temperature sensor 5, the second flow sensor 9 and the second pressure sensor 12 are installed in the water supply pipeline 6, and are used to detect the temperature, flow rate and water pressure of the water in the water supply pipeline 6, and then send them to the main Node computer 10 (specifically through the ZigBee wireless communication technology).

In the present invention, in terms of specific implementation, the multiple sensors of the preset type also include: a first pressure sensor 4, a first flow sensor 8 and a second temperature sensor 11;

The first pressure sensor 4, the first flow sensor 8 and the second temperature sensor 11 are installed in the thermal pipeline 3 for detecting the pressure of the medium (such as hot water or steam) in the thermal pipeline 3, The flow and temperature are then sent to the master node computer 10 (specifically through ZigBee wireless communication technology, such as ZigBee ad hoc network).

It should be noted that a thermal pipeline is a transmission pipeline for high-temperature gas or liquid, such as a heating pipeline in a city.

In the present invention, in specific implementation, the multiple sensors of the preset type also include: an oxygen sensor 13, a carbon monoxide sensor 14, a hydrogen sulfide sensor 15, a temperature and humidity sensor 16 and a nitrogen oxide sensor 17;

The oxygen sensor 13, the carbon monoxide sensor 14, the hydrogen sulfide sensor 15, the temperature and humidity sensor 16 and the nitrogen oxide sensor 17 are respectively installed on the side walls of the underground space for collecting the overall environmental information of the underground space, specifically for Collect the oxygen gas concentration, carbon monoxide gas concentration, hydrogen sulfide gas concentration, temperature, humidity and nitrogen oxide concentration in the underground space, and then send them to the master node computer 10 (specifically through ZigBee wireless communication technology, such as ZigBee ad hoc network) .

In the present invention, in specific implementation, the underground space environment monitoring network provided by the present invention further includes: a first monitoring camera 1 and a second monitoring camera 2;

The first monitoring camera is located at the upper right of the second monitoring camera 2;

The first monitoring camera 1 and the second monitoring camera 2 are installed on the side wall of the underground space, and are respectively used to collect images of the covered area, and then send them to the master node computer 10 (specifically through ZigBee wireless communication technology, such as ZigBee ad hoc network), so as to realize real-time monitoring of the covered area.

In specific implementation, the first surveillance camera 1 and the second surveillance camera 2 may be surveillance bolts.

It should be noted that, in terms of specific implementation, the first monitoring camera 1 can be placed on the ceiling 15 meters from the entrance of the underground pipe network, and supports 360-degree infrared real-time monitoring. The second monitoring camera 2 is located on the side wall at 18 meters from the entrance of the underground pipe network, and can monitor the covered area in real time.

It should be noted that, for the present invention, among the plurality of preset types of sensors, each sensor includes a power supply module, a central control module, an environment collection module and a wireless communication module.

For the present invention, the master node computer 10 includes: a data storage module 20, a data processing module 21 and a wireless data transmission module 22, wherein:

The data storage module 20 is used to store the detection data of the underground space collected by multiple sensors of the preset type (i.e. as secondary nodes) in real time to form a database;

The data processing module 21 is connected with the data storage module 20, and is used for detecting the detection data of the underground space collected by a plurality of sensors of the preset type (i.e. as secondary nodes), respectively with the preset, corresponding normal values range (such as the preset temperature value range, the preset humidity value range), if it is within the preset and corresponding normal value range, it is judged that the corresponding data is qualified; otherwise, it is judged that the corresponding data is not Qualified, at the same time, the comparison situation is sent to the computer of the ground base station through the wireless data transmission module 22 in real time, so that the staff on the ground can understand the various environmental parameters of the underground space, obtain the environmental information of the underground space, and realize the underground pipe network real-time monitoring. In addition, the data processing module 21 is also used to send the images collected by the first monitoring camera 1 and the second monitoring camera 2 to the computer of the ground base station through the wireless data transmission module 22 .

For the present invention, in order to better monitor the underground space, the underground space environment monitoring network provided by the present invention also includes: an inspection robot 7, which is arranged on the ground between the thermal pipeline 3 and the water supply pipeline 6 superior.

