CN105303346A - UWB based fork truck anti-collision system and method - Google Patents
UWB based fork truck anti-collision system and method Download PDFInfo
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Abstract
The invention discloses a UWB based fork truck anti-collision system and method. The system comprises fork truck module which is arranged in a fork truck and a warehouse module which is placed in a warehouse. The fork truck module comprises a storage battery pack of the fork truck, a vehicle-mounted tablet computer, a UWB reader, a UWB antenna and a UWB label placed at the top of the truck, wherein the UWB antenna is connected with the UWB reader via a serial port, and the storage battery pack of the fork truck supplies power to the UWB reader. Power consumption of the UWB label is extremely low, so that a dry cell is used to supply power to the label, and one AAA cell can satisfy power requirements of the label for one year. The warehouse module comprises a power supply module, a reference label, a UWB antenna, a UWB reader, a synchronization distributor, a switch, a server and a display, wherein the UWB antenna is connected with the UWB reader via the serial port, then to the synchronization distributor via a cable, and finally to the server via the Ethernet switch; and the power supply module (namely, the storage battery pack of the fork truck) uses 48V DC to supply power to the UWB reader.
Description
Technical field
The present invention relates to a kind of fork truck collision avoidance system based on UWB and method, belong to radio communication and technology of Internet of things field.
Background technology
Along with the development of wireless communication technology and the continuous renewal of Internet technology, in network, data-handling capacity and data throughout rapidly increase.People wish to obtain more information from internet, are linked in internet by various article by new wireless communication technology, carry out the exchange of information and share, realizing telemanagement to article and control with this.
In this context, Internet of Things arises at the historic moment.Internet of Things refers to and utilizes the communication technology such as localized network or internet that sensor, controller, machine, personnel and thing etc. are linked togather by various communication mode, formation people and thing, thing and thing are connected, and realize informationization, remote management and control and intelligentized network.Interconnected in order to what realize between node in Internet of Things and internet and each node, in most cases can choice for use short-distance wireless communication technology.
Short-distance wireless communication does not have clear and definite definition, Bluetooth technology, communication distance are that some communication technologys such as Wireless Personal Network (i.e. WPAN) technology, radio-frequency (RF) tag (i.e. RFID), near-field communication (i.e. NFC), ultra broadband (i.e. UWB) of 5 ~ 100 meters can belong to this category, and infrared communication is also drawn at this category sometimes.The common ground of these technology is that communication distance is not long, and be generally no more than 100 meters, when the connection realizing IC interior, communication distance even reaches micron order.
At present, in existing short-distance wireless communication technology, the sensor that the advantages such as the confidentiality that UWB is strong with its antijamming capability, the bandwidth up to several GHz, less power consumption, penetration capacity are strong and good are widely used in geologic prospecting and can penetrate barrier, automobile collision-proof sensor, the aspect such as wireless data communications between home appliance and portable equipment.
Internet of Things is inseparable with wireless communication technologys such as UWB.First from the aspect of technology, wireless communication technology can be described as construction and to network one of necessary technology, and the communication between each node of Internet of Things depends on this mode of radio communication.Secondly, also driven the demand growth of people to Wireless Telecom Equipments such as wireless sensers in the development of Internet of Things, also promoted wireless communication technology to two-forty, low energy consumption, anti-interference future development simultaneously.
At present, Internet of Things is applied in a lot of field such as industry, agricultural, energy-conserving and environment-protective, commercial distribution, energy traffic, social cause, city management, safety in production.UWB is also considered to the revolution progress of radio art, thinks that it will become the mainstream technology of following short-distance wireless communication.
