Mine hydraulic support approaching prevention early warning method based on UWB

Abstract

The invention discloses a UWB-based mine hydraulic support approaching prevention early warning method, which comprises the following steps: S1, deploying N card readers on each hydraulic support in a roadway, N being an integer greater than or equal to 2; distance measurement is carried out on identification cards worn by operating personnel entering the coverage range of the card reader, and then all discrete distance measurement information collected according to a time sequence is stored in a data structure of a linear table; and S2, extracting and analyzing the distance measurement information of the single identification card relative to the N card readers from the linear table to obtain a typical distance measurement scene of the single identification card. According to the early warning method for preventing approaching of the mine hydraulic support based on the UWB, the UWB technology is used for carrying out distance measurement on personnel, then linkage with a hydraulic control system is carried out, when someone approaches the moving hydraulic support, monitoring and early warning are carried out, the determined support number can be output, the personnel entering a support moving area by mistake can be reminded, and safety accidents are reduced.

Description

Technical Field

[0001] The present invention relates to a method for preventing approaching warning of mine hydraulic supports based on UWB, belonging to the field of coal mine safety monitoring. Background Art

[0002] At present, the movement of hydraulic supports is a key link with highly concentrated risks in the safe production of fully mechanized coal mining faces. During the movement of the supports, hundreds of kilograms to several tons of supports perform complex operations such as lowering the supports, moving forward, and raising the supports. It is very easy for personnel to be squeezed, collided, or even buried due to improper standing positions or signal errors. Secondly, the harsh underground working environment such as insufficient lighting, dust filling, and noise interference severely limits the visual and auditory perception of personnel, increasing the risk of misjudgment. Therefore, in order to improve the safety index of underground coal mine personnel, it is an important task to timely monitor the position of personnel during support movement and give early warnings when personnel enter the support movement area.

[0003] Currently, there are two types of personnel protection for the movement of hydraulic supports: one is to use UWB (Ultra-Wideband) technology to achieve centimeter-level real-time ranging between personnel and hydraulic supports, and then link with the electro-hydraulic control system to compare the positions of the hydraulic supports that are being moved and personnel. When a personnel intrusion event occurs, the emergency locking of the supports is achieved. The other is that underground workers use wireless remote control to allow operators to complete the operations of moving the supports and lowering the support columns at a safe distance. Most of these studies are aimed at the detection of the positions of hydraulic supports and personnel, and cannot output the determined hydraulic support numbers that are about to cause personnel collisions, and cannot know in a timely and accurate manner which specific hydraulic support is about to cause a personnel collision.

[0004] The underground coal mine environment is complex, with phenomena such as insufficient lighting and coal dust filling. Simply controlling the movement of hydraulic supports through the method of manual remote control by underground personnel is somewhat dangerous for the intrusion of people. And based on UWB technology to achieve centimeter-level positioning with identification cards, it cannot output the determined support numbers, and there is a delay in linking with the liquid control system. When someone approaches a hydraulic support that is being moved, there is no warning prompt, which may also cause safety accidents. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a method for preventing approaching warning of mine hydraulic supports based on UWB. By using UWB technology to measure the distance of personnel, and then linking with the liquid control system, when someone approaches a moving hydraulic support, it conducts monitoring and warning, and can output the determined support number to remind personnel who accidentally enter the support movement area and reduce the occurrence of safety accidents.

[0006] To solve the above technical problems, the technical solution of the present invention is as follows: A method for preventing approaching warning of mine hydraulic supports based on UWB includes the following steps: Step S1: Deploy N card readers on each hydraulic support in the tunnel, where N is an integer greater than or equal to 2; measure the distance of the identification cards worn by the workers entering the coverage area of ​​the card readers, and then store all the discrete distance measurement information collected in chronological order in a linear list data structure. Step S2: Extract and parse the ranging information of a single identification card relative to N card readers from the linear list to obtain the typical ranging scenario of a single identification card, and make regional logic determination based on all the ranging information of a single identification card relative to N card readers. Step S3: Based on the area status and ranging data, filter the minimum ranging distance and the corresponding card reader, then perform multi-level alarm based on interval determination, and finally output the alarm command; Step S4: Determine the area where a single identification card is located; Step S5: Calculate the hydraulic support number that is closest to the single identification card.