It should be noted that the inspection robot 7 is mainly used for monitoring safety information of underground pipelines and collecting safety information of underground pipelines. The bottom of described inspection robot 7 has wheel, can be installed with infrared thermal imager 23, visible light camera 24, laser navigation module 25 (existing laser navigation module gets final product) and ditch sensor 26 on it;

Wherein, through the infrared thermal imager 23, temperature changes can be detected, so that the leakage problems of underground pipelines such as the thermal pipeline 3 and the water supply pipeline 6 can be monitored in real time;

The visible light camera 24 is used for real-time monitoring of images of the underground space, which plays an important role in ensuring the safety of pipeline operation.

The laser navigation module 26 is used to ensure the route planning and intelligent detection of the inspection robot 13 .

It should be noted that, for the laser navigation module, in practical applications, it is used to construct an environmental map and real-time positioning, so that the robot can automatically avoid obstacles in an unknown environment and realize autonomous movement. Specifically, a dynamic heuristic path search algorithm can be used, which allows the robot to move freely in an unfamiliar environment and avoid dynamic obstacles without having to enter a map in advance.

In terms of specific implementation, the laser navigation module 26 may be an existing laser navigation module, for example, a laser navigation module produced by Shanghai Silan Technology Co., Ltd.

The trench detection sensor 27 is arranged on the side of the inspection robot 13, and is used for the autonomous operation of the inspection robot 13 in an underground complex environment. In terms of specific implementation, the real-time positioning and mapping (SLAM) algorithm can be used to autonomously avoid obstacles when a gully is detected on the travel route.

In terms of specific implementation, the trench detection sensor 27 may be an image recognition sensor produced by Keyence (China) Co., Ltd.

In addition, for the inspection robot 7 provided by the present invention, it is also provided with anti-collision strips 27 on the side, which can prevent the inspection robot 7 from violently colliding with surrounding walls and ensure its stable operation.

A battery 28, a status light 29, an antenna 30 and a laser vibrometer 31 are also installed on the inspection robot 7, wherein:

The laser vibrometer 31 is used for material flaw detection of underground pipelines, fault diagnosis of mechanical systems, noise elimination, and dynamic characteristic analysis of structural parts.

At the same time, the antenna 30 is used to transmit the data monitored by the inspection robot 7 to the main node computer 10 through the wireless communication network (specifically through the ZigBee wireless communication network) for data processing and analysis, and finally realize the 360-degree wireless monitoring of the underground pipeline. Full-time automatic monitoring of dead angle;

Battery 28 is connected with infrared thermal imager 23, visible light camera 24, laser navigation module 25 (existing laser navigation module gets final product), ditch detection sensor 26, status light 29, antenna 30 and laser vibrometer 31 respectively, Used to provide working power for these components.

It should be noted that the main structure of the inspection robot 7 for movement and environmental monitoring is the structure of an existing inspection robot, which is similar to the prior art and will not be described here.

In terms of specific implementation, the data storage module, data processing module and wireless data transmission module are located at the lower part of the master node computer 10 .

For the present invention, in terms of specific implementation, in view of the use of the inspection robot, in order to facilitate the charging of the battery on the inspection robot, prolong the working hours of the inspection robot, thereby significantly improving the monitoring effect on the underground pipe network, mainly including the following improvements :

The main node computer 10 is also arranged on the ground between the thermal pipeline 3 and the water supply pipeline 6;

The upper part of the master node computer 10 has a horizontally distributed, concave robot access channel 200;

A wireless charging pile 19 is provided on the bottom surface of the robot access channel 200;

When the inspection robot 7 is located in the robot access channel 200 (specifically, it can be remotely and wirelessly controlled by the staff to move back to the robot access channel 200), the bottom surface of the inspection robot 7 is located directly above the wireless charging pile 19 A coil 18 is provided.

It should be noted that the inspection robot 7 has wheels that can be retracted upwards, and the wheels can be retracted into the vehicle body; the specific structure can be any existing structure that can realize the retraction of the wheels.

In a specific implementation, the coil 18 is electrically connected to the battery 28 through an AC to DC circuit. It should be noted that the AC-to-DC circuit is preferably a rectifier (that is, a rectifier circuit), such as a bridge rectifier.

In terms of specific implementation, the left and right sides of the robot access passage 200 also have inclined ramps that facilitate the up and down movement of the wheels of the inspection robot 7 .