In recent years, people start to utilize its subnanosecond level Ultra-short pulse to do closely precision indoor location, greatly improve the positioning precision of indoor locating system.In traditional indoor positioning, the comparatively normal technology used is infrared confirming orientation technology, bluetooth location technology, ultrasound wave location technology and RFID location technology.Warehouse is a kind of typical indoor environment, and also to have space very large in warehouse simultaneously, and barrier is many, and multipath effect is obvious, personnel and vehicle more, the features such as intensity of illumination distribution is uneven.So in warehouse environment, traditional indoor positioning technologies has respective defect and deficiency.It is slightly poor and disturb large problem by noise signal that Bluetooth technology there will be stability in this complex environment in warehouse, and the price comparison of bluetooth devices and equipment is expensive.The aerial decay of ultrasound wave is comparatively large, is not suitable for large-scale occasion, and affect very large when adding reflection range finding by multipath effect and non-line-of-sight propagation, cause the bottom hardware facility investment needing Accurate Analysis to calculate, cost is too high.Infrared ray can only line-of-sight propagation, and penetrability extreme difference (that is: can with reference to the TV remote controller of family), just cannot normally work when mark is blocked, also very easily obvious by the such environmental effects such as light, smog.Add that ultrared transmission range is not long, make it in layout, no matter which kind of mode, all need eachly blocking behind, even corner receiving end is installed, layout is complicated, make cost, and locating effect is limited.RFID technique is due to advantages such as electromagnetic field non line of sight, and transmission range is very large, and the volume of mark is smaller, and cost is lower.But it does not have communication capacity, antijamming capability is poor, is not easy to be incorporated among other system, and the security privacy guarantee of user and International standardization perfect all not.This fork truck anticollision management system application technology of Internet of things, realizes anticollision and the intelligent dispatch of fork truck in conjunction with UWB technology.And the present invention can solve problem above well.
Summary of the invention
The object of the invention is to solve in warehouse environment fork truck and personnel, anticollision early warning between fork truck and fork truck, achieves the intelligent management in warehouse between article and personnel.
The present invention solves the technical scheme that its technical matters takes: a kind of fork truck anticollision management system based on UWB, and this system comprises the fork truck module be arranged in fork truck and the warehouse module be placed in warehouse.
The function of fork truck module is: comprise the battery pack of fork truck, vehicle-mounted flat computer, UWB reader, UWB antenna and be positioned at the UWB label of roof.Wherein, UWB antenna is connected with UWB reader serial ports, and uses the battery pack of fork truck to power for UWB reader.Because UWB tag power consumption is extremely low, therefore adopt dry cell power supply, 1 joint AAA battery can meet this labeling task electricity needs of a year.
The function of warehouse module is: comprise power module, reference label, UWB antenna and reader, synchronous distributor, switch, server and display, after this UWB antenna is connected with serial ports with UWB reader, be connected with synchronous distributor by cable again, eventually pass Ethernet switch and be connected on server.Power module (that is: fork truck storage battery group) adopts the galvanic mode of 48V to power to UWB reader.Synchronous distributor, switch, server and display all use common 220V alternating current, do not need extra power module.
Fork truck in warehouse environment: the UWB label that personnel and special article carry can constantly launch the non-sinusoidal wave narrow pulse signal of nanosecond to psec level.UWB antenna in warehouse receives the signal sent from label, transfers to reader to resolve.Server is sent to through switch after the tidal data recovering of each reader synchronously processes in synchronous distributor.Utilize server software to calculate data, just can obtain positional information and the movement locus of each label, the display that result can be real-time over the display.Vehicle-mounted computer on fork truck can be connected with server to wirelessly, and to the positional information of other labels near this fork truck label position of server request, client software on vehicle-mounted computer can calculate the distance of neighbouring label and fork truck and when being less than certain value warning, the prompt tone and the loudspeaker controlled on fork truck gives a warning.
Vehicle-mounted computer in fork truck module wirelessly connects the location-server in warehouse, constantly receives the locating information from server, and is generated the dynamic image of surrounding tags position by the client software run thereon.Client software constantly calculates the label (that is: personnel or fork truck label) whether having hypotelorism around fork truck, when unusual circumstance at vehicle-mounted computer warning, and control vehicle-mounted loudspeaker and give the alarm, remind unit around to dodge in time.When fork truck lade, the UWB sensor (that is: antenna adds reader) on fork truck can receive the ultra-wideband pulse signal that the label on goods transmits.The information scanned is passed to vehicle-mounted computer by UWB sensor, and truck driver can learn the details of lade by client software, can increase work efficiency to a certain extent.
