Abstract: The light condition of the underground auxiliary transportation roadway is poor, where the personnel, vehicles, and equipment are mixed. It leads to frequent personnel accidents in underground auxiliary transportation roadways. As the trackless rubber tyre vehicles are the essential equipment for auxiliary transportation in coal mines, their sense ability of trackless rubber tyre vehicles is of great significance to the safety of personnel along the auxiliary transportation line. To improve the safety of the drivers and workers along the coal mine auxiliary transportation, a reliable personnel detection method is proposed based on infrared thermal imaging technology, aiming at the collision risk caused by the poor lighting conditions in the coal mine. By designing a moving element detection model based on improved Lucas-Kanade optical flow method, the problem of missing human target features due to insufficient infrared image gradient is solved, and the tracking reliability of moving human in infrared image domain is improved. Then, by introducing an infrared image segmentation model based on intuitive fuzzy C-means clustering, multi-threshold segmentation is performed on the current scene infrared image. Furthermore, the morphological voting method is used to link the mapping relationship between the pixel set where the scene-moving elements are located and the segmentation results so as to achieve an accurate representation of the moving person’s target. Finally, a personnel location detection model is proposed, and a reliable identification method for personnel along the auxiliary transportation route is established based on infrared thermal imaging technology. The industrial experimental results show that the average error of the reliable identification method of personnel along the auxiliary transportation line based on infrared thermal imaging technology is 0.8374 m, and the average error is less than 1 m, which can meet the protection requirements of personnel along the auxiliary transportation line in the coal mine.