CN112423222A - Fork truck collision avoidance system based on UWB location - Google Patents
Fork truck collision avoidance system based on UWB location Download PDFInfo
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- CN112423222A CN112423222A CN202011290487.3A CN202011290487A CN112423222A CN 112423222 A CN112423222 A CN 112423222A CN 202011290487 A CN202011290487 A CN 202011290487A CN 112423222 A CN112423222 A CN 112423222A
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- 238000005259 measurement Methods 0.000 claims description 17
- 230000035939 shock Effects 0.000 claims description 9
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 6
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Business, Economics & Management (AREA)
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a forklift collision avoidance system based on UWB positioning, which comprises a positioning base station, a front and rear display board, an audible and visual alarm, a forklift deceleration and brake control circuit, a communication circuit, a UWB positioning tag and a power supply circuit, wherein the positioning base station comprises a main base station and an auxiliary base station, the main base station and the auxiliary base station both adopt TWR technology to obtain real ranging distance, the auxiliary base station transmits the real ranging distance to the main base station through RS232 communication, the main base station simultaneously obtains the actual ranging distance of the main base station and the actual ranging distance of the auxiliary base station, the main base station can judge the position of the tag by calculating the difference between the actual distance of the main base station and the actual distance of the auxiliary base station, the UWB positioning tag comprises an ARM microcontroller, UWB signal processing, a transceiving antenna, a power supply management module, an indicator lamp, a vibration motor, battery voltage detection and a vibration switch, the system can accurately measure and calculate the position of the tag, the personal injury of workers is greatly reduced and avoided.
Description
Technical Field
The invention relates to the technical field of space positioning and safe distance measurement, in particular to a forklift collision avoidance system based on UWB positioning.
Background
In recent years, with the rapid development of warehouse logistics enterprises, the use demand of forklifts is increasing, and the following forklift accidents are also increasing. The forklift is a large-scale heavy-tonnage transport machine for the warehouse, the front sight is shielded by goods, the number of vision blind areas is large, once collision occurs, people are easily injured by collision or the goods shelf is knocked down to smash people due to the fact that the forklift and the goods are too heavy, and great danger is brought to life safety of operating personnel.
The anti-collision scheme of the forklift in the current market mainly uses a UWB single base station as a main part, and the scheme can only finish the early warning of a fixed range with the forklift as a circle center, cannot indicate an accurate pedestrian label direction for a forklift driver, and cannot control the speed of the forklift under an emergency condition. Therefore, how to accurately indicate the direction and effectively and intelligently control the speed of the forklift becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
The purpose of the invention is as follows: in view of technical requirements in the background art, a UWB positioning-based forklift collision avoidance system is designed, the design is based on UWB technology, a personnel positioning scheme in a double-base-station form is adopted, and the scheme mainly comprises a main positioning base station, an auxiliary positioning base station and a tag; the main positioning base station and the auxiliary positioning base station are arranged at preset positions of a forklift ceiling and used for transmitting UWB positioning signals, the UWB positioning tags are used for receiving positioning information transmitted by the base station, and the base station can calculate the positions of the UWB positioning tags according to information interacted with the tags.
The technical scheme adopted for solving the problems is as follows:
a forklift anti-collision system based on UWB positioning comprises a positioning base station, a front display board, a rear display board, an audible and visual alarm, a forklift deceleration and brake control circuit, a communication circuit, a UWB positioning tag and a power supply circuit.
The positioning base station comprises a main base station and an auxiliary base station which are arranged at fixed positions of a forklift, wherein the main base station and the auxiliary base station both adopt a TWR technology to obtain real distance measurement distance, a UWB distance measurement module is arranged in the main base station and is used as a core part for wireless distance measurement and is responsible for receiving request data of a UWB positioning label and sending a confirmation request to the label, an ARM microprocessor is arranged in the main base station and is responsible for receiving and sending control of UWB distance measurement signals of the main base station and receiving the distance measurement results of the auxiliary base station, a microcontroller is used for calculating the position of the positioning label by using the distance measurement results of the main base station and the auxiliary base station, a UWB distance measurement module is arranged in the auxiliary base station and is used as a core part for wireless distance measurement and is responsible for receiving the request data of the UWB positioning label and sending the confirmation request to the label, an ARM microcontroller is arranged, the secondary base station transmits the real ranging distance to the main base station through RS232 communication, the main base station obtains the actual ranging distance of the main base station and the actual ranging distance of the secondary base station at the same time, and the main base station can judge the position of the tag by calculating the difference value between the actual ranging distance of the main base station and the actual ranging distance of the secondary base station.
