Underground electronic fence system based on UWB accurate personnel positioning

Abstract

The invention relates to the technical field of underground electronic fences, and particularly discloses an underground electronic fence system based on UWB accurate personnel positioning, and the system comprises a data collection module which collects the underground three-dimensional information of a coal mine through a modeling unit, and builds a three-dimensional map; the area planning unit marks a predicted dangerous area in an operation period on a map; the site selection module is used for extracting edge lines of the dangerous area, generating a quasi-square area and a circumscribed graph of the quasi-square area, determining the circle center position of the circumscribed graph and arranging an infrared emission point capable of rotating by 360 degrees at the circle center; the fence planning module is used for updating the edge line of the dangerous area in real time; determining a target emission point according to the real-time edge line, adjusting an emission angle range, and enabling infrared rays to scan the boundary of the dangerous area back and forth at a preset speed; the UWB technology is utilized to monitor whether a person enters a dangerous area or not, and early warning is triggered; the system dynamically demarcates a dangerous area and carries out real-time early warning, so that the personnel safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of underground electronic fences, and in particular to an underground electronic fence system based on UWB precise personnel positioning. Background Art

[0002] Coal mines are specialized engineering structures used to extract underground coal resources, typically consisting of shafts, tunnels, mining faces, and supporting safety facilities. Because coal mines often contain mined goafs or closed, abandoned tunnels, these areas can pose potentially fatal hazards due to roof collapse, gas accumulation, or water accumulation. Therefore, electronic fences are often required to provide real-time monitoring and prevent access. In the security monitoring field, pulse-based electronic fences are a common type of anti-theft alarm system, but they are not suitable for use underground in coal mines.

[0003] Existing technologies often manage critical underground hazardous areas using a combination of manual inspections, physical fencing, and video surveillance, leading to frequent problems. Manual inspections rely too heavily on personnel safety awareness, making the identification of violations highly subjective. Limited visual range creates blind spots, which can easily lead to management loopholes. Furthermore, physical fencing and video surveillance struggle to accurately identify violators, making it difficult to trace violations and fostering a mentality of taking chances. Furthermore, they lack tiered alarm and early warning capabilities.

[0004] While electronic fencing in coal mines has been used for early warning of critical hazardous areas, current methods include precise personnel positioning, infrared sensing, and machine vision recognition technologies. However, these systems still have limitations. Infrared sensing electronic fencing operates only within the sensor sensing area, resulting in complex installation, limited coverage, and low flexibility. Machine vision recognition electronic fencing is highly susceptible to environmental interference and only covers the camera area, similarly suffering from narrow coverage and poor interference resistance. Furthermore, existing systems fail to account for the changing characteristics of underground hazardous areas due to environmental factors, necessitating urgent improvement. Summary of the Invention

[0005] The purpose of the present invention is to provide an underground electronic fence system based on UWB precise personnel positioning to solve the following technical problems.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] An underground electronic fence system based on UWB precise personnel positioning, including:

[0008] Data acquisition module: used to create a three-dimensional information map and mark all predicted dangerous areas;

[0009] Site selection module: Obtain the edge lines of all predicted dangerous areas, obtain several pseudo-square areas based on the edge lines, and obtain the circumscribed circles of the pseudo-square areas; obtain the centers of the circumscribed circles, and set an infrared emission point that can rotate 360 ​​degrees at each center;

[0010] Fence planning module: includes edge line planning unit, infrared path adjustment unit and monitoring module; the edge line planning unit determines the danger zone in real time;

[0011] The infrared path adjustment unit obtains an edge line of the danger zone, which is recorded as a real-time edge line; divides the real-time edge line into a plurality of line segments based on the vertices of the danger zone, obtains all target circumscribed circles within each line segment, and obtains a plurality of infrared emission points corresponding to each target circumscribed circle, which are all recorded as target emission points; for any target emission point, obtains all emission angles of the target emission point when its projection point is on the line segment, and obtains an emission angle range; the target emission point emits infrared rays back and forth at a preset sliding speed within the emission angle range;

[0012] The monitoring module monitors whether there are any underground personnel entering the dangerous area based on UWB technology and issues an early warning.