[0007] Furthermore, in step S2, the ranging information of a single identification card relative to N card readers is extracted and parsed to obtain a typical ranging scenario for a single identification card, specifically including the following steps: First, start scanning from the head of the linear list. Based on the unique non-zero card number, retrieve and extract the ranging values ​​from N card readers corresponding to that card number. Based on the valid and invalid combinations of the ranging values ​​from N card readers, a single identification card can be summarized into 2N combinations. By filtering out combinations where only one card reader is valid and all card readers are invalid, typical ranging scenarios are obtained.

[0008] Furthermore, in step S2, the area logic determination is performed based on all ranging information of a single identification card relative to N card readers, specifically including the following steps: By determining the number of valid distance measurement signals and which reader the valid distance measurement signals come from, it can be inferred whether the person is in the core area covered by N readers, the area connected between two readers, or the signal edge area of ​​a certain reader. This completes the area logic determination and converts the original distance array into an area status code.

[0009] Furthermore, in step S3, the minimum ranging distance and the corresponding card reader are selected, which specifically includes the following steps: Find the minimum distance value and the corresponding reader number from the distance measurement information of one identification card and N card readers.

[0010] Furthermore, in step S3, the multi-level alarm based on interval determination is performed, specifically including the following steps: Preset distance thresholds for mild, moderate, and high risks, and divide different alarm zones based on the minimum distance value: If the minimum distance value equals the light risk distance threshold, it is determined to be a Level 1 warning zone; If the minimum distance value equals the moderate risk distance threshold, it is classified as a Level 2 warning zone; If the minimum distance value equals the high-risk distance threshold, it is classified as a level three danger zone.

[0011] Furthermore, in step S4, determining the area where a single identification card is located specifically includes the following steps: First, preset the distance S between any two adjacent hydraulic supports and the hydraulic support number b for each card reader; then calculate the absolute distance Distance between any two card readers. The formula for calculating the absolute distance Distance between two card readers is as follows: Distance = | S×b1- S×b2 |; Among them, b1 and b2 are the numbers of two hydraulic brackets equipped with card readers; Then, the system obtains the distances S1 and S2 between the identification card and the two card readers involved in the calculation in real time, and calculates the distance difference △S between S1 and S2, △S = |S1 - S2|; Next, the system compares the distance difference ΔS with the absolute distance Distance between the two card readers: If △S is approximately equal to Distance, it indicates that the person is located on the line connecting the two card readers and is close to one of the card readers; If △S is less than Distance, it indicates that the person is located in the area between the two card readers.

[0012] Furthermore, in step S5, the hydraulic support number closest to a single identification card is calculated, which specifically includes the following steps: The system receives five interval position states of a single identification card relative to two reference card readers. The five interval position states include being located to the left of hydraulic support b1, being located to the right of hydraulic support b2, being located between hydraulic support b1 and hydraulic support b2, being located on hydraulic support b1, and being located on hydraulic support b2. For each interval position state, the system calculates the hydraulic support number that is closest to the single identification card.

[0013] Furthermore, for each range position state, the step of calculating the hydraulic support number closest to a single identification card specifically includes the following steps: The single identification card is located to the left of hydraulic support b1. Using the location of hydraulic support b1 as a reference, the calculation is performed in the negative direction of the roadway using the following formula: Hydraulic support number = (b1 * S - S1) / S; Where b1 is the specific number of hydraulic support b1, S is the distance between two adjacent hydraulic supports in the tunnel, and S1 is the distance measuring distance of the card reader installed on hydraulic support b1. The single identification card is located to the right of hydraulic support b2. Using the location of hydraulic support b2 as a reference, the calculation formula is as follows: Hydraulic support number = (b2 * S + S2) / S; Where b2 is the specific number of hydraulic support b2, S is the distance between two adjacent hydraulic supports in the tunnel, and S2 is the distance measuring distance of the card reader installed on hydraulic support b2. The single identification card is located between hydraulic support b1 and hydraulic support b2. The calculation formula is as follows: Hydraulic support number = (b1 * S + S1) / S; Where b1 is the specific number of hydraulic support b1, S is the distance between two adjacent hydraulic supports in the tunnel, and S1 is the distance measuring distance of the card reader installed on hydraulic support b1. The single identification card is located on the hydraulic support b1, and the calculation formula is as follows: Hydraulic support number = (b1 * S) / S = b1; Where b1 is the specific number of hydraulic support b1, and S is the distance between two adjacent hydraulic supports in the roadway. The single identification card is located on hydraulic support b2, and the calculation formula is: Hydraulic support number = (b2 * S) / S = b2; Where b2 is the specific number of hydraulic support b2, and S is the distance between two adjacent hydraulic supports in the roadway.