In terms of specific implementation, when the power of the battery 28 is lower than the preset value, the inspection robot 7 can be remotely and wirelessly controlled by the staff on the ground outside to control the inspection robot to return to the robot entrance and exit passage 200 .

In terms of specific implementation, the data storage module 20 , the data processing module 21 and the wireless data transmission module 22 are located at the lower part of the master node computer 10 .

It should be noted that, for the present invention, the inspection robot 7 mainly collects pipeline safety information in the underground space. Go to the master node computer 10 to charge the battery. Then, by sending a trigger signal, the wireless charging pile 19 with a signal induction switch is triggered to start working, so as to conduct electromagnetic coupling charging with the coil 18. After the charging is completed, the inspection robot leaves and continues to leave.

It should be noted that, for the present invention, the wireless charging technology adopted is a technology that utilizes electromagnetic waves to transmit electric energy, and it transmits electric power based on the principle of electromagnetic induction.

Specifically, the wireless charging pile 19 can be connected to an external AC power supply (for example, a 200V AC mains), and the external AC power supply provides an alternating current to the wireless charging pile 19, so that there is an AC current in the wireless charging pile 19. When the current passes, a changing magnetic field is generated, forming changing magnetic induction lines. At this time, the changing magnetic field lines pass through the coil 18, which will generate an induced electromotive force in the coil 18, and form an AC induced current, which is then converted into a DC current by the AC to DC circuit, and then output to the battery, and the battery 28 is wirelessly Charging (specifically: by giving alternating current with a preset frequency to the primary coil in the wireless charging transmitting end of the wireless charging pile 19 on the main node computer 10, through electromagnetic induction, in the secondary coil of the wireless charging receiving end set on the battery 28 A certain current is generated to transfer energy from the wireless charging transmitting end of the wireless charging pile 19 on the main node computer 10 to the wireless charging receiving end in the battery 28). Therefore, the present invention adds the function of wireless charging, so that the standby time of the electric appliance is prolonged without being bound by a charging cable.

In terms of specific implementation, the wireless charging pile 19 may be an existing charging module, for example, a wireless charging module produced by Emerson Network Power Co., Ltd.

It should be noted that, in the present invention, in specific implementation, the wireless charging transmitting end may include a DC input power supply, an inverter circuit, and a wireless charging transmitting coil; the wireless charging receiving end may include a wireless charging receiving coil, a rectifying circuit and a voltage stabilizing circuit; the wireless charging transmitter and the wireless charging receiver charge a specific battery based on the principle of electromagnetic induction. It should be noted that, for the present invention, the wireless charging technology adopted is a technology that utilizes electromagnetic waves to transmit electric energy, and it transmits electric power based on the principle of electromagnetic induction. Here, similar to the prior art, no further description will be given.

It should also be noted that, in order to get back to the main node computer 10, the inspection robot 7 mainly obtains the position information (such as GPS positioning information) of the sensor of the charging stand on the main node computer 10 in advance, so that it can return to the charging station from the initial position. Move in the direction of the docking station until the power contact shrapnel connected to the charging stand, so as to plan a more reasonable automatic return charging path and efficiently complete the docking with the power supply contact shrapnel.

In the same way, the replacement of the battery next time is accomplished by the alternate switches of a plurality of electromagnets. Therefore, the present invention is simple and fast, can realize rapid battery replacement of the inspection robot 7, realize the round-the-clock non-intermittent work of the inspection robot, and ensure the safe operation of the underground pipe network.

It should be noted that, for the present invention, the data of all secondary nodes can be transmitted to the main node computer through the zigbee network, and the data are collected, processed, compared and retrieved through each data module of the main node computer, and finally the obtained Environmental information can be transmitted through the zigbee wireless communication module. Through the data collection, storage, processing and transmission of the whole system, the comprehensive utilization of underground pipe gallery information is realized, and strong data support is provided for the overall planning and comprehensive scheduling of underground space.

In summary, compared with the prior art, the present invention provides an underground space environment monitoring network using wireless charging technology, which can safely and reliably monitor the environment of the underground pipe network in all directions, and can reduce the The potential safety hazards of the pipeline network, ensuring the safe use of the underground pipeline network, is conducive to wide application, and has great practical significance in production.

In addition, the underground space environment monitoring network using wireless charging technology provided by the present invention uses a patrol robot, which can conveniently wirelessly charge the patrol robot and prolong the working hours of the patrol robot, thereby significantly improving the monitoring of underground pipes. Network monitoring effect.