[0013] As a further solution of the present invention: the three-dimensional information includes tunnel information, equipment information and geological information, the tunnel information includes the center point coordinates, width, height and slope of the tunnel, the equipment information includes the external dimensions, position coordinates and posture angles of each equipment, the equipment includes coal mining machines, tunneling machines, transportation equipment and ventilation equipment, and the geological information includes the thickness, inclination and direction of the coal seam.

[0014] As a further solution of the present invention: the process of establishing the three-dimensional information map includes:

[0015] A three-dimensional surface model of the coal mine is constructed based on a surface reconstruction algorithm. Three-dimensional information obtained based on laser scanning technology is obtained, and the three-dimensional information is converted into point cloud data. The point cloud data is then connected into triangular facets using a triangular meshing method to obtain a continuous surface. On the continuous surface, physical objects are modeled to ultimately obtain a three-dimensional information map. The physical objects include equipment, coal seams, and rocks.

[0016] As a further solution of the present invention: the operation cycle is the total time period for construction in the coal mine;

[0017] The time when construction starts in the coal mine is recorded as the starting time, and the predicted completion time is obtained, which is recorded as the completion time. The time period composed of the starting time and the completion time is obtained, which is recorded as the total time period.

[0018] As a further solution of the present invention: the process of obtaining all predicted dangerous areas includes:

[0019] Obtain records of accidents that have occurred, wherein the records include all accidents and causes of accidents that occurred during construction in coal mines in the past; extract all areas where accidents occurred in the records of accidents that have occurred, record them as accident-frequent areas, and extract the spatial coordinates and environmental characteristics of the accident-frequent areas to obtain accident characteristics of the accident-frequent areas; on the three-dimensional information map, record the areas that meet the accident characteristics as predicted dangerous areas.

[0020] As a further solution of the present invention: the process of obtaining the pseudo-square area includes:

[0021] Obtain a projection of the predicted dangerous area on the ground plane, and obtain a geometric figure formed by the edge lines of the projection, obtain all vertices of the geometric figure, and obtain two vertices that are farthest apart, and record these two vertices as endpoints; obtain a line connecting the two endpoints, obtain the length of the line, and record it as the side length of a square; obtain the center point of the geometric figure, and establish a square area based on the side length of the square, obtain the center point of the square area, and record it as the square center point; make the square center point coincide with the center point, and the area occupied by the square area on the three-dimensional information map at this time is recorded as a pseudo-square area.

[0022] As a further solution of the present invention: when an infrared emitting point capable of rotating 360° is set at the center of a circle, the maximum rotation trajectory of the infrared emitting point is set as a circumscribed circle corresponding to the infrared emitting point.

[0023] As a further solution of the present invention, the process of obtaining the target circumscribed circle of the line segment includes:

[0024] All points on the line segment are obtained. For any circumscribed circle, if all points on the line segment are located inside the circumscribed circle, the circumscribed circle is recorded as the target circumscribed circle of the line segment.

[0025] Beneficial effects of the present invention:

[0026] Through three-dimensional modeling and real-time data updates, the present invention enables the system to dynamically identify and mark dangerous areas underground, adapt to environmental changes (such as equipment movement and geological changes), and avoid the lag of traditional static fences; combined with UWB technology's high-precision positioning (centimeter-level error) and infrared scanning, it monitors personnel positions in real time, and immediately triggers an early warning once they enter a dangerous area, reducing false alarms and missed alarms and improving safety; using a 360° rotatable infrared emission point, it covers irregular dangerous areas through a circumscribed circle, optimizes equipment layout, and reduces blind spots; the quasi-square area algorithm simplifies installation complexity and reduces deployment costs; based on data from existing accidents, it automatically identifies and predicts dangerous areas, and adjusts the infrared scanning path in combination with real-time edge lines to achieve intelligent risk prediction and active protection; compared with traditional infrared or visual technologies, the collaborative work of UWB and infrared is less affected by underground dust, light and other environmental factors, and has higher stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of a method for an underground electronic fence system based on UWB precise personnel positioning according to the present invention;

