Early warning and control method based on electronic fence of coal mine drilling and anchoring equipment

Abstract

The present invention relates to an early warning and control method based on an electronic fence of a coal mine digging and anchoring integrated equipment, belonging to the field of mine safety monitoring and management. It obtains the digging / anchoring status of the digging and anchoring integrated equipment through a pressure transmitter, demarcates the electronic fence area and identifies personnel information based on UWB precise positioning technology, and performs differential alarms and shutdown controls according to the obtained digging / anchoring status of the integrated equipment. The electronic fence area is divided into an early warning area, a shutdown control area, and a prohibited area; the personnel are pre-equipped with corresponding positioning terminals, and the positioning terminals communicate with the base station on the digging and anchoring integrated equipment; the base station obtains at least the location information and identity information corresponding to the positioning terminal; the area where the corresponding personnel is located is determined based on the real-time location information, and then the corresponding early warning control instructions are given based on the personnel's identity information and the real-time digging / anchoring status of the digging and anchoring integrated equipment. The present invention can realize human-machine safety monitoring and management of the area around the coal mine digging and anchoring integrated equipment.

Description

Technical Field

[0001] The present invention belongs to the field of mine safety monitoring and management, and relates to an early warning and control method based on an electronic fence of coal mine drilling and anchoring integrated equipment. Background Art

[0002] Coal mine hydraulic trolleys, integrated tunneling and anchoring machines, and other integrated tunneling and anchoring equipment are a type of integrated equipment specifically designed for large-section coal tunneling. They combine the functions of tunneling machines and anchor bolters, and can provide support simultaneously during the tunneling process, realizing the integrated continuous operation of tunneling, support, and transportation, greatly improving the efficiency and quality of tunnel construction. The working principle of the tunneling and anchoring machine is to first use a tunneling machine to excavate the tunnel, and then use support rods (anchor rods) to support the tunnel during the excavation process, and finally pour concrete into the support rods to reinforce the tunnel wall. Specifically, after the equipment moves forward, it simultaneously performs coal breaking and support work, and then transports the coal out, realizing the parallel operation of tunneling and support.

[0003] When the machine is in tunneling mode, due to the harsh underground environment and poor visibility in coal mines, effective means are needed to identify unauthorized personnel approaching the machine, thereby issuing alarms and locking the equipment. This prevents accidents such as injuries from the machine's cutting head or claws, thereby improving the mine's inherent safety. When the machine is in support mode, the equipment is stationary and the tunnel is in the process of supporting. Unlike in tunneling mode, where the equipment is mostly surrounded by tunneling miners, the personnel near the machine are mostly support miners. Different authorization settings are required to allow access to unauthorized personnel. Approaching unauthorized personnel only requires an alarm, without the need for shutdown control, to avoid affecting production efficiency. Therefore, underground mines need to design an electronic fence system for the tunneling and anchoring equipment that can automatically identify the tunneling / anchoring state, identify the identity of personnel approaching, provide personnel approach alarms, and perform shutdown control management to improve coal mine safety management. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide an early warning and control method based on the electronic fence of coal mine drilling and anchoring integrated equipment.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A warning and control method based on an electronic fence for coal mine drilling and anchoring equipment includes the following steps: first, the drilling / anchoring status of the drilling and anchoring equipment is obtained through a pressure transmitter; then, based on UWB precise positioning technology, the area surrounding the drilling and anchoring equipment is divided into a warning area, a shutdown control area, and a prohibited area, and an electronic fence is constructed with the boundaries corresponding to each area; underground workers are pre-equipped with corresponding positioning terminals, which communicate with a base station on the drilling and anchoring equipment; the base station obtains at least the position information and identity information corresponding to the positioning terminal; then, the area where the corresponding personnel is located is determined based on the real-time acquired position information, and then corresponding warning instructions and shutdown control instructions are issued based on the personnel's identity information and the real-time drilling / anchoring status of the drilling and anchoring equipment.

[0007] Furthermore, mine workers carry positioning terminals when working underground. The terminals have a unique ID for the entire mine, and the terminal ID is bound to the basic identity information of the personnel. Before starting work, by configuring the base station, personnel who can enter the warning and shutdown areas of the digging / anchoring integrated equipment in different digging / anchoring states are authorized separately, forming a "white list" for different digging / anchoring working states. The base station can obtain the location information, equipment ID information, and status information of the positioning terminal.

