CN115115166A - Rescue decision method and system - Google Patents

Abstract

The present application proposes a rescue decision-making method and system, which are applied to rescue equipment. The method includes: acquiring downhole environmental data, then calculating downhole environmental data to obtain downhole risk parameters, determining a risk level based on the downhole risk parameter, and determining the risk level based on the risk level. Corresponding decision information is determined, and corresponding operations are performed based on the decision information. The method provided by the present disclosure enables the rescue equipment to have the function of intelligent decision-making, which can improve the rescue efficiency and reduce the rescue risk.

Description

A rescue decision-making method and system

technical field

The present application relates to the technical field of underground wireless communication in coal mines, and in particular, to a rescue decision-making method and system.

Background technique

With the continuous development of intelligent technology, many underground rescues have continuously adopted new technologies and new equipment after a mine accident, especially in recent years, various types of rescue equipment have been used in the rescue field.

In the related art, when using rescue equipment for rescue, it is mainly to make the rescue equipment first explore the rescue site to obtain various data, and then transmit all kinds of data to the main control background, and the main control background decides and sends rescue instructions to the rescue equipment. When the rescue equipment receives the rescue instruction, it starts to carry out the rescue.

However, in the related art, it takes a long time for the rescue equipment to obtain the rescue instruction, resulting in low rescue efficiency and high rescue risk.

SUMMARY OF THE INVENTION

The present application provides a rescue decision-making method and system, so as to at least solve the technical problems of low rescue efficiency and high rescue risk in the rescue method in the related art.

The embodiment of the first aspect of the present application proposes a rescue decision-making method, including:

Obtain downhole environmental data;

Calculate the downhole environmental data to obtain downhole risk parameters, determine a risk level based on the downhole risk parameter, and determine corresponding decision information based on the risk level;

A corresponding operation is performed based on the decision information.

The embodiment of the second aspect of the present application proposes a rescue decision-making system, including:

The data acquisition module is used to acquire downhole environmental data;

The analysis and judgment module is used to obtain the downhole environmental data sent by the data acquisition module, calculate the downhole environmental data to obtain downhole risk parameters, determine the risk level based on the downhole risk parameters, and send the control system to the control system based on the risk level. The module sends the corresponding decision information;

The control module is configured to perform corresponding operations based on the decision information sent by the analysis and judgment module.

To sum up, in the rescue decision-making method and system provided by the embodiments of the present disclosure, the rescue equipment will acquire downhole environmental data, and then calculate the downhole environmental data to obtain downhole risk parameters, and then determine the risk level based on the downhole risk parameters , and finally determine the corresponding decision information based on the risk level, and perform corresponding operations based on the decision information. It can be seen that in the method provided by the present disclosure, the rescue equipment itself can determine the decision-making information, and then perform corresponding operations based on the determined decision-making information. That is, the rescue equipment in the present disclosure has the function of intelligent decision-making, compared with For the method of "rescue equipment needs to send data to the main control background first, and then the main control background makes decisions and sends rescue instructions to the rescue equipment" in the related art, the disclosed method requires less time and can improve rescue efficiency , reduce the risk of rescue.

Additional aspects and advantages of the present application will be set forth, in part, in the following description, and in part will be apparent from the following description, or learned by practice of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic flowchart of a rescue decision-making method provided according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a rescue decision-making system provided according to an embodiment of the present application.

Detailed ways

The following describes in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application.

The rescue decision-making method and system according to the embodiments of the present application will be described below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a rescue decision-making method provided according to an embodiment of the present application. As shown in FIG. 1 , the method includes:

Step 101: Obtain downhole environmental data.

Among them, in an embodiment of the present disclosure, the underground environment data is mainly used for subsequent analysis to determine the underground risk level, and since the underground operating environment of the coal mine is relatively harsh, there are many danger sources, such as water, fire, gas, coal, etc. Dust, roof, electromechanical equipment, etc. Thus, the downhole environmental data may at least include at least one type of downhole fire data, downhole gas data, downhole water flow data, downhole dust data, and operation data of downhole equipment.