Present invention also offers a kind of implementation method of the fork truck collision avoidance system based on UWB, the method comprises the steps:
Step 1: in warehouse, personnel and fork truck arrange that several can constantly launch the non-sinusoidal wave narrow pulse signal of nanosecond to psec level, and the UWB sensor connected and composed by UWB antenna and UWB reader serial ports is arranged in the surrounding in warehouse, is connected to each other by CAT5e shielded cable between sensor and is connected in synchronous distributor.
Step 2: the UWB antenna in warehouse receives the signal sent from label, transfers to reader to resolve, sends server to through switch after the tidal data recovering of each reader synchronously processes in synchronous distributor.
Step 3: server is after receiving the packet that synchronous distributor transmits, and server software utilizes TDOA and AOA algorithm to calculate label position, obtains the coordinate of each label.
Step 4: in the simulated warehouse map in server software, each label position is marked, and divide goods, personnel, fork truck three class label with different chromatic zoneses.By ceaselessly marking the position of each label, the movement locus of label will be formed.
Step 5: once server receives the request of data from the client software be arranged on fork truck vehicle-mounted computer, server just with UDP message packet form home position information to client.
Step 6: in fork truck driving process, client software constantly calculates the distance of surrounding tags and fork truck by coordinate, and is generated the dynamic image of surrounding tags position by the client software run thereon.System is a presetting warning distance in advance, if there is label (that is: vehicles or pedestrians) to be less than warning distance with the distance of this fork truck, system judges to collide, otherwise fork truck is in a safe condition.
Step 7: when system judges that fork truck is in possibility collision status, client software controls warning on vehicle-mounted computer display screen and reminds truck driver, and control vehicle-mounted loudspeaker and give the alarm, remind fork truck around and pedestrian to dodge in time, effective collision free occurs.
Said method of the present invention is applied to the fork truck collision avoidance system based on UWB.
Beneficial effect:
1, the extremely short collision probability of ultra-wideband pulse data bag transmitting time that sends of UWB label of the present invention is extremely low, makes native system can process hundreds of to several thousand labels simultaneously, improves system effectiveness.
2, the method that the present invention adopts arrival mistiming (i.e. TDOA) and angle of arrival (i.e. AOA) to combine can make the reader quantity needed for covering warehouse reduce, and improves positioning precision.
3, the label position information of server end of the present invention can be passed to vehicle-mounted computer in real time truck driver can be allowed to understand situation around, and the pedestrian near the prompting fork truck that automatically gives the alarm.
4, the power supply of all devices use fork truck storage batteries of fork truck module of the present invention, does not need extra power module, has saved cost to a certain extent.
5, system platform of the present invention is with good expansibility and ease for maintenance, and increasing sensor does not need to change the system changed and disposed, and can expand orientation range like a cork.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the fork truck module of present system.
Fig. 2 is fork truck module anticollision process flow diagram of the present invention.
Fig. 3 is present system two kinds of tag location algorithm schematic diagram used.
Fig. 4 is method flow diagram of the present invention.
Embodiment
Below in conjunction with Figure of description, the invention is described in further detail.
As shown in Figure 1, system of the present invention can by the communication of UWB transceiver module in depot area, and the information interaction between Implementation repository and fork truck, provides anticollision early warning to fork truck.
The invention provides a kind of fork truck anticollision management system based on UWB, this system is made up of the fork truck module be arranged in fork truck and the warehouse module be placed in warehouse, fork truck module is by the lead-acid batteries of fork truck, vehicle-mounted flat computer, UWB reader, small-sized UWB antenna and the UWB label composition being positioned at roof.Wherein, UWB antenna is connected with UWB reader serial ports, and uses the battery pack of fork truck to power for UWB reader.Because UWB tag power consumption is extremely low, therefore adopt dry cell power supply, 1 economize on electricity pressure is that the CR2430 lithium battery of 3V can meet this labeling task electricity needs of a year.