[0029] Figure 2 This is the overall architecture diagram of an underground electronic fence system based on UWB precise personnel positioning in the present invention. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Existing technologies suffer from limited coverage, low flexibility, and poor anti-interference capabilities. To address these issues, this system builds underground electronic fences based on UWB technology. UWB signals offer wide coverage and eliminate blind spots, extending the reach of electronic fences. Additional electronic fences can be added to new targets simply by installing identification cards, enhancing their flexibility. The stability of UWB signal transmission allows for adaptability to complex underground working conditions and robust anti-interference capabilities. This system monitors and analyzes various environmental factors to generate real-time electronic fences for hazardous areas.

[0032] See also Figure 1 As shown, the present invention is an underground electronic fence system based on UWB precise personnel positioning, comprising:

[0033] Data acquisition module: includes a modeling unit and a regional planning unit; the modeling unit is used to collect three-dimensional information of the coal mine and create a three-dimensional information map of the coal mine; the regional planning unit marks all predicted dangerous areas within the operation cycle on the three-dimensional information map;

[0034] Through 3D modeling, the underground spatial structure (tunnels, equipment, geological layers) is realistically restored, providing a visual basis for fence planning. Combined with data from past accidents, it intelligently predicts areas where danger may occur (such as goafs and equipment operating areas) and deploys protective measures in advance. Real-time updates of environmental data (such as newly excavated tunnels and moving equipment) ensure that electronic fences always cover the latest danger zones, avoiding blind spots. High-precision data collection (such as laser scanning and UWB positioning) reduces misjudgments and missed reports, improving the accuracy of early warnings.

[0035] In a preferred embodiment of the present invention, the three-dimensional information includes roadway information, equipment information, and geological information. The roadway information includes the center point coordinates, width, height, and slope of the roadway. The equipment information includes the external dimensions, position coordinates, and attitude angles of each device. The equipment includes a coal mining machine, a roadheader, a transportation device, and a ventilation device. The geological information includes the thickness, inclination, and strike of the coal seam.

[0036] The acquisition of this three-dimensional information is based on laser scanning technology; for example, a laser scanner is used to scan objects such as tunnels, equipment, and coal walls in coal mines. The laser scanner emits a laser beam, which, when irradiated by the surface of an object, is reflected back and received by a receiver. By measuring the time it takes for the laser to travel back and forth, the distance between the object and the scanner can be calculated. Furthermore, by rotating and moving the scanner, distance data at different angles and positions can be acquired, thereby constructing the object's three-dimensional outline.

[0037] As a preferred embodiment of the present invention, the process of establishing the three-dimensional information map includes:

[0038] A three-dimensional surface model of the coal mine is constructed based on a surface reconstruction algorithm. Three-dimensional information acquired using laser scanning technology is obtained, converted into point cloud data, and the point cloud data is connected into triangular patches using a triangular meshing method to obtain a continuous surface. Physical objects, including equipment, coal seams, and rocks, are modeled on the continuous surface to ultimately obtain a three-dimensional information map.

[0039] As a preferred embodiment of the present invention, the operation cycle is the total time period for construction in the coal mine;

[0040] Recording the time when construction begins in the coal mine as the start time, obtaining the predicted completion time as the completion time, and obtaining the time period consisting of the start time and the completion time as the total time period;

[0041] In a preferred embodiment of the present invention, the process of obtaining all predicted dangerous areas includes:

[0042] Obtaining a record of past accidents, the record including all past accidents and their causes that occurred during underground coal mine construction; extracting all areas where accidents occurred from the record as accident-frequent areas, and extracting spatial coordinates and environmental characteristics of the accident-frequent areas to obtain accident characteristics of the accident-frequent areas; and recording areas meeting the accident characteristics as predicted dangerous areas on the three-dimensional information map;

[0043] It should be noted that the process of determining the predicted dangerous area (i.e., the electronic fence area) also includes:

[0044] The electronic fence system communication base station transmits signals through two antennas, with a one-way coverage area of ​​≥200m and a two-way coverage area of ​​≥400m. The underground static target positioning accuracy reaches about 0.2m, and the dynamic target positioning accuracy reaches about 6.5m.