And, in an embodiment of the present disclosure, the above-mentioned method for acquiring downhole environmental data may include:

The downhole fire data is acquired by using the fire sensor. The downhole fire data may include the characteristic physical data of the fire, such as data such as temperature, smoke, gas, and radiation intensity. After acquiring the characteristic physical data of the fire, the fire sensor may Convert the characteristic physical data of the fire into electrical signals for transmission.

Utilize a gas sensor to obtain downhole gas data, wherein the gas sensor may specifically include common gas sensors such as carbon monoxide sensors, gas sensors, etc., to obtain current downhole gas data, and the downhole gas data may include, for example, downhole carbon monoxide data (such as downhole carbon monoxide data). concentration), downhole gas data (such as downhole gas concentration), etc.

Use a water flow sensor to acquire downhole water flow data, wherein the water flow sensor specifically refers to a water flow sensing instrument that outputs pulse signals or signals such as current and voltage by sensing the water flow, and the water flow sensor can be used to obtain downhole water flow velocity, etc. data.

Use the dust concentration sensor to obtain underground dust data (such as the total underground dust concentration and other data).

The working data of the underground equipment is obtained by using a working data acquisition unit connected to the underground equipment, wherein the underground equipment may specifically include underground adjudication equipment, underground transportation equipment, and underground ventilation equipment.

Step 102: Calculate downhole environmental data to obtain downhole risk parameters, determine a risk level based on the downhole risk parameter, and determine corresponding decision information based on the risk level.

Wherein, in an embodiment of the present disclosure, the method for calculating downhole environmental data to obtain downhole risk parameters may include:

Step 102a: Calculate risk weight coefficients of various types of downhole environmental data based on various types of downhole environmental data.

Wherein, in an embodiment of the present disclosure, each type of downhole environmental data is pre-set with a plurality of first data intervals and a plurality of second data intervals, and each type of downhole environmental data corresponds to each first data interval The intervals do not overlap with each other, each first data interval corresponding to each type of downhole environmental data corresponds to a first risk weight sub-coefficient, and each second data interval corresponding to each type of downhole environmental data does not overlap with each other, and each type of downhole environmental data corresponds to each other. Each of the second data intervals corresponding to the data respectively corresponds to a second risk weight sub-coefficient.

Illustratively, in an embodiment of the present disclosure, various types of downhole environmental data may respectively correspond to three first data intervals and three second data intervals.

Specifically, the first data interval corresponding to the downhole fire data may be: 0.1-0.2, 0.3-0.5, 0.6-1; the second data interval corresponding to the downhole fire data may be: 0.1-0.2, 0.3-0.5, 0.6-1 and, the first risk weight sub-coefficient corresponding to the first data interval 0.1-0.2 of the downhole fire data and the second risk weight sub-coefficient corresponding to the second data interval 0.1-0.2 may be 0, and the first risk weight sub-coefficient of the downhole fire data The first risk weight sub-coefficient corresponding to the data interval 0.3-0.5 and the second risk weight sub-coefficient corresponding to the second data interval 0.3-0.5 may be 1, and the first risk corresponding to the first data interval 0.6-1 of the underground fire data The weight coefficient and the second risk weight coefficient corresponding to the second data interval 0.6-1 may be 2.

The first data interval corresponding to the downhole gas data may be: 0.1-0.2, 0.5-0.8, 0.9-1; the second data interval corresponding to the downhole gas data may be: 0.1-0.2, 0.5-0.8, 0.9-1; And, the first risk weight sub-coefficient corresponding to the first data interval 0.1-0.2 of the downhole gas data and the second risk weight sub-coefficient corresponding to the second data interval 0.1-0.2 may be 0, and the first data of the downhole gas data The first risk weight sub-coefficient corresponding to the interval 0.5-0.8 and the second risk weight sub-coefficient corresponding to the second data interval 0.5-0.8 may be 1, and the first risk weight corresponding to the first data interval 0.9-1 of the downhole gas data The second risk weight sub-coefficient corresponding to the sub-coefficient and the second data interval 0.9-1 may be 2.