[0008] Furthermore, if the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the warning area of ​​the electronic fence area, and the identity information of the personnel is not on the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and at the same time issue an evacuation order to the corresponding positioning terminal;

[0009] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will neither send a warning signal nor a control command.

[0010] Furthermore, if the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the shutdown control area of ​​the electronic fence area, and the identity information of the personnel is not on the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal;

[0011] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information of the personnel is in the pre-set "white list", the base station will send an area change prompt instruction to the corresponding terminal.

[0012] Furthermore, if the drilling and anchoring equipment is in the excavation state and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station will send an early warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal.

[0013] Furthermore, if the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the person is not in the pre-set "white list", the base station sends a position prompt command to the corresponding positioning terminal, but does not send other warning signals and control commands;

[0014] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

[0015] Furthermore, if the drilling and anchoring equipment is in the anchoring state, the location corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information of the person is not in the pre-set "white list", the base station will not send an alarm command, but will send an evacuation command to the corresponding positioning terminal and a command to the drilling and anchoring equipment to prohibit the start of the drilling state within a preset time.

[0016] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

[0017] Furthermore, if the drilling and anchoring equipment is in the anchoring state and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station first sends an immediate evacuation command to the corresponding positioning terminal, and sends an instruction to the drilling and anchoring equipment to prohibit the start of the drilling state within a preset time.

[0018] Furthermore, one or more base stations are arranged on the drilling and anchoring integrated device; when one base station is arranged, the base station and the positioning terminal cooperate to measure the distance between the base station and the positioning terminal, forming a circular electronic fence area with the base station position as the center point;

[0019] When multiple base stations are deployed, the multiple base stations are deployed at different positions of the drilling and anchoring equipment, and the position of one base station is set as the plane coordinate origin; the multiple base stations and the positioning terminal jointly realize the measurement of the plane coordinates of the terminal, and divide the electronic fence area according to the coordinates; according to all the position points that can be measured by the base station, according to the pre-set or selected range, the early warning area, the shutdown control area and the forbidden area are divided; the early warning area, the shutdown control area and the forbidden area are all set relative to the base station on the drilling and anchoring equipment; the base station changes with the actual position and direction of the drilling and anchoring equipment. When the position of the drilling and anchoring equipment changes, the actual position of the corresponding early warning area, shutdown control area and forbidden area will change with the actual position and direction of the drilling and anchoring equipment.

[0020] Furthermore, in the drilling and anchoring equipment, when it is in the anchoring mode, the hydraulic system of the excavation part is locked, no pressure value is output, and the pressure transmitter outputs a signal indicating that the drilling and anchoring equipment is in the anchoring state; when it is in the excavation mode, the hydraulic system provides operating power, the excavation part has a pressure value output, and the pressure transmitter monitors the pressure value of the excavation equipment. When the pressure exceeds the set threshold, the pressure transmitter outputs a signal indicating that the drilling and anchoring equipment is in the excavation state.

[0021] The beneficial effects of the present invention are:

[0022] The present invention automatically obtains the two states of the equipment, namely, excavation and anchoring, by monitoring the hydraulic pressure of the excavation and anchoring equipment; divides the early warning, shutdown, and forbidden entry areas of the excavation and anchoring equipment by UWB technology, and realizes the personnel approach safety management of different staff members under different excavation and anchoring states of the excavation and anchoring equipment. In the excavation mode, unauthorized personnel approaching the equipment are identified, and the alarm mechanism is automatically triggered. At the same time, an evacuation order is sent to the positioning terminal carried by the personnel through the UWB base station; if the personnel get closer, the shutdown control will be further executed; and when someone enters the forbidden area, the shutdown control will be executed immediately, effectively preventing accidents such as injuries caused by the cutting head and claws of the excavator, and significantly improving the inherent safety level of the mine. In the support mode, the method of the present invention identifies that most of the people near the integrated machine are supporting miners, and at this time, different lists of authorized personnel are set. For the approach of unauthorized personnel, only an alarm prompt is issued, and no shutdown control is performed to ensure that production efficiency is not affected.