Warehouse module is made up of the synchronous distributor of a power module, several small-sized UWB antennas and reader, 8 interfaces, switch, a server running windows system and a liquid crystal display.After UWB antenna is connected with serial ports with UWB reader, then be connected with synchronous distributor by cable, eventually pass switch and be connected on server.Warehouse also needs the reference label of arranging some, for determining the position of the coordinate axis in whole warehouse.
Power module (that is: fork truck storage battery group) adopts the galvanic mode of 48V to power to UWB reader.Synchronous distributor, switch, server and display all use common 220V alternating current, do not need extra power module.
As shown in Figure 1, vehicle-mounted flat computer in fork truck module of the present invention wirelessly connects the location-server in warehouse by 802.11b agreement, continuous reception from the locating information of server, and is generated the dynamic image of surrounding tags position by the client software run thereon.
Client software is every a bit of time initiatively to server request Data Update, and server return data adopts UDP encapsulation, and the form of UDP message bag is as follows: i.e. (label ID, label classification, time, X-axis coordinate, Y-axis coordinate, Z axis coordinate), as " 002-431-320,2; 2015-04-2715:30:25; 7.523 ,-6.375,13.287 ".Client receives after UDP message bag and resolves it, and software interface marks out the information such as the particular location of this label and classification.
Client software constantly calculates the label (that is: personnel or fork truck label) whether having hypotelorism around fork truck, when unusual circumstance at vehicle-mounted computer warning, and control vehicle-mounted loudspeaker and give the alarm, remind vehicle around and pedestrian to dodge in time.In smooth-ride process, truck driver is clicked the mark of label in positioning image or is directly inputted the tag number of target goods, and system can provide route guidance, helps driver's fast searching to target goods, avoids the route driving to mistake.
When fork truck takes out goods from shelf, the UWB sensor (that is: antenna adds reader) on fork truck can receive the ultra-wideband pulse signal that the label on goods transmits.The information scanned wirelessly is passed to vehicle-mounted computer by UWB sensor, and truck driver can learn the details of lade by client software, can improve the work efficiency in whole warehouse to a certain extent.
Fig. 2 is the one-piece construction schematic diagram of warehouse module, the UWB sensor connected and composed is arranged in the surrounding in warehouse by UWB antenna and UWB reader serial ports, and the UWB signal in reception one piece of region is responsible for by each sensor.Be connected to each other by CAT5e shielded cable between sensor and be connected with synchronous distributor.Synchronous distributor, adopts CAT5e unshielded cable to connect, constitutes whole topology of networks between Ethernet switch and system server.
System is actually a LAN (Local Area Network), and discord outer net directly connects, and not needing special fire wall, if network does not join outer net, is safe naturally.If network connects outer net, only need interface protection.Concrete IP End of Address quantity is provided to depend on the quantity of system reader, each reader has a separate tP address, 8 port synchronous distributors can connect at most 48 readers, namely each 8 port synchronous distributors can process the data transmitted maximum 48 IP addresses, for the system that 8 port synchronous distributors are supported, 6 bit addressings (that is: 64 IP addresses) are enough.
Except with upper-part, also comprise several UWB labels in warehouse module, a part is wherein used in personnel, the location of goods, and other can be used as the benchmark of reference label as location.Label is a sender unit launching ultra-wideband signal for several times per second.Sensor (that is: the combination of antenna and reader) receives the label ID that label is sent, tag types, then the TOA and angle of arrival AOA that signs in passes to synchronizer and synchronously processes, parse difference TDOA time of arrival, then send to server to process by procotol the packing such as above signal and some other validation signal such as signal intensity, just can calculate label (namely needing by the personnel that locate or object) present position and movement locus.Each label has a unique ID, system can by this ID distinguish this label corresponding be personnel, fork truck or goods, and on server and client side's software distinguish represent.