The first data interval corresponding to the downhole water flow data may be: 0-0.2, 0.3-0.5, 0.8-1; the second data interval corresponding to the downhole water flow data may be: 0-0.2, 0.3-0.5, 0.8-1; And, the first risk weight sub-coefficient corresponding to the first data interval 0-0.2 of the downhole water flow data and the second risk weight sub-coefficient corresponding to the second data interval 0-0.2 may be 0, and the first data of the downhole water flow data may be 0. The first risk weight sub-coefficient corresponding to the interval 0.3-0.5 and the second risk weight sub-coefficient corresponding to the second data interval 0.3-0.5 may be 1, and the first risk weight corresponding to the first data interval 0.8-1 of the downhole water flow data The second risk weight sub-coefficient corresponding to the sub-coefficient and the second data interval 0.8-1 may be 2.

The first data interval corresponding to the downhole dust data may be: 0-0.2, 0.3-0.5, 0.8-1; the second data interval corresponding to the downhole dust data may be: 0-0.2, 0.3-0.5, 0.8-1; And, the first risk weight coefficient corresponding to the first data interval 0-0.2 of the downhole dust data and the second risk weight coefficient corresponding to the second data interval 0-0.2 may be 0, and the first data of the downhole dust data may be 0. The first risk weight sub-coefficient corresponding to the interval 0.3-0.5 and the second risk weight sub-coefficient corresponding to the second data interval 0.3-0.5 may be 1, and the first risk weight corresponding to the first data interval 0.8-1 of the downhole dust data The second risk weight sub-coefficient corresponding to the sub-coefficient and the second data interval 0.8-1 may be 2.

The first data interval corresponding to the working data of the downhole equipment may be: 0.1-0.2, 0.3-0.5, 0.6-1; the second data interval corresponding to the working data of the downhole equipment may be: 0.1-0.2, 0.3-0.5, 0.6-1; and, the first risk weight sub-coefficient corresponding to the first data interval 0.1-0.2 of the working data of the downhole equipment and the second risk weight sub-coefficient corresponding to the second data interval 0.1-0.2 may be 0, and the downhole The first risk weight sub-coefficient corresponding to the first data interval 0.3-0.5 of the working data of the equipment and the second risk weight sub-coefficient corresponding to the second data interval 0.3-0.5 may be 1. The first data of the working data of the downhole equipment The first risk weight sub-coefficient corresponding to the interval 0.6-1 and the second risk weight sub-coefficient corresponding to the second data interval 0.6-1 may be 2.

Based on the above content, the method for calculating the risk weight coefficients of various types of downhole environmental data based on various types of downhole environmental data in step 102a may include:

Step a1: Determine the average value and the variance value for each type of downhole environmental data.

Step a2: Determine the first data interval to which the average value of each type of downhole environmental data belongs.

For example, assuming that the average value of the downhole fire data in step a1 is 0.4, it can be determined that the average value of the downhole fire data belongs to the first data interval of 0.3-0.5.

Step a3: Determine the second data interval to which the variance value of each type of downhole environmental data belongs.

For example, assuming that the variance value of the downhole fire data in step a1 is 0.15, it can be determined that the variance value of the downhole fire data belongs to the second data interval of 0.1-0.2.

Step a4: Calculate the first risk weight sub-coefficient corresponding to the first data interval to which the average value of each type of downhole environmental data belongs and the second risk weight sub-coefficient corresponding to the second data interval to which the variance value of each type of downhole environmental data belongs The mean value of is determined as the risk weight coefficient of each type of downhole environmental data.

For example, when the average value of the downhole fire data belongs to the first data interval 0.3-0.5, the first risk weight coefficient corresponding to the first data interval 0.3-0.5 to which the average value of the downhole fire data belongs is 1; When the variance value of the data belongs to the second data interval 0.1-0.2, the first risk weight sub-coefficient corresponding to the second data interval 0.1-0.2 to which the variance value of the downhole fire data belongs is 0. Based on this, it can be determined that the risk weight coefficient of the underground fire data is: (1+0)÷2=0.5.

And, by executing the above steps a1-a4, the risk weight coefficients of various types of downhole environmental data can be calculated.

Step 102b, calculating downhole risk parameters based on the risk weight coefficients of various types of downhole environmental data.