[0014] By employing the above technical solution, this invention utilizes UWB (Ultra-Wideband) to measure the distance of identification cards carried by personnel in real time within underground roadways. The distance measured by UWB is compared with predetermined multi-level distances, and an alarm is triggered if the distance is less than the set distance. The UWB distance information is used to ultimately determine the vicinity of the hydraulic support where the personnel's identification card is located, and then the support number is output. This invention deeply integrates precise sensing, intelligent judgment, and coordinated control to form a proactive and precise underground operation safety solution, effectively reducing the risk of personnel collisions during the movement of hydraulic supports and improving the inherent safety level and operational efficiency of coal mine production. Attached Figure Description

[0015] Figure 1This is a flowchart of a UWB-based approach prevention early warning method for mine hydraulic supports according to the present invention; Figure 2 This is a schematic diagram of the personnel of the present invention positioned on the hydraulic support b1; Figure 3 This is a schematic diagram showing the single identification card of the present invention located on the left side of the hydraulic support b1; Figure 4 This is a schematic diagram showing the single identification card of the present invention located on the right side of the hydraulic support b2; Figure 5 This is a schematic diagram showing the single identification card of the present invention located between hydraulic support b1 and hydraulic support b2; Figure 6 This is a schematic diagram of a single identification card of the present invention located on a hydraulic support b1. Detailed Implementation

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] like Figure 1 As shown, this embodiment provides a UWB-based approach prevention early warning method for mine hydraulic supports, including the following steps: Step S1: Deploy N card readers on each hydraulic support in the tunnel, where N is an integer greater than or equal to 2; perform real-time, high-precision distance measurement on the identification cards worn by workers entering the coverage area of ​​the card readers to dynamically sense their positions; then store all the discrete distance measurement information collected in chronological order in memory using a linear list data structure. Specifically: In a hydraulic support relocation and approach prevention system, accurate data acquisition and processing at the front end is the first crucial step in ensuring the reliable operation of the entire system. The core process is as follows: N card readers are deployed on each hydraulic support in the tunnel, where N is an integer greater than or equal to 2. Taking a 200-meter tunnel as an example, approximately 100 hydraulic supports are installed within the tunnel. Each card reader has a coverage range of 180 meters. Therefore, one card reader is installed on each hydraulic support at the beginning and end of the tunnel, and two more are installed on the hydraulic supports in the middle area of ​​the tunnel, for a total of four card readers, spaced evenly. Using UWB (Ultra-Wideband) technology, real-time, high-precision distance measurement is performed on the identification cards worn by workers entering the coverage area, thereby dynamically sensing the personnel's location. A microcontroller (such as the STM32 series) serves as the local computing core, continuously receiving the raw distance measurement data stream from each card reader. To achieve efficient management and subsequent analysis, the microcontroller first stores the discrete ranging information that arrives in chronological order in memory in an ordered manner using a "linear list" data structure. This storage method facilitates indexing and traversing of continuous data.

[0018] Subsequently, the system preprocesses the stored raw ranging information to improve data quality. Typical steps include: using digital filtering algorithms (such as Kalman filtering or mean filtering) to suppress random noise caused by the complex electromagnetic environment and multipath effects downhole; identifying and eliminating outliers caused by temporary signal loss or abrupt changes by setting reasonable distance thresholds; and smoothing the data sequence to provide clean and reliable data input for subsequent core safety logic (such as multi-level distance judgment and support number calculation).