Native system have employed two kinds of localization methods as shown in Figure 3 to determine the position of label in warehouse.TDOA localization method is the mistiming TDOA that UWB signal that TOA time of arrival transmitted according to two sensors obtains localizing objects arrives two sensors.Mistiming TDOA is multiplied by the light velocity can obtain range difference, is hyp principle according to the track that the range difference arriving positioning principle two fixed point is definite value.Set up the coordinate data that multiple Hyperbolic Equation brings UWB sensor into, the estimated coordinates of label to be measured can be solved.AOA localization method measures angle between label to be measured and sensor to reconstruct the distance between target labels and sensor node.Usually need to adopt directional antenna or array antenna, the accuracy of measurement is to multipath transmisstion, and the precision of non-line-of-sight propagation and array is very sensitive.Arrived the angle of arrival AOA of the signal of sensor by multiple sensor measurement from localizing objects at first thus estimate the position of localizing objects.In two-dimensional space, learn that target labels signal arrives two sensor angles and is respectively θ 1 and θ 2, can from the coordinate (x1 of sensor, y1) and (x2, y2) set out and draw a ray along θ 1 and θ 2 direction, the intersection point of two rays and the position of target labels respectively.From the principle of TDOA and AOA, label position can have two information to calculate, such as a two TDOA or TDOA and AOA, and therefore a minimum sensor just can locate a label.In practical application, the number of sensors increasing system can improve reliability and the validity of positioning precision, increases the robustness of system.
Below the concrete grammar flow process of this fork truck collision avoidance system shown in Fig. 4 is described, comprises
First the fork truck in warehouse, active UWB label arranged by personnel and kinds of goods, and these labels just constantly launch the non-sinusoidal wave narrow pulse signal of nanosecond to psec level once be activated.
The UWB antenna arranged in warehouse, once receive the signal sent from label, just passes to connected reader and is resolved by reader.From signal, parse label ID, tag types, after time of arrival data such as TOA and angle of arrival AOA, data are sent in connected synchronous distributor by CAT5e shielded cable by each reader.
Synchronous distributor carries out time synchronizing to each road signal, after obtaining the TOA of same label arrival different sensors, calculates each road signal arrival time difference TDOA, sends data packing to location-server through switch.
Server is after receiving the packet that synchronous distributor transmits, and server software utilizes TDOA and AOA algorithm to calculate label position, obtains the coordinate of each label.In simulated warehouse map in server software, each label position is marked, and divide goods, personnel, fork truck three class label with different chromatic zoneses.By ceaselessly marking the position of each label, the movement locus of label will be formed.
When there being fork truck to enter warehouse, the client software on vehicle-mounted computer can by the positional information of wireless network to each label in server request warehouse.Server just passes to client software label position information with the form of UDP message bag after receiving request.Client software matches the position of place fork truck and the analog map around display by label ID, and the mark that truck driver goes up according to the map can find target goods fast.
In fork truck driving process, client software constantly calculates the distance of surrounding tags and fork truck by coordinate, and is generated the dynamic image of surrounding tags position by the client software run thereon.System is a presetting warning distance in advance, if there is label (that is: vehicles or pedestrians) to be less than warning distance with the distance of this fork truck, system judges to collide, otherwise fork truck is in a safe condition.
When system judges that fork truck is in possibility collision status, client software controls warning on vehicle-mounted computer display screen and reminds truck driver, and control vehicle-mounted loudspeaker and give the alarm, remind fork truck around and pedestrian to dodge in time, effective collision free occurs.
When fork truck arrives target location lade, the UWB sensor (that is: antenna adds reader) on fork truck can receive the ultra-wideband pulse signal that the label on goods transmits.UWB sensor passes to vehicle-mounted computer by after the signal resolution scanned, and client software can show the details of lade.Driver can check whether be loaded with correct goods according to these information, can increase work efficiency to a certain extent, decreases the error in loading process.