[0045] By combining the 2000 coordinate system with the GIS model, we pioneered a three-dimensional coordinate domain simulation back-calculation method. This method accurately calculates two- and three-dimensional coordinates in key and high-risk areas, enabling the absolute position of underground personnel to be determined.

[0046] The main process of the simulation inverse calculation method in the three-dimensional coordinate domain is as follows:

[0047] (1) Based on the 2000 coordinate system for underground CAD engineering Figure 2 3D coordinates are simulated and inversely calculated to establish a unified 2D coordinate system underground;

[0048] (2) The elevation data of the underground CAD engineering drawing is converted into Z-axis coordinate values ​​through a self-developed algorithm, realizing the reverse calculation of the three-dimensional coordinates of all objects in a unified coordinate system;

[0049] (3) Based on the three-dimensional coordinate data obtained by reverse calculation, the three-dimensional coordinate domain of the fence coverage area is set to determine the behavior of underground personnel breaking through the fence.

[0050] The AI ​​video algorithm is embedded in the multifunctional information mining lamp, and the image target detection algorithm based on the convolutional neural network is used to identify personnel and detect hazards, thereby achieving rapid response and processing of underground hazards.

[0051] (1) Use the continuous frame action recognition and human trajectory recognition functions of the convolutional neural network algorithm to monitor and judge human behavior, such as falling, fighting, and injury, and make timely emergency responses.

[0052] (2) The image detection algorithm developed based on convolutional neural networks has realized the identification and judgment of hazardous sources such as flames, smoke, and smoking, ensuring safe production in mines.

[0053] Through the three-dimensional GIS platform provided by the system, the electronic fence area can be arbitrarily demarcated and released, and the electronic fence area within the specified range can be automatically generated according to the environmental monitoring values ​​and equipment operating status, so as to realize the real-time judgment, alarm and recording of the fence-breaking behavior of non-whitelisted personnel in the mine.

[0054] (1) Electronic fences can be manually planned for key locations and high-risk areas underground. Simply mark the starting point, inflection point, and end point on the 3D GIS model. The system can then obtain the 3D absolute coordinates of each point and automatically calculate the 3D coordinates of the fence boundary and inflection point by combining the 3D coordinate domain data of the tunnel, thus intelligently completing the coordinate domain of the electronic fence.

[0055] (2) The real-time monitoring data of the underground mine is judged by the safety judgment model. When any area is judged to have a safety risk, an electronic fence is automatically generated according to the preset rules, and the fence-breaking judgment is realized by combining the personnel location data.

[0056] (3) Use positioning cards and high-precision positioning systems to achieve dynamic electronic fencing. Identification cards are embedded in dynamic equipment underground to locate the equipment in real time. The area where the equipment is located is set as the electronic fence area. As the equipment moves, the electronic fence area is updated in real time.

[0057] Site selection module: Obtain the edge lines of all predicted dangerous areas, obtain several pseudo-square areas based on the edge lines, and obtain the circumscribed circles of the pseudo-square areas; obtain the centers of the circumscribed circles, and finally obtain several circle centers, and set an infrared emission point that can rotate 360 ​​degrees at each circle center;

[0058] In a preferred embodiment of the present invention, the process of obtaining the quasi-square area includes:

[0059] Obtain a projection of the predicted dangerous area on the ground plane, obtain a geometric figure formed by the edge lines of the projection, obtain all vertices of the geometric figure, and obtain two vertices that are farthest apart from each other, and record these two vertices as endpoints; obtain a line connecting the two endpoints, obtain the length of the line, and record it as the side length of a square; obtain the center point of the geometric figure, and establish a square area based on the side length of the square, obtain the center point of the square area, and record it as the square center point; make the square center point coincide with the center point, and record the area occupied by the square area on the three-dimensional information map as a pseudo-square area;

[0060] As a preferred embodiment of the present invention, when an infrared emission point capable of rotating 360° is set at the center of a circle, the maximum rotation trajectory of the infrared emission point is set as a circumscribed circle corresponding to the infrared emission point;