[0023] By designing an electronic fence system with automatic identification of digging / anchoring status, personnel approach identification, personnel approach alarm and shutdown control management, the present invention enables coal mining enterprises to effectively monitor and manage the area around the integrated digging and anchoring equipment, promptly discover and deal with potential safety hazards, thereby comprehensively improving the level of coal mine safety management.

[0024] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0026] Figure 1 Schematic diagram of the overall architecture of the early warning and control method based on the electronic fence of the coal mine drilling and anchoring integrated equipment of the present invention;

[0027] Figure 2 A schematic diagram of the process of obtaining the digging / anchoring status of the digging and anchoring integrated equipment by the pressure transmitter of the present invention;

[0028] Figure 3 This is a schematic diagram of the electronic fence area division structure of the present invention;

[0029] Figure 4 This is a logical diagram of the early warning and control method based on the electronic fence of the coal mine drilling and anchoring integrated equipment of the present invention. DETAILED DESCRIPTION

[0030] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0031] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0032] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] See also Figures 1 to 4 , which is an early warning and control method based on the electronic fence of coal mine drilling and anchoring equipment.

[0034] Example

[0035] This embodiment provides an early warning and control method based on the electronic fence of coal mine drilling and anchoring equipment, such as Figure 1 As shown, based on UWB precise positioning technology, the area around the drilling and anchoring equipment is divided into a warning area, a shutdown control area, and a prohibited area, and an electronic fence is constructed with the boundaries corresponding to each area. The underground workers are pre-equipped with corresponding positioning terminals, which communicate with the base station on the drilling and anchoring equipment. The base station obtains at least the position information and identity information corresponding to the positioning terminal. The drilling / anchoring status of the drilling and anchoring equipment is obtained through a pressure transmitter. The area where the corresponding personnel is located is determined based on the real-time position information, and then corresponding warning instructions and control instructions are given based on the personnel's identity information and the real-time drilling / anchoring status of the drilling and anchoring equipment.

[0036] In this embodiment, a method for early warning and control of an electronic fence for coal mine hydraulic trolleys, integrated digging and anchoring machines, and other integrated digging and anchoring equipment is proposed.

[0037] This embodiment monitors the hydraulic value of the integrated equipment through a pressure transmitter, and automatically determines and identifies the digging / anchoring status of the equipment through the pressure value; uses UWB precise positioning technology to delineate the warning and shutdown areas of the electronic fence, and obtains the identity and distance information of approaching personnel. Based on the digging / anchoring status and personnel approach information, it automatically performs on-site alarms and shutdown controls, thereby realizing on-site alarms and control of electronic fence management when personnel approach the electronic fence based on automatic identification of the digging / anchoring status.

[0038] In this embodiment, a pressure transmitter is installed on the drilling and anchoring equipment to collect and obtain the hydraulic pressure value of the equipment in real time; the transmitter UWB base station is connected to the pressure transmitter for communication. The system determines the drilling / anchoring status of the drilling and anchoring equipment based on the collected hydraulic pressure value. Specifically, in this embodiment, the hydraulic system of the drilling and anchoring equipment converts hydraulic oil into high-pressure liquid through a hydraulic pump, providing powerful power support for various actuators of the drilling and anchoring equipment. Figure 2 As shown, the pressure status of the drilling and anchoring equipment is monitored using a pressure monitoring device. When the drilling and anchoring equipment is in anchoring mode, the hydraulic system in the excavation section is locked and no pressure is output. The pressure transmitter monitors the pressure and outputs a switch value or RS485 signal. When the drilling and anchoring equipment is in excavation mode, the hydraulic system provides operating power, and pressure is output in the excavation section. The pressure transmitter monitors the pressure of the drilling and anchoring equipment and outputs a switch value or RS485 signal. The pressure transmitter monitors the pressure status of the drilling and anchoring equipment. When the pressure exceeds the set threshold, the pressure transmitter outputs a switch value or RS485 signal indicating the status. The electronic fence system collects the output signal of the pressure transmitter to obtain the drilling and anchoring status of the drilling and anchoring equipment.