In addition, the server software of native system can carry out synchronizing information with the warehouse inventory management system of enterprise.When label in server software moves to store exit and disappears on location map together with fork truck label, system can judge that this goods is transported warehouse.Server software according to the label information scanned (that is: needing to increase quantity of goods etc. in former data), can call the interface of Inventory Management Software, adjusts corresponding stock.The method can promote the automatization level of former inventory management system, saves human cost.
Claims (6)
1. based on a fork truck collision avoidance system of UWB, it is characterized in that, described system comprises the fork truck module be arranged in fork truck and the warehouse module be placed in warehouse;
The function of fork truck module is: comprise the battery pack of fork truck, vehicle-mounted flat computer, UWB reader, UWB antenna and be positioned at the UWB label of roof, wherein, UWB antenna is connected with UWB reader serial ports, and uses the battery pack of fork truck to power for UWB reader;
The function of warehouse module is: comprise power module, reference label, UWB antenna and reader, synchronous distributor, switch, server and display, after described UWB antenna is connected with serial ports with UWB reader, be connected with synchronous distributor by cable again, eventually passing Ethernet switch is connected on server, and described power module adopts the galvanic mode of 48V to power to UWB reader; Described synchronous distributor, switch, server and display all use common 220V alternating current, do not need extra power module.
2. a kind of fork truck collision avoidance system based on UWB according to claim 1, is characterized in that, the power module of described system is fork truck storage battery group, and described fork truck storage battery group adopts dry cell power supply.
3. a kind of fork truck collision avoidance system based on UWB according to claim 1, it is characterized in that, described system comprises: the fork truck in warehouse environment, the UWB label that personnel and special article carry can constantly launch the non-sinusoidal wave narrow pulse signal of nanosecond to psec level, UWB antenna in warehouse receives the signal sent from label, reader is transferred to resolve, server is sent to through switch after the tidal data recovering of each reader synchronously processes in synchronous distributor, server software is utilized to calculate data, obtain positional information and the movement locus of each label, display during fructufy over the display, vehicle-mounted computer on fork truck is wirelessly connected with server, and to the positional information of other labels near this fork truck label position of server request, the distance of client software on vehicle-mounted computer to neighbouring label and fork truck calculate and when being less than certain value warning, the prompt tone and the loudspeaker controlled on fork truck gives a warning.
4. a kind of fork truck collision avoidance system based on UWB according to claim 1, it is characterized in that, vehicle-mounted computer in described fork truck module wirelessly connects the location-server in warehouse, continuous reception is from the locating information of server, and the dynamic image of surrounding tags position is generated by the client software run thereon, client software constantly calculates the label whether having hypotelorism around fork truck, that is: personnel or fork truck label, when unusual circumstance at vehicle-mounted computer warning, and control vehicle-mounted loudspeaker and give the alarm, unit is around reminded to dodge in time, when fork truck lade, UWB sensor on fork truck can receive the ultra-wideband pulse signal that the label on goods transmits, the information scanned is passed to vehicle-mounted computer by UWB sensor, truck driver learns the details of lade by client software.
5. based on an implementation method for the fork truck collision avoidance system of UWB, it is characterized in that, described method comprises the steps:
Step 1: in warehouse, personnel and fork truck arrange that several can constantly launch the non-sinusoidal wave narrow pulse signal of nanosecond to psec level, and the UWB sensor connected and composed by UWB antenna and UWB reader serial ports is arranged in the surrounding in warehouse, is connected to each other by CAT5e shielded cable between sensor and is connected in synchronous distributor;
Step 2: the UWB antenna in warehouse receives the signal sent from label, transfers to reader to resolve, sends server to through switch after the tidal data recovering of each reader synchronously processes in synchronous distributor;
Step 3: server is after receiving the packet that synchronous distributor transmits, and server software utilizes TDOA and AOA algorithm to calculate label position, obtains the coordinate of each label;
Step 4: in the simulated warehouse map in server software, each label position is marked, and divide goods, personnel, fork truck three class label with different chromatic zoneses; By ceaselessly marking the position of each label, form the movement locus of label;
Step 5: once server receives the request of data from the client software be arranged on fork truck vehicle-mounted computer, server just with UDP message packet form home position information to client;
Step 6: in fork truck driving process, client software constantly calculates the distance of surrounding tags and fork truck by coordinate, and is generated the dynamic image of surrounding tags position by the client software run thereon; System is a presetting warning distance in advance, if there is label, that is: the distance of vehicles or pedestrians and this fork truck is less than warning distance, and system judges to collide, otherwise fork truck is in a safe condition;
Step 7: when system judges that fork truck is in possibility collision status, client software controls warning on vehicle-mounted computer display screen and reminds truck driver, and control vehicle-mounted loudspeaker and give the alarm, remind fork truck around and pedestrian to dodge in time, collision free occurs.