[0019] Step S2: Extract and parse the ranging information of a single identification card relative to N card readers from the linear list to obtain the typical ranging scenario of a single identification card, and perform precise area logic determination based on all the ranging information of a single identification card relative to N card readers. Specifically: The process of extracting and parsing the ranging information of a single identification card relative to N card readers to obtain a typical ranging scenario for a single identification card includes the following steps: First, the linear list is scanned from the head. Based on the unique non-zero card number, the ranging values ​​from N card readers corresponding to that card number are retrieved and extracted. Since each card reader may return a valid ranging value or an invalid value (such as zero or a specific error code) due to signal obstruction or exceeding the range, based on the combinations of valid and invalid ranging values ​​from the N card readers, a single identification card system can theoretically summarize 2... N There are several possible combinations (e.g., deploying a total of 4 card readers, such as: all signals from card reader 1 to card reader 4 are valid, all signals from card reader 1 to card reader 4 are invalid, card reader 1 is valid, card reader 2 is valid, card reader 3 is valid and card reader 4 is invalid, card reader 1 is valid, card reader 2 is valid, card reader 3 is invalid and card reader 4 is invalid, etc.). However, determining the direction of a single identification card requires 2 card readers. Therefore, combinations with only one valid card reader and all invalid card readers are filtered out, resulting in typical ranging scenarios. Taking 4 card readers as an example, the number of typical ranging scenarios is: 2 4 -5=11, for a total of 11 typical ranging scenarios.

[0020] The process of determining the region based on all ranging information from a single identification card to N card readers includes the following steps: Typical ranging scenarios are not arbitrarily categorized; each directly maps to different geometric distributions of people within the alleyway space and signal coverage quality. By determining the number of valid ranging signals and which reader the valid signals originate from, it is possible to accurately infer whether a person is in the core area covered by N readers, the area between two readers, the signal edge area of ​​a particular reader, or even a blind spot. This completes the area logic determination, transforming the original distance array into an area status code with clear spatial semantics.

[0021] Step S3: Based on the area status and ranging data, filter for minimum ranging distances and corresponding card readers, then perform multi-level alarms based on interval determination, and finally output precise alarm commands. Specifically: The process of selecting the minimum ranging distance and corresponding card reader includes the following steps: From the ranging information of one identification card and N card readers (such as the 4 card readers in the previous process), find the minimum distance value and the corresponding card reader number. The specific iterative comparison process is as follows: Initialization: Preset a sufficiently large initial minimum distance and a minimum card reader number (e.g., 0).

[0022] Iterative comparison: The distance measurement data packets of the identification card and each card reader stored in the linear table are compared with the initial minimum distance of the current record in turn.

[0023] Update log: If the distance measured in a new data packet is less than the initial minimum distance recorded in the current log, the minimum distance variable is updated with this smaller distance value, and the minimum reader number is simultaneously updated to the source reader number of the current data packet. For example, if the initial minimum distance is set to 5 meters, the corresponding minimum reader number is 0. If the distance measured by reader 1 is 4 meters, the minimum distance is updated to 4 meters, and reader 1 is simultaneously updated to the source reader number of the current data packet.

[0024] Output: After traversing all relevant data packets, the final determined minimum distance and minimum reader number represent the nearest reader to the person's current location and their actual distance. This result is encapsulated and passed to the next stage.

[0025] The process of implementing multi-level alarms based on interval determination includes the following steps: This step executes specific alarm decisions based on the minimum distance value obtained above. To achieve refined safety early warning, a multi-level distance interval determination method is adopted: Alarm zone division: Corresponding to different hazard levels, preset distance thresholds for mild risk, moderate risk, and high risk are used to divide different alarm zones. For example, a "three-level alarm" mechanism can be set: If the minimum distance value equals the light risk distance threshold, it is determined to be a Level 1 warning zone (relatively far away, light risk), triggering a warning sound and light alarm; If the minimum distance value equals the medium-risk distance threshold, it is determined to be a level 2 warning zone (close proximity, medium risk), triggering a stronger alarm and potentially preparing for closure; If the minimum distance value equals the high-risk distance threshold, it is determined to be a level three danger zone (extremely close, high risk), and an emergency audible and visual alarm is immediately triggered, and a hydraulic support locking signal is output.