[0039] Mine workers carry positioning terminals while working underground. These terminals have a unique ID for the entire mine, which is bound to the worker's basic identity information. The terminals have an internal UWB positioning module that allows for positioning, ranging, and communication with a UWB base station. The base station can obtain the terminal's location, device ID, and status, and can also send evacuation and alarm control information to the terminal via UWB. Positioning terminals include, but are not limited to, identification cards, positioning cards, information mining lamps, intrinsically safe watches, and wristbands.

[0040] A UWB base station is installed on the drilling and anchoring system. It uses positioning data to define the warning area, shutdown control area, and restricted area within the electronic fence. One or more base stations are deployed on the drilling and anchoring system. When a base station is deployed, it works in conjunction with the positioning terminal to measure the distance between them. The base station can be used to create a circular electronic fence centered at the base station's location.

[0041] When multiple base stations are deployed, they are generally placed at the corners of the integrated device. They can also be placed at different locations of the integrated device according to on-site application requirements, and the position of one base station is set as the plane coordinate origin (0,0); multiple base stations and the positioning terminal jointly measure the plane coordinates (x, y) of the terminal. This coordinate (x, y) is the value relative to the set plane coordinate origin (0,0). In addition, according to all the position points that can be measured by the main base station, according to the pre-set or selected range, such as Figure 3As shown, the warning area, shutdown control area, and no-entry area are divided. These areas are set relative to the mining and anchoring equipment. When the actual position and orientation of the mining and anchoring equipment change, the actual positions of the corresponding warning areas, shutdown control areas, and no-entry areas will change accordingly. Therefore, the set electronic fence warning areas, shutdown control areas, and no-entry areas relative to the mining and anchoring equipment remain unchanged. The early warning area refers to the outer area close to the digging and anchoring equipment. This area is not conducive to observation due to obstructed vision, so it is not easy for personnel working with the digging and anchoring equipment to suffer accidental injuries. Therefore, unauthorized personnel are not allowed to enter this area when the digging and anchoring equipment is in the excavation state; the shutdown control area is an area closer to the activity area of ​​the digging and anchoring equipment. It is a high-risk area for unauthorized personnel. When unauthorized personnel enter this area, the digging and anchoring equipment should immediately stop excavation; the restricted area refers to the working area of ​​the cutting head of the tunnel boring machine of the digging and anchoring equipment. Regardless of whether authorization is obtained, the digging and anchoring equipment should stop working as long as personnel enter this area.

[0042] A "white list" of authorized users entering the electronic fence area is set based on the terminal device ID. Once a person enters the UWB signal coverage area of ​​the UWB base station, the UWB base station locates and communicates with the terminal, obtaining the person's location and device ID information in real time. Based on the device's digging / anchoring status and the person's proximity, the base station automatically issues an on-site alarm and shuts down the device.

[0043] The mining and anchoring equipment is equipped with a base station equipped with UWB precise positioning capabilities. The base station works with positioning terminals (such as identification cards and information mining lamps) to achieve centimeter-level positioning accuracy and identify the terminal's ID. Simultaneously, the base station communicates with pressure transmitters to obtain the operating status of the mining and anchoring equipment. The base station uses precise positioning distance to divide personnel into warning zones and shutdown control zones. By identifying the positioning terminal's ID, a "whitelist" of personnel IDs authorized to enter the warning and shutdown control zones is established. Personnel carry positioning terminals, and the base station and the positioning terminal perform real-time positioning and distance measurement. When a person approaches the mining and anchoring equipment, the base station first determines the equipment's operating status and then detects the presence of the equipment. When the equipment is in excavation mode, the base station determines whether personnel are within the "whitelist" range. If so, no alarm or shutdown control is performed. If not, the base station first issues an alarm prompt via an audible and visual alarm within the warning zone. Simultaneously, the UWB base station issues an evacuation command to personnel entering the warning zone, prompting them to evacuate via their portable terminals using sound and vibration. Within the shutdown control zone, in addition to the aforementioned alarm actions, the base station outputs a signal to control the excavation and anchoring equipment to shut down. When the equipment is in anchor protection mode, no alarm or shutdown control actions are performed.