Wherein, in an embodiment of the present disclosure, the calculation of downhole risk parameters based on risk weight coefficients of various types of downhole environmental data may include:

Downhole risk parameter=∑ (sum of risk weight coefficients of various types of downhole environmental data).

Specifically, in an embodiment of the present disclosure, the downhole risk parameter=∑(risk weight coefficient of downhole fire data + risk weight coefficient of downhole gas data + risk weight coefficient of downhole water flow data + risk weight of downhole dust data coefficient + risk weight coefficient of working data of downhole equipment).

Further, in an embodiment of the present disclosure, after the downhole risk parameter is calculated by performing the above steps 102a-102b, the risk level may be further determined based on the downhole risk parameter. Specifically, in an embodiment of the present disclosure, the method for determining the risk level based on the downhole risk parameter may include: when the downhole risk parameter is less than or equal to the first threshold, indicating that the risk parameter is small, and further indicating that the downhole environment is basically safe, then It can be determined that the risk level is the first risk level; when the downhole risk parameter is greater than the first threshold and less than or equal to the second threshold, it means that the risk parameter is not small but not too large, further indicating that there may be some hidden safety hazards in the underground environment, then the risk can be determined The level is the second risk level; when the downhole risk parameter is greater than the second threshold, indicating that the risk parameter is relatively large, further indicating that there may be major safety hazards in the underground environment, the risk level can be determined to be the third risk level. Wherein, in an embodiment of the present disclosure, the first threshold and the second threshold may be predetermined, for example, the first threshold may be 1, and the second threshold may be 2.

Further, in an embodiment of the present disclosure, after the risk level is determined, corresponding decision information may be determined based on the risk level, wherein the method for determining corresponding decision information based on the risk level may include:

When the risk level is the first risk level, indicating that the risk level of the current underground environment is low, the decision information can be determined as: implement rescue;

When the risk level is the second risk level, it means that the risk level of the current underground environment is medium, and the decision information can be determined as: send a rescue request to the main control background, and the rescue request carries various underground environment data to be used by the main control background. Determine whether to carry out rescue;

When the risk level is the third risk level, indicating that the risk level of the current underground environment is high, the decision information can be determined as: suspend the rescue, send various types of underground environment data to the main control background, and re-obtain the underground environment in real time. data and determine the risk level in real time (ie, the above steps 101-103 are executed cyclically).

Step 103 , perform a corresponding operation based on the decision information.

Specifically, in an embodiment of the present disclosure, a method for performing a corresponding operation based on decision information may include:

When the decision information is: implement rescue, the rescue equipment can implement rescue immediately.

When the decision-making information is: send a rescue request to the main control background, the rescue request carries all kinds of underground environment data, so that the main control background can determine whether to carry out rescue, then the rescue equipment can immediately send to the main control background with all kinds of underground environment data. The rescue request of environmental data, and if the rescue command sent by the main control background is obtained, the rescue will be carried out immediately, and if the rescue command sent by the main control background is not obtained, the rescue will not be carried out.

When the decision-making information is: suspend rescue, send all kinds of underground environmental data to the main control background, and simultaneously obtain real-time underground environmental data and determine the risk level in real time, the rescue equipment immediately suspends rescue, and executes steps 101-103 cyclically .

To sum up, in the rescue decision-making method and system provided by the embodiments of the present disclosure, the rescue equipment will acquire downhole environmental data, and then calculate the downhole environmental data to obtain downhole risk parameters, and then determine the risk level based on the downhole risk parameters , and finally determine the corresponding decision information based on the risk level, and perform corresponding operations based on the decision information. It can be seen that in the method provided by the present disclosure, the rescue equipment itself can determine the decision-making information, and then perform corresponding operations based on the determined decision-making information. That is, the rescue equipment in the present disclosure has the function of intelligent decision-making, compared with For the method of "rescue equipment needs to send data to the main control background first, and then the main control background makes decisions and sends rescue instructions to the rescue equipment" in the related art, the disclosed method requires less time and can improve rescue efficiency , reduce the risk of rescue.