[0026] Step S4: Determine the area where a single identification card is located. Specifically: In the positioning logic of the hydraulic support anti-access system, area determination is a crucial step. Its task is to transform abstract ranging data into specific area information of personnel within the tunnel. This determination is primarily based on typical ranging scenarios generated after preprocessing. The core of area determination is a geometric positioning algorithm based on two valid ranging information points. The specific steps are as follows: First, preset the distance S between any two adjacent hydraulic supports and the hydraulic support number b for each card reader; then calculate the absolute distance Distance between any two card readers. The formula for calculating the absolute distance Distance between two card readers is as follows: Distance = |S×b1-S×b2|; This forms the known coordinate basis for positioning; Among them, b1 and b2 are the numbers of two hydraulic brackets equipped with card readers.

[0027] Then, the system obtains the distances S1 and S2 between the identification card and the two card readers involved in the calculation in real time, and calculates the distance difference △S between S1 and S2, △S = |S1 - S2|. This difference contains the position information of the person relative to the line connecting the two card readers.

[0028] Next, the system compares the distance difference ΔS with the absolute distance Distance between the two readers. Based on geometric principles, this comparison uniquely determines which segment of the straight line interval formed by the two readers the identification card is located on. If △S is approximately equal to Distance, it indicates that the person is almost on the line connecting the two card readers and is close to one of them. By comparing the sizes of S1 and S2, it can be further determined whether the person is biased towards the left side of the card reader on hydraulic support b1, the right side of the card reader on hydraulic support b2, or exactly in the middle between the card readers on hydraulic support b1 and hydraulic support b2. Figure 2As shown, when Distance = 50m and △S = 50m, that is, △S is equal to Distance. If S1 < S2, it means the person is at b1. If S1 > S2, it means the person is at b2.

[0029] If △S is less than Distance, it indicates that the person is in the area between the two card readers.

[0030] Finally, a definite regional interval value will be output (for example, between hydraulic support b1 and hydraulic support b2, close to hydraulic support b2). This result will be directly passed into the next stage of calculating the hydraulic support number to finally calculate the closest hydraulic support number where the person is located, thus completing the intelligent parsing from signal to position. The entire determination process realizes the conversion of limited wireless signals into stable and reliable spatial position information in a complex underground environment.

[0031] Step S5: Calculate the hydraulic support number closest to a single identification card. Specifically: This is the key link to finally convert the abstract interval data into specific hydraulic support numbers. It receives the output from the regional determination link, that is, the five interval position states of the identification card relative to the two reference card readers (on the left side of hydraulic support b1, on the right side of hydraulic support b2, between hydraulic support b1 and hydraulic support b2, on hydraulic support b1, on hydraulic support b2). For each case, the system applies specific geometric calculation formulas for calculation based on the preset roadway geometric model (the spacing S between hydraulic supports and the support number b where the base station is located) and real-time ranging information.

[0032] The calculation logics for the five interval position states are as follows: 1. When a single identification card is on the left side of hydraulic support b1, based on the position of hydraulic support b1, calculate backward in the negative direction of the roadway. The calculation formula is: Hydraulic support number = (b1 * S - S1) / S; Where b1 is the specific number of hydraulic support b1, S is the spacing between two adjacent hydraulic supports in the roadway, and S1 is the ranging distance of the card reader installed on hydraulic support b1.

[0033] As Figure 3 shown, assume that hydraulic support b1 is the 30th support, hydraulic support b2 is the 60th support, S1 = 5m, S2 = 35m, and the spacing between two adjacent hydraulic supports in the roadway is 1m. Then the hydraulic support number = (30 * 1 - 5) / 1 = 25th.