6. the implementation method of a kind of fork truck collision avoidance system based on UWB according to claim 5, it is characterized in that, described method is applied to the fork truck collision avoidance system based on UWB.
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| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| CN106651246A (en) * | 2016-11-11 | 2017-05-10 | 上海物联网有限公司 | High-precision positioning technology-based intelligent warehouse management system |
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| CN108834056A (en) * | 2018-04-04 | 2018-11-16 | 浙江中诚工程管理科技有限公司 | A kind of method of indoor accurate position |
| CN109212470A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of position and orientation estimation method based on UWB array module, system and robot |
| CN110308469A (en) * | 2018-03-20 | 2019-10-08 | 郑州宇通客车股份有限公司 | A kind of high-accuracy position system for vehicle, vehicle |
| CN110304584A (en) * | 2018-07-26 | 2019-10-08 | 林德（中国）叉车有限公司 | A kind of fork truck pedestrian's avoiding collision based on ultra-wide band technology |
| CN110972063A (en) * | 2019-10-25 | 2020-04-07 | 珠海格力电器股份有限公司 | Distance measurement method, device and system and readable medium |
| WO2020093558A1 (en) * | 2018-11-07 | 2020-05-14 | 徐工集团工程机械有限公司 | Engineering machine and dynamic workspace collision avoidance method, device, and system thereof |
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| CN111847317A (en) * | 2020-08-01 | 2020-10-30 | 徽犁智能科技(上海)有限公司 | Novel forklift and monitoring system |
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| US11975951B2 (en) | 2018-11-07 | 2024-05-07 | XCMG Construction Machinery Co., Ltd. | Engineering machinery and dynamic anti-collision method, device, and system for operation space of the engineering machinery |
| WO2020093558A1 (en) * | 2018-11-07 | 2020-05-14 | 徐工集团工程机械有限公司 | Engineering machine and dynamic workspace collision avoidance method, device, and system thereof |
| IT201900012414A1 (en) * | 2019-07-19 | 2021-01-19 | Ubiquicom S R L | Anti-collision system and method of land vehicles |
| WO2021014303A1 (en) * | 2019-07-19 | 2021-01-28 | Ubiquicom S.R.L. | Anti-collision system and method for ground vehicles |
| CN114096452A (en) * | 2019-07-19 | 2022-02-25 | 尤比奎康姆有限责任公司 | Collision avoidance system and method for a surface vehicle |
| US11915589B2 (en) | 2019-07-19 | 2024-02-27 | Ubiquicom S.R.L | Anti-collision system and method for ground vehicles |
| CN110972063A (en) * | 2019-10-25 | 2020-04-07 | 珠海格力电器股份有限公司 | Distance measurement method, device and system and readable medium |
| CN111260894A (en) * | 2020-01-17 | 2020-06-09 | 上海东华地方铁路开发有限公司 | Intelligent early warning system of bridge job site |
| CN111847317A (en) * | 2020-08-01 | 2020-10-30 | 徽犁智能科技(上海)有限公司 | Novel forklift and monitoring system |
| CN112419664A (en) * | 2020-09-22 | 2021-02-26 | 上海杰擎智能科技有限公司 | Anti-collision early warning system |
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| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
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