[0061] The core task of the site selection module is to optimize the deployment location of infrared emission points based on the dangerous area information provided by the data acquisition module to ensure that the electronic fence can completely cover the boundary of the dangerous area; extract the geometric edge line of the dangerous area from the three-dimensional map, perform geometric approximation on the irregular dangerous area, find the two farthest points of the edge line (the endpoints with the maximum distance) as the reference side length, and construct a square area with this side length so that its center coincides with the geometric center of the dangerous area to form a pseudo-square area; convert the complex irregular area into a square or quasi-square structure that is easier to cover, facilitating the subsequent deployment of infrared emission points; calculate the minimum circumscribed circle for each pseudo-square area to ensure that the entire area can be covered by infrared rays, and deploy a 360° rotatable infrared emission point at the center of the circumscribed circle to maximize its scanning range and cover the boundary of the dangerous area; if the shape or position of the dangerous area changes (such as equipment movement), recalculate the circumscribed circle and adjust the scanning angle of the infrared emission point to ensure that the fence is always effective;

[0062] Fence planning module: includes edge line planning unit, infrared path adjustment unit and monitoring module; the edge line planning unit determines the danger zone in real time;

[0063] The infrared path adjustment unit obtains an edge line of the danger zone, which is recorded as a real-time edge line; divides the real-time edge line into a plurality of line segments based on the vertices of the danger zone, obtains all target circumscribed circles within each line segment, and obtains a plurality of infrared emission points corresponding to each target circumscribed circle, which are all recorded as target emission points; for any target emission point, obtains all emission angles of the target emission point when its projection point is on the line segment, and obtains an emission angle range; the target emission point emits infrared rays back and forth at a preset sliding speed within the emission angle range;

[0064] The monitoring module monitors whether there are underground personnel entering the dangerous area based on UWB technology and issues an early warning;

[0065] In a preferred embodiment of the present invention, the process of the edge line planning unit determining the dangerous area in real time includes:

[0066] Acquire in real time the areas on the three-dimensional information map that meet the accident characteristics and record them as dangerous areas; and merge several adjacent dangerous areas into one dangerous area;

[0067] In a preferred embodiment of the present invention, the process of obtaining the target circumcircle of the line segment includes:

[0068] Obtain all points on the line segment. For any circumscribed circle, if all points on the line segment are located inside the circumscribed circle, record the circumscribed circle as the target circumscribed circle of the line segment.

[0069] As a preferred embodiment of the present invention, the process of determining the emission angle range includes:

[0070] Obtaining all emission angles of the target emission point when the projection point of the target emission point is on the line segment to obtain an emission angle range;

[0071] As a preferred embodiment of the present invention, the process of setting the sliding speed includes:

[0072] The sliding speed is the time it takes for the target launch point to slide once within the launch angle range. The length of the line segment is obtained and the initial sliding speed v0 is set. The sliding speed Wherein k is the correction coefficient and k>1, L is the length of the line segment;

[0073] In a preferred embodiment of the present invention, the process of the monitoring module monitoring whether there is an underground person entering the dangerous area includes:

[0074] If the target emission point detects that the infrared rays are blocked, a warning signal is transmitted to the monitoring module. The monitoring module obtains the warning signal and determines the coordinate range of the line segment corresponding to the target emission point on the three-dimensional information map based on the warning signal; the monitoring module obtains the position coordinates of each underground personnel based on UWB, selects the underground personnel whose position coordinates are closest to the coordinate range, records them as warning personnel, and issues a prompt to the warning personnel.

[0075] Based on the user's existing engineering data, the present invention constructs a three-dimensional geographic information map to display the location, range and real-time status of electronic fences, the location and real-time status of coal mining machines and safety monitoring equipment, and automatically creates electronic fences in corresponding areas based on monitoring data of coal mining machines, supports, gas, etc. and user-defined fence rules; users can freely create electronic fence areas on the three-dimensional map according to actual needs.