[0034] 2. When a single identification card is on the right side of hydraulic support b2, based on the position of hydraulic support b2, calculate forward in the positive direction of the roadway. The calculation formula is: Hydraulic support number = (b2 * S + S2) / S; Where b2 is the specific number of hydraulic support b2, S is the distance between two adjacent hydraulic supports in the tunnel, and S2 is the distance measurement distance of the card reader installed on hydraulic support b2.

[0035] like Figure 4 As shown, assuming that hydraulic support b1 is the 30th support and hydraulic support b2 is the 60th support, S1=35m, S2=5m, and the distance between two adjacent hydraulic supports in the tunnel is 1m, then the hydraulic support number = (60*1+5) / 1 = 65.

[0036] 3. If a single identification card is located between hydraulic support b1 and hydraulic support b2, the distance measurement information from the hydraulic support b1 side is typically used to extrapolate in the positive direction (or vice versa) to ensure that the calculated value lies between the two supports. The extrapolation formula is: Hydraulic support number = (b1 * S + S1) / S; Where b1 is the specific number of hydraulic support b1, S is the distance between two adjacent hydraulic supports in the roadway, and S1 is the distance measurement distance of the card reader installed on hydraulic support b1.

[0037] like Figure 5 As shown, assuming that hydraulic support b1 is the 30th support and hydraulic support b2 is the 60th support, S1=13m, S2=17m, and the distance between two adjacent hydraulic supports in the tunnel is 1m, then the hydraulic support number = (30*1+13) / 1 = 13.

[0038] 4. When a single identification card is located on hydraulic support b1, the personnel's position coincides with the coordinates of the hydraulic support. The calculation result is directly equal to the support number of the hydraulic support. The calculation formula is: Hydraulic support number = (b1 * S) / S = b1; Where b1 is the specific number of hydraulic support b1, and S is the distance between two adjacent hydraulic supports in the roadway.

[0039] like Figure 6 As shown, assuming that hydraulic support b1 is the 30th support and hydraulic support b2 is the 60th support, S1=0m, S2=30m, and the distance between two adjacent hydraulic supports in the tunnel is 1m, then the hydraulic support number = (30*1) / 1 = 30.

[0040] 5. A single identification card is located on hydraulic support b2. At this time, the personnel position coincides with the coordinates of the hydraulic support. The calculation result is directly equal to the support number of the hydraulic support. The calculation formula is: Hydraulic support number = (b2 * S) / S = b2; Where b2 is the specific number of hydraulic support b2, and S is the distance between two adjacent hydraulic supports in the roadway.

[0041] The specific embodiments described above further illustrate the technical problems, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A UWB-based approach warning method for mine hydraulic supports, characterized in that, Includes the following steps: Step S1: Deploy N card readers on each hydraulic support in the tunnel, where N is an integer greater than or equal to 2; measure the distance of the identification cards worn by the workers entering the coverage area of ​​the card readers, and then store all the discrete distance measurement information collected in chronological order in a linear list data structure. Step S2: Extract and parse the ranging information of a single identification card relative to N card readers from the linear list to obtain the typical ranging scenario of a single identification card, and make regional logic determination based on all the ranging information of a single identification card relative to N card readers. Step S3: Based on the area status and ranging data, filter the minimum ranging distance and the corresponding card reader, then perform multi-level alarm based on interval determination, and finally output the alarm command; Step S4: Determine the area where a single identification card is located; Step S5: Calculate the hydraulic support number that is closest to the single identification card.

2. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 1, characterized in that, In step S2, the ranging information of a single identification card relative to N card readers is extracted and parsed to obtain a typical ranging scenario for a single identification card. This specifically includes the following steps: First, start scanning from the head of the linear list. Based on the unique non-zero card number, retrieve and extract the ranging values ​​from N card readers corresponding to that card number. Based on the valid and invalid combinations of the ranging values ​​from N card readers, a single identification card can be summarized into 2N combinations. By filtering out combinations where only one card reader is valid and all card readers are invalid, typical ranging scenarios are obtained.

3. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 1, characterized in that, In step S2, the area logic determination is performed based on all ranging information of a single identification card relative to N card readers, specifically including the following steps: By determining the number of valid distance measurement signals and which reader the valid distance measurement signals come from, it can be inferred whether the person is in the core area covered by N readers, the area connected between two readers, or the signal edge area of ​​a certain reader. This completes the area logic determination and converts the original distance array into an area status code.

4. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 1, characterized in that, In step S3, the minimum ranging distance and the corresponding card reader are selected, which specifically includes the following steps: Find the minimum distance value and the corresponding reader number from the distance measurement information of one identification card and N card readers.

5. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 1, characterized in that, In step S3, the multi-level alarm based on interval determination is performed, which specifically includes the following steps: Preset distance thresholds for mild, moderate, and high risks, and divide different alarm zones based on the minimum distance value: If the minimum distance value equals the light risk distance threshold, it is determined to be a Level 1 warning zone; If the minimum distance value equals the moderate risk distance threshold, it is classified as a Level 2 warning zone; If the minimum distance value equals the high-risk distance threshold, it is classified as a level three danger zone.

6. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 1, characterized in that, In step S4, determining the area where a single identification card is located specifically includes the following steps: First, preset the distance S between any two adjacent hydraulic supports and the hydraulic support number b for each card reader; then calculate the absolute distance Distance between any two card readers. The formula for calculating the absolute distance Distance between two card readers is as follows: Distance = | S×b1- S×b2 |; Among them, b1 and b2 are the numbers of two hydraulic brackets equipped with card readers; Then, the system obtains the distances S1 and S2 between the identification card and the two card readers involved in the calculation in real time, and calculates the distance difference △S between S1 and S2, △S = |S1 - S2|; Next, the system compares the distance difference ΔS with the absolute distance Distance between the two card readers: If △S is approximately equal to Distance, it indicates that the person is located on the line connecting the two card readers and is close to one of the card readers; If △S is less than Distance, it indicates that the person is located in the area between the two card readers.

7. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 1, characterized in that, In step S5, the hydraulic support number closest to a single identification card is calculated, which specifically includes the following steps: The system receives five interval position states of a single identification card relative to two reference card readers. The five interval position states include being located to the left of hydraulic support b1, being located to the right of hydraulic support b2, being located between hydraulic support b1 and hydraulic support b2, being located on hydraulic support b1, and being located on hydraulic support b2. For each interval position state, the system calculates the hydraulic support number that is closest to the single identification card.

8. The UWB-based approach prevention early warning method for mine hydraulic supports according to claim 7, characterized in that, For each range position state, the hydraulic support number closest to a single identification card is calculated, which specifically includes the following steps: The single identification card is located to the left of hydraulic support b1. Using the location of hydraulic support b1 as a reference, the calculation is performed in the negative direction of the roadway using the following formula: Hydraulic support number = (b1 * S - S1) / S; Where b1 is the specific number of hydraulic support b1, S is the distance between two adjacent hydraulic supports in the tunnel, and S1 is the distance measuring distance of the card reader installed on hydraulic support b1. The single identification card is located to the right of hydraulic support b2. Using the location of hydraulic support b2 as a reference, the calculation formula is as follows: Hydraulic support number = (b2 * S + S2) / S; Where b2 is the specific number of hydraulic support b2, S is the distance between two adjacent hydraulic supports in the tunnel, and S2 is the distance measuring distance of the card reader installed on hydraulic support b2. The single identification card is located between hydraulic support b1 and hydraulic support b2. The calculation formula is as follows: Hydraulic support number = (b1 * S + S1) / S; Where b1 is the specific number of hydraulic support b1, S is the distance between two adjacent hydraulic supports in the tunnel, and S1 is the distance measuring distance of the card reader installed on hydraulic support b1. The single identification card is located on the hydraulic support b1, and the calculation formula is as follows: Hydraulic support number = (b1 * S) / S = b1; Where b1 is the specific number of hydraulic support b1, and S is the distance between two adjacent hydraulic supports in the roadway. The single identification card is located on hydraulic support b2, and the calculation formula is: Hydraulic support number = (b2 * S) / S = b2; Where b2 is the specific number of hydraulic support b2, and S is the distance between two adjacent hydraulic supports in the roadway.

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