FIG. 2 is a schematic structural diagram of a rescue decision-making system 200 provided according to an embodiment of the present application. The rescue decision-making system is configured in a rescue device. As shown in FIG. 2 , the system 200 includes:

a data acquisition module 201, used for acquiring downhole environmental data;

The analysis and judgment module 202 is configured to acquire the downhole environmental data sent by the data acquisition module, calculate the downhole environmental data to obtain downhole risk parameters, determine the risk level based on the downhole risk parameters, and send the data to the downhole based on the risk level. The control module sends the corresponding decision information;

The control module 203 is configured to perform corresponding operations based on the decision information sent by the analysis and judgment module.

Optionally, in an embodiment of the present disclosure, the downhole environmental data includes at least one type of downhole fire data, downhole gas data, downhole water flow data, downhole dust data, and downhole equipment operating data.

Optionally, in an embodiment of the present disclosure, the data acquisition module is further configured to:

Using a fire sensor to obtain the downhole fire data;

obtaining the downhole gas data using a gas sensor;

Use a water flow sensor to obtain the downhole water flow data;

Use a dust concentration sensor to obtain the underground dust data;

The working data of the downhole equipment is acquired by using a working data acquisition unit connected with the downhole equipment.

Optionally, in an embodiment of the present disclosure, the analysis and judgment module is further configured to:

Calculate the risk weight coefficients of various types of downhole environmental data based on various types of downhole environmental data;

The downhole risk parameters are calculated based on the risk weight coefficients of various downhole environmental data.

Optionally, in an embodiment of the present disclosure, each type of downhole environmental data corresponds to a plurality of first data intervals and a plurality of second data intervals, and each first data interval corresponding to each type of downhole environmental data is different from each other. Overlapping, each first data interval corresponding to each type of downhole environmental data corresponds to a first risk weight sub-coefficient, and each second data interval corresponding to each type of downhole environmental data does not overlap with each other, and each type of downhole environmental data corresponds to Each second data interval of , respectively corresponds to a second risk weight sub-coefficient;

The analysis and judgment module is also used for:

Determine the mean value and variance value for each type of downhole environmental data;

Determine the first data interval to which the average value of each type of downhole environmental data belongs;

Determine the second data interval to which the variance value of each type of downhole environmental data belongs;

Determine the mean value of the first risk weight sub-coefficient corresponding to the first data interval to which the average value of each type of downhole environmental data belongs and the second risk weight sub-coefficient corresponding to the second data interval to which the variance value of each type of downhole environmental data belongs is the risk weight coefficient of each type of downhole environmental data.

Optionally, in an embodiment of the present disclosure, the analysis and judgment module is further configured to:

Downhole risk parameter=∑ (sum of risk weight coefficients of various types of downhole environmental data).

Optionally, in an embodiment of the present disclosure, downhole risk parameter=∑(risk weight coefficient of downhole fire data + risk weight coefficient of downhole gas data + risk weight coefficient of downhole water flow data + risk weight of downhole dust data coefficient + risk weight coefficient of working data of downhole equipment).

Optionally, in an embodiment of the present disclosure, the analysis and judgment module is further configured to:

When the downhole risk parameter is less than or equal to the first threshold, determining the risk level as the first risk level;

When the downhole risk parameter is greater than the first threshold and less than or equal to the second threshold, determining the risk level as the second risk level;

When the downhole risk parameter is greater than the second threshold, the risk level is determined to be the third risk level.

Optionally, in an embodiment of the present disclosure, the analysis and judgment module is further configured to:

When the risk level is the first risk level, the decision information is determined as: implement rescue;

When the risk level is the second risk level, the decision information is determined as: sending a rescue request to the main control background, and the rescue request carries various types of underground environment data, so that the main control background can determine whether to carry out rescue;

When the risk level is the third risk level, the decision information is determined as: suspending rescue, sending various types of downhole environmental data to the main control background, and re-acquiring downhole environmental data in real time and determining the risk level in real time.