[0076] The system uses mine intrinsically safe communication base stations, mine intrinsically safe card reader substations, personnel identification cards, vehicle identification cards, mine intrinsically safe identification card search instruments, mine flameproof and intrinsically safe DC regulated power supplies, information mining lamps, mine intrinsically safe LED display screens, mine intrinsically safe sound and light alarms, and underground industrial ring networks as carriers to build a base for collecting, transmitting, and gathering the underlying data of the products. This system connects with the ground data center and combines with the system platform to form a complete set of data collection, transmission, gathering, processing, analysis, push, display, and feedback systems. The overall architecture diagram is as follows: Figure 2 As shown;

[0077] Vehicle identification cards, personnel identification cards, and information mining lamps communicate with the mine's intrinsically safe communication base station via UWB antennas. Video, phone, and intercom data from the information mining lamps communicate with the communication base station via WiFi via built-in WiFi antennas. This data is transmitted to the host computer and system host via ring network switches and core switches. Using precise positioning, AI video algorithms, backend systems, databases, and 3D GIS technologies, underground tunnel modeling is performed to enable personnel location query and management, real-time status query, alarms, scheduling, and autonomous electronic fence demarcation.

[0078] The information mining lamp not only provides basic lighting and positioning functions but also incorporates an AI video algorithm backend, enabling it to identify dangerous behaviors and working conditions. Furthermore, the information mining lamp supports both one-to-one and one-to-many intercoms, including calls with the dispatching platform, calls between any mining lamps, and autonomous grouping for multi-group intercoms. As essential individual equipment for underground personnel, the information mining lamp integrates multiple functions, ensuring safety while reducing the carrying burden.

[0079] The intrinsically safe mine-grade communication base station serves as the system's data transmission hub, leading the transmission of location, video, and voice data. It can also connect to underground sensors and automatic monitoring systems, offering strong scalability. It is powered by a mine-grade flameproof and intrinsically safe DC regulated power supply with a built-in battery management system, providing over four hours of backup time and ensuring system stability in emergency situations. The communication base station is connected via Ethernet / 485, and its power status is centrally managed and monitored on the system platform.

[0080] In addition, the system adopts a multi-level dynamic path planning architecture to achieve risk avoidance path planning through three links: environmental perception, real-time calculation, and intelligent guidance. Specifically, it includes:

[0081] The scope of the dangerous area is monitored in real time through infrared emission points and the UWB system, and the real-time location of the staff is obtained through the UWB system. The real-time location includes information such as terrain, obstacles, and safe exits. The preset safe area or exit location discretizes the environmental map and divides it into grids (such as an occupied grid map). The dangerous area is marked as an inaccessible area and the safe area as a passable area. The shortest path is searched in combination with a heuristic function (such as Euclidean distance). When the boundary of the dangerous area changes, the environmental map is reconstructed and the path is replanned.

[0082] The above is a detailed description of one embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. An underground electronic fence system based on UWB precise personnel positioning, characterized by: include: Data acquisition module: used to create a three-dimensional information map and mark all predicted dangerous areas; Site selection module: Obtain the edge lines of all predicted dangerous areas, obtain several pseudo-square areas based on the edge lines, and obtain the circumscribed circles of the pseudo-square areas; obtain the centers of the circumscribed circles, and set an infrared emission point that can rotate 360 ​​degrees at each center; Fence planning module: includes edge line planning unit, infrared path adjustment unit and monitoring module; the edge line planning unit determines the danger zone in real time; The infrared path adjustment unit obtains an edge line of the danger zone, which is recorded as a real-time edge line; divides the real-time edge line into a plurality of line segments based on the vertices of the danger zone, obtains all target circumscribed circles within each line segment, and obtains a plurality of infrared emission points corresponding to each target circumscribed circle, which are all recorded as target emission points; for any target emission point, obtains all emission angles of the target emission point when its projection point is on the line segment, and obtains an emission angle range; the target emission point emits infrared rays back and forth at a preset sliding speed within the emission angle range; The monitoring module monitors whether there are any underground personnel entering the dangerous area based on UWB technology and issues an early warning.