[0044] Specifically, in the real-time monitoring process, Figure 4 As shown, it processes data information according to the following process:

[0045] The pressure transmitter obtains the pressure value output from the hydraulic system of the digging and anchoring equipment and determines the digging / anchoring status of the digging and anchoring equipment based on the pressure value;

[0046] The pressure transmitter outputs the real-time digging / anchoring status of the digging and anchoring equipment to the base station. The digging / anchoring status is divided into the digging and anchoring status.

[0047] The base station communicates with the positioning terminal in real time to obtain the location information and identity information of the person corresponding to the positioning terminal;

[0048] The following judgment is made based on the digging / anchoring status of the digging and anchoring integrated device, the relationship between the current position of the positioning terminal and the electronic fence area, and the corresponding personnel identity information:

[0049] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the warning area of ​​the electronic fence area, and the identity information of the personnel is not in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and at the same time issue an evacuation order to the corresponding positioning terminal;

[0050] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the warning area of ​​the electronic fence area, and the corresponding identity information of the person is in the pre-set "white list", the base station will neither send a warning signal nor send a control command to prompt the corresponding terminal to enter the warning area;

[0051] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the shutdown control area of ​​the electronic fence area, and the identity information of the personnel is not on the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal;

[0052] If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the shutdown control area of ​​the electronic fence area, and the identity information of the personnel is in the pre-set "white list", the base station will send an area change prompt instruction to the corresponding terminal;

[0053] If the drilling and anchoring equipment is in the excavation state and the position corresponding to the positioning terminal is in the prohibited area of ​​the electronic fence area, regardless of whether the corresponding identity information of the person is in the pre-set "white list", the base station will send a warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal;

[0054] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information of the person is not in the pre-set "white list", the base station will send a position prompt command to the corresponding positioning terminal, but will not send other warning signals and control commands;

[0055] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information of the personnel is in the pre-set "white list", the base station will not send any instructions;

[0056] If the drilling and anchoring equipment is in the anchoring state, the location corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information of the person is not in the pre-set "white list", the base station will not send an alarm command, but will send an evacuation command to the corresponding positioning terminal and a command to the drilling and anchoring equipment to prohibit the start of the drilling state within a preset time;

[0057] If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information of the personnel is in the pre-set "white list", the base station will not send any instructions;

[0058] If the drilling and anchoring equipment is in the anchoring state, and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, regardless of whether the identity information corresponding to the personnel is in the pre-set "white list", the base station first sends an immediate evacuation command to the corresponding positioning terminal, and sends an instruction to the drilling and anchoring equipment to prohibit the start of the drilling state within the preset time.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for early warning and control of electronic fences for coal mine drilling and anchoring equipment, characterized by: First, the system uses a pressure transmitter to detect the digging / anchoring status of the drilling and anchoring equipment. Then, using UWB precise positioning technology, it divides the area surrounding the drilling and anchoring equipment into a warning zone, a shutdown control zone, and a restricted zone. An electronic fence is constructed based on the boundaries of each zone. The underground workers are equipped with corresponding positioning terminals in advance, which communicate with the base station on the drilling and anchoring equipment. The base station obtains at least the location information and identity information of the positioning terminal. The base station then determines the area where the corresponding personnel are located based on the real-time location information. Based on the personnel's identity information and the real-time drilling / anchoring status of the drilling and anchoring equipment, the base station issues corresponding warning instructions and shutdown control instructions. Mine workers carry positioning terminals while working underground. The terminals have a unique ID for the entire mine, and the terminal ID is bound to the basic identity information of the personnel. Before starting work, by configuring the base station, personnel who can enter the warning and shutdown areas of the digging / anchoring integrated equipment under different digging / anchoring states are authorized separately, forming a "white list" for different digging / anchoring working states. The base station can obtain the location information, equipment ID information, and status information of the positioning terminal.

2. The method for early warning and control of electronic fences for coal mine drilling and anchoring equipment according to claim 1, characterized in that: If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the warning area of ​​the electronic fence area, and the corresponding identity information of the personnel is not on the pre-set "white list", the base station will send a warning signal to the sound and light alarm to sound an alarm, and at the same time issue an evacuation command to the corresponding positioning terminal; If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will neither send a warning signal nor a control command.