The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. An underground space environment monitoring network utilizing wireless charging technology, characterized in that it comprises a master node computer (10), which is connected by a wireless signal between the master node computer (10) and a plurality of sensors of preset types; A plurality of sensors of the preset type are installed in the thermal pipeline (3) and the water supply pipeline (6) laid in the underground space (100) and on the side wall of the underground space; The multiple sensors of the preset type are used to collect detection data of the corresponding underground space. 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 (5), the second flow sensor (9) and the second pressure sensor (12); The first temperature sensor (5), the second flow sensor (9) and the second pressure sensor (12) are installed in the water supply pipeline (6) for detecting the temperature of water in the water supply pipeline (6) , flow and water pressure, and then sent to the master node computer (10). 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 (4), the first flow sensor (8) and the second temperature sensor (11); The first pressure sensor (4), the first flow sensor (8) and the second temperature sensor (11) are installed in the thermal pipeline (3) for detecting the transmission medium in the thermal pipeline (3) The pressure, flow and temperature are then sent to the master node computer (10). 4. the 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 (13), carbon monoxide sensor (14), hydrogen sulfide sensor (15), Temperature and humidity sensor (16) and nitrogen oxide sensor (17); The oxygen sensor (13), the carbon monoxide sensor (14), the hydrogen sulfide sensor (15), the temperature and humidity sensor (16) and the nitrogen oxide sensor (17) are respectively installed on the side wall of the underground space, for collecting underground space The oxygen gas concentration, carbon monoxide gas concentration, hydrogen sulfide gas concentration, temperature, humidity and nitrogen oxide concentration in the gas are sent to the master node computer (10) then. 5. The underground space environment monitoring network as claimed in claim 4, further comprising: a first monitoring camera (1) and a second monitoring camera (2); The first monitoring camera is located at the upper right of the second monitoring camera (2); The first monitoring camera (1) and the second monitoring camera (2) 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 (10). 6. the underground space environment monitoring network as claimed in claim 5, is characterized in that, described master node computer (10), comprises: data storage module (20), data processing module (21) and wireless data transmission module (22 ),in: A data storage module (20), configured to store the detection data of the underground space collected by a plurality of sensors of the preset type in real time; The data processing module (21), connected with the data storage module (20), is used to carry out 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 Compare, if it is within the preset, corresponding normal value range, it is judged that the corresponding data is qualified, otherwise, it is judged that the corresponding data is unqualified, and at the same time, the comparison situation is sent to The computer of the base station on the ground; The data processing module (21) is also used to send the images collected by the first monitoring camera (1) and the second monitoring camera (2) to the computer of the ground base station through the wireless data transmission module (22). 7. The underground space environment monitoring network according to any one of claims 1 to 6, further comprising: an inspection robot (7), and the inspection robot (7) is arranged on the thermal pipeline (3) and on the ground between the water supply pipeline (6); The bottom of the inspection robot (7) has wheels on which an infrared thermal imager (23), a visible light camera (24), a laser navigation module (25) and a ditch sensor (26) are installed; The side of described inspection robot (7) is also provided with anti-collision strip (27); A battery (28), a status light (29), an antenna (30) and a laser vibrometer (31) are also installed on the inspection robot (7); Battery (28), respectively connected with infrared thermal imager (23), visible light camera (24), laser navigation module (25), trench detection sensor (26), status light (27), antenna (30) and laser vibrometer (31) are connected. 8. the underground space environment monitoring network as claimed in claim 7, is characterized in that, described master node computer (10) is also arranged on the ground between thermal pipeline (3) and water supply pipeline (6); The upper part of the master node computer (10) has horizontally distributed, concave robot access passages (200); A wireless charging pile (19) is provided on the bottom surface of the robot access passage (200); When the inspection robot (7) is located in the robot access passage (200), a coil (18) is arranged on the bottom surface of the inspection robot (7) directly above the wireless charging pile (19). 9. The underground space environment monitoring network according to claim 8, characterized in that, the left and right sides of the robot access passage (200) also have inclined ramps. 10. The underground space environment monitoring network according to claim 8, characterized in that the coil (18) is conductively connected to the battery (28) through an AC to DC circuit.