2. The underground electronic fence system based on UWB precise personnel positioning according to claim 1 is characterized in that: The data acquisition module includes a modeling unit and a regional planning unit; the modeling unit is used to collect three-dimensional information of the coal mine and establish a three-dimensional information map of the coal mine; the regional planning unit marks all predicted dangerous areas within the operation cycle on the three-dimensional information map.

3. The underground electronic fence system based on UWB precise personnel positioning according to claim 2 is characterized in that: The three-dimensional information includes tunnel information, equipment information and geological information. The tunnel information includes the center point coordinates, width, height and slope of the tunnel. The equipment information includes the external dimensions, position coordinates and attitude angles of each equipment. The equipment includes coal mining machines, tunneling machines, transportation equipment and ventilation equipment. The geological information includes the thickness, inclination and direction of the coal seam.

4. The underground electronic fence system based on UWB precise personnel positioning according to claim 2 is characterized in that: The process of establishing the three-dimensional information map includes: A three-dimensional surface model of the coal mine is constructed based on a surface reconstruction algorithm. Three-dimensional information obtained based on laser scanning technology is obtained, and the three-dimensional information is converted into point cloud data. The point cloud data is then connected into triangular facets using a triangular meshing method to obtain a continuous surface. On the continuous surface, physical objects are modeled to ultimately obtain a three-dimensional information map. The physical objects include equipment, coal seams, and rocks.

5. The underground electronic fence system based on UWB precise personnel positioning according to claim 2 is characterized in that: The operation cycle is the total time period during which construction is carried out underground in a coal mine; The time when construction starts in the coal mine is recorded as the starting time, and the predicted completion time is obtained, which is recorded as the completion time. The time period composed of the starting time and the completion time is obtained, which is recorded as the total time period.

6. The underground electronic fence system based on UWB precise personnel positioning according to claim 2 is characterized in that: The process of obtaining all predicted danger zones includes: Obtain records of accidents that have occurred, wherein the records include all accidents and causes of accidents that occurred during construction in coal mines in the past; extract all areas where accidents occurred in the records of accidents that have occurred, record them as accident-frequent areas, and extract the spatial coordinates and environmental characteristics of the accident-frequent areas to obtain accident characteristics of the accident-frequent areas; on the three-dimensional information map, record the areas that meet the accident characteristics as predicted dangerous areas.

7. The underground electronic fence system based on UWB precise personnel positioning according to claim 1 is characterized in that: The process of obtaining the quasi-square area includes: Obtain a projection of the predicted dangerous area on the ground plane, and obtain a geometric figure formed by the edge lines of the projection, obtain all vertices of the geometric figure, and obtain two vertices that are farthest apart, and record these two vertices as endpoints; obtain a line connecting the two endpoints, obtain the length of the line, and record it as the side length of a square; obtain the center point of the geometric figure, and establish a square area based on the side length of the square, obtain the center point of the square area, and record it as the square center point; make the square center point coincide with the center point, and the area occupied by the square area on the three-dimensional information map at this time is recorded as a pseudo-square area.

8. The underground electronic fence system based on UWB precise personnel positioning according to claim 1 is characterized in that: When an infrared emitting point capable of rotating 360° is set at the center of a circle, the maximum rotation trajectory of the infrared emitting point is set as a circumscribed circle corresponding to the infrared emitting point.

9. The underground electronic fence system based on UWB precise personnel positioning according to claim 1, characterized in that: The process of obtaining the target circumcircle of a line segment includes: All points on the line segment are obtained. For any circumscribed circle, if all points on the line segment are located inside the circumscribed circle, the circumscribed circle is recorded as the target circumscribed circle of the line segment.

10. The underground electronic fence system based on UWB precise personnel positioning according to claim 1, characterized in that: The process of the monitoring module monitoring whether there are underground personnel entering the dangerous area includes: If the target emission point detects that the infrared rays are blocked, a warning signal is transmitted to the monitoring module. The monitoring module obtains the warning signal and determines the coordinate range of the line segment corresponding to the target emission point on the three-dimensional information map based on the warning signal; the monitoring module obtains the position coordinates of each underground personnel based on UWB, selects the underground personnel whose position coordinates are closest to the coordinate range, records them as warning personnel, and issues a prompt to the warning personnel.

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