Internet of Things (IoT) is a key enabler for many industrial applications. Through the IoT, the safety risk analysis and early warning management of the underground mining can effectively reduce the frequency of accidents and failures, to save the loss of personnel and property. Therefore, the safety warning of underground mining based on IoT is of great significance. However, underground industrial IoT requires the deployment of a large number of energy-constrained sensors and sensing units, and the wireless signals they send are lost due to data collisions, consuming node energy and reducing energy efficiency. Therefore, real-time reliable transmission of sensing data under energy-constrained conditions is critical for construction safety warnings in harsh industrial monitoring environments. Existing transmission schemes such as Wireless Hart, WiFi, etc., due to high energy consumption, cannot be directly applied to underground mining monitoring environments with energy-efficient requirements. Moreover, the competition-based ZigBee transmission protocol with low power consumption cannot guarantee the realtime reliable transmission of packets. Aiming at the real-time and reliability problems of data transmission under energy-limited conditions, a multi-radio multi-channel deterministic transmission scheme based on time slot division is proposed in this paper. Firstly, for the tree hybrid topology of monitoring networks, a joint multi-channel multi-slots scheduling problem is formulated, which is proved NP-Hard. Then, based on the greedy strategy, a lightweight pseudopolynomial time transmission scheduling scheme is proposed. It is also proved that under the premise that this problem can be scheduled, the heuristic algorithm can obtain the optimal result under the tree hybrid topology. Finally, a lot of practical experiments were conducted to verify the performance of the transmission scheme. The experimental results illustrate that compared with the traditional transmission scheme, the proposal has lower packet loss rate and transmission delay, which effectively reduces the energy consumption of the sensing devices.INDEX TERMS Internet of Things, underground mining, multi-channel, time slot scheduling.