To sum up, in the rescue decision-making system provided by the embodiments of the present disclosure, the downhole environmental data is acquired, then the downhole environmental data is calculated to obtain downhole risk parameters, the risk level is determined based on the downhole risk parameter, and the corresponding risk level is determined based on the risk level. decision information, and perform corresponding operations based on the decision information. Therefore, the method provided by the present disclosure can enable the rescue equipment to have the function of intelligent decision-making, reduce the rescue risk, and improve the rescue efficiency.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing custom logical functions or steps of the process , and the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (10)

1. A rescue decision method is applied to rescue equipment and comprises the following steps:

acquiring downhole environmental data;

calculating the underground environment data to obtain underground risk parameters, determining risk levels based on the underground risk parameters, and determining corresponding decision information based on the risk levels;

corresponding operations are performed based on the decision information.

2. The method of claim 1, wherein the downhole environmental data comprises at least one of downhole fire data, downhole gas data, downhole flow data, downhole dust data, operational data of downhole equipment.

3. The method of claim 1, wherein the acquiring downhole environmental data comprises:

acquiring the underground fire data by using a fire sensor;

acquiring the downhole gas data using a gas sensor;

acquiring underground water flow data by using a water flow sensor;

acquiring the underground dust data by using a dust concentration sensor;

and acquiring the working data of the underground equipment by using a working data acquisition unit connected with the underground equipment.

4. The method of claim 2, wherein the calculating the downhole environmental data to obtain a downhole risk parameter comprises:

calculating risk weight coefficients of various underground environment data based on various underground environment data;

and calculating the underground risk parameters based on the risk weight coefficients of various underground environment data.

5. The method of claim 4, wherein each type of downhole environment data corresponds to a plurality of first data intervals and a plurality of second data intervals, each first data interval corresponding to each type of downhole environment data does not overlap with each other, each first data interval corresponding to each type of downhole environment data corresponds to a first risk weight sub-coefficient, each second data interval corresponding to each type of downhole environment data does not overlap with each other, each second data interval corresponding to each type of downhole environment data corresponds to a second risk weight sub-coefficient;

the risk weight coefficient of various underground environment data is calculated based on various underground environment data, and the risk weight coefficient comprises the following steps:

determining an average value and a variance value for each type of underground environment data;

determining a first data interval to which the average value of each type of underground environment data belongs;

determining a second data interval to which the variance value of each type of underground environment data belongs;

and determining the mean value of a first risk weight sub-coefficient corresponding to a first data interval to which the mean value of each type of underground environment data belongs and a second risk weight sub-coefficient corresponding to a second data interval to which the variance value of each type of underground environment data belongs as the risk weight coefficient of each type of underground environment data.

6. The method of claim 4, wherein calculating the downhole risk parameter based on the risk weight coefficients of the types of downhole environmental data comprises:

and the downhole risk parameter is sigma (the sum of the risk weight coefficients of various types of downhole environment data).

7. The method of claim 6,

the downhole risk parameter ═ Σ (risk weight for downhole fire data + risk weight for downhole gas data + risk weight for downhole fluid data + risk weight for downhole dust data + risk weight for downhole equipment operating data).

8. The method of claim 1, the determining a risk level based on the downhole risk parameter, comprising:

when the downhole risk parameter is smaller than or equal to a first threshold value, determining the risk level as a first risk level;

when the underground risk parameter is larger than a first threshold and smaller than or equal to a second threshold, determining the risk level as a second risk level;

and when the underground risk parameter is larger than a second threshold value, determining the risk level as a third risk level.

9. The method of claim 8, the determining corresponding decision information based on the risk level, comprising:

when the risk level is a first risk level, determining that the decision information is: carrying out rescue;

when the risk level is a second risk level, determining that the decision information is: sending a rescue request to a main control background, wherein the rescue request carries various underground environment data so that the main control background judges whether rescue is carried out;

when the risk level is a third risk level, determining that the decision information is: and suspending rescue, sending various underground environment data to the main control background, simultaneously acquiring the underground environment data again in real time and judging the risk level in real time.

10. A rescue decision system configured in a rescue apparatus, comprising:

the data acquisition module is used for acquiring underground environment data;

the analysis and judgment module is used for acquiring the underground environment data sent by the data acquisition module, calculating the underground environment data to obtain underground risk parameters, determining risk levels based on the underground risk parameters, and sending corresponding decision information to the control module based on the risk levels;

and the control module is used for executing corresponding operation based on the decision information sent by the analysis and judgment module.

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