3. The early warning and control method based on the electronic fence of the coal mine drilling and anchoring equipment according to claim 1 is characterized by: If the drilling and anchoring equipment is in the excavation state, the corresponding position of the positioning terminal is within the shutdown control area of ​​the electronic fence area, and the corresponding identity information of the personnel is not on the pre-set "white list", the base station will send a warning signal to the sound and light alarm to sound an alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal; If the drilling and anchoring equipment is in the excavation state, the position corresponding to the positioning terminal is within the shutdown control area of ​​the electronic fence area, and the identity information of the personnel is in the pre-set "white list", the base station will send an area change prompt instruction to the corresponding terminal.

4. The method for early warning and control of electronic fences for coal mine drilling and anchoring equipment according to claim 1, characterized in that: If the drilling and anchoring equipment is in the excavation state and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, regardless of whether the corresponding identity information of the personnel is in the pre-set "white list", the base station will send an early warning signal to the sound and light alarm to alarm, and immediately send a shutdown command to the drilling and anchoring equipment, and at the same time send an evacuation command to the corresponding positioning terminal.

5. The early warning and control method based on the electronic fence of the coal mine drilling and anchoring equipment according to claim 1 is characterized by: If the drilling and anchoring equipment is in the anchoring state, the location corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information of the person is not in the pre-set "white list", the base station will send a location prompt command to the corresponding positioning terminal, but will not send other warning signals and control commands; If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the warning area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

6. The method for early warning and control of electronic fences based on coal mine drilling and anchoring equipment according to claim 1, characterized in that: If the drilling and anchoring equipment is in the anchoring state, the location corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the corresponding identity information of the personnel is not on the pre-set "white list", the base station will not send an alarm command, but will send an evacuation command to the corresponding positioning terminal and a command to the drilling and anchoring equipment to prohibit the start of the drilling state for a preset time; If the drilling and anchoring equipment is in the anchoring state, the position corresponding to the positioning terminal is in the shutdown control area of ​​the electronic fence area, and the identity information corresponding to the personnel is in the pre-set "white list", the base station will not send any instructions.

7. The method for early warning and control of electronic fences based on coal mine drilling and anchoring equipment according to claim 1, characterized in that: If the drilling and anchoring equipment is in the anchoring state and the position corresponding to the positioning terminal is in the restricted area of ​​the electronic fence area, regardless of whether the identity information of the personnel is in the pre-set "white list", the base station first sends an immediate evacuation command to the corresponding positioning terminal, and sends a command to the drilling and anchoring equipment to prohibit the start of the drilling state within the preset time.

8. The method for early warning and control of electronic fences for coal mine drilling and anchoring equipment according to claim 1, characterized in that: One or more base stations are deployed on the drilling and anchoring equipment. When one base station is deployed, the base station and the positioning terminal work together to measure the distance between the base station and the positioning terminal, forming a circular electronic fence area with the base station as the center point. When multiple base stations are deployed, the multiple base stations are deployed at different positions of the drilling and anchoring equipment, and the position of one base station is set as the plane coordinate origin; the multiple base stations and the positioning terminal jointly realize the measurement of the plane coordinates of the terminal, and divide the electronic fence area according to the coordinates; according to all the position points that can be measured by the base station, according to the pre-set or selected range, the early warning area, the shutdown control area and the forbidden area are divided; the early warning area, the shutdown control area and the forbidden area are all set relative to the base station on the drilling and anchoring equipment; the base station changes with the actual position and direction of the drilling and anchoring equipment. When the position of the drilling and anchoring equipment changes, the actual position of the corresponding early warning area, shutdown control area and forbidden area will change with the actual position and direction of the drilling and anchoring equipment.

9. The method for early warning and control of electronic fences based on coal mine drilling and anchoring equipment according to claim 1, characterized in that: In the drilling and anchoring equipment, when it is in the anchoring and protection mode, the hydraulic system of the excavation part is locked, no pressure value is output, and the pressure transmitter outputs a signal indicating that the drilling and anchoring equipment is in the anchoring and protection state; When it is in excavation mode, the hydraulic system provides operating power, the excavation part hydraulic system has a pressure value output, and the pressure transmitter monitors the pressure value of the excavation integrated equipment. When the pressure exceeds the set threshold, the pressure transmitter outputs a signal indicating that the excavation and anchoring integrated equipment is in the excavation state.

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