The front and back display boards are arranged for indicating specific directions of positioning personnel and comprise a front display board and a back display board which are respectively arranged in the front and the back of a forklift driver, each display board is respectively provided with 5 groups of yellow lamps and 1 group of red lamps, the yellow lamps are used for indicating the position of a positioning label to the forklift driver, and the red lamps are used for reducing the speed of the forklift and braking the indicating lamps.
The audible and visual alarm is established for warning the danger to the forklift driver, and when the normal operation staff of the forklift enters a dangerous range, the audible and visual alarm immediately sends out a buzzing sound to remind the driver to slow down.
When the forklift normally operates, people around the forklift enter a dangerous range of speed reduction or braking, the main base station sends an instruction to the forklift controller, a control circuit of the speed reduction and braking of the forklift acts, and the forklift immediately decelerates and crawls or brakes and stops.
The communication module is formed by installing corresponding parameter setting software on a PC (personal computer), an RS232 interface is connected with a PC host, and the three-level alarm distance and the alarm distances in five directions of the forklift can be set through the PC end software.
The UWB positioning tag comprises an ARM microcontroller, a UWB signal processing module, a transmitting-receiving antenna, a power management module, an indicator lamp, a vibration motor, a battery voltage detection module and a vibration switch.
UWB signal processing one end links to each other with receiving and dispatching antenna, and the other end links to each other with ARM microcontroller, and pilot lamp, shock motor, battery voltage detection and shock switch link to each other with ARM microcontroller, and power management module provides the electric energy for each part of UWB location label.
Furthermore, the ARM microcontroller selects an STM32 single chip microcomputer which is small in size and strong in function to calculate the position of the UWB positioning tag, detect the voltage of a battery, drive a vibration motor, identify the state of a vibration switch and control the sending and receiving of UWB signal processing unit data through an SPI (serial peripheral interface).
Furthermore, the UWB positioning tag power management module comprises a lithium ion battery, a charging module and a magnetic charging interface.
Furthermore, the battery adopts a lithium ion battery with small volume and high energy density to provide electric energy for the tag, and the charging interface adopts a magnetic attraction charging technology.
Further, UWB location label is equipped with the pilot lamp of three kinds of different colours, including blue charge pilot lamp, yellow work pilot lamp and red low-battery alarm lamp, connects charger label blue pilot lamp and lights and show that the label is charging, and the blue pilot lamp of completion of charging extinguishes.
Further, the accurate discernment label of vibrations switch is in silent state or operating condition, UWB location label is under complete quiescent condition, and blue work light does not glimmer, and when the electric quantity of label was less than 20%, the red low-power lamp can glimmer and remind the personnel of wearing in time to charge, and the label charges and during normal work, and the low-power lamp extinguishes.
Further, when the label enters an alarm range set by a forklift collision avoidance system, the label vibrates to remind a user of operating a forklift nearby staff, the user should leave the area as soon as possible and enter a safe area, and when the label leaves the alarm range, the label does not vibrate any more to prompt.
Furthermore, aviation plugs are adopted among all the interfaces so as to ensure reliability.
The invention has the beneficial effects that:
the forklift collision avoidance system based on UWB positioning is realized by adjusting the ranging early warning distance of the base station, a UWB ranging module is arranged in a main base station and serves as a core component of wireless ranging, and is responsible for receiving request data of a UWB positioning tag and sending a confirmation request to the tag; the personnel positioning precision is high, and the position of the personnel label can be accurately measured and calculated; in addition, the design structure is simple, the installation and the maintenance are easy, and the personal injury of the forklift workers can be greatly reduced or even avoided by using the invention
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a schematic diagram illustrating a positioning position calculation of a person in the embodiment;
fig. 2 is a block diagram of a positioning base station according to the present embodiment;
FIG. 3 is a block diagram of a positioning tag according to the present embodiment;
FIG. 4 is a schematic diagram of a 12V to 5V power supply circuit according to the present embodiment;
FIG. 5 is a schematic diagram of a 5V to 3.3V power supply circuit according to the present embodiment;
FIG. 6 is a schematic diagram of an RS232 communication circuit according to the present embodiment;
FIG. 7 is a schematic circuit diagram of a UWB positioning module according to the embodiment;
FIG. 8 is a schematic diagram of the acousto-optic alarm control circuit of the present embodiment;
FIG. 9 is a schematic diagram of a circuit for controlling the deceleration of the forklift in the embodiment;
FIG. 10 is a schematic diagram of a brake control circuit according to the present embodiment;
FIG. 11 is a schematic diagram of a power indicator circuit according to the present embodiment;
FIG. 12 is a schematic diagram of a buzzer circuit according to the present embodiment;
FIG. 13 is a schematic diagram of a RS232 to PC host communication circuit according to this embodiment;
FIG. 14 is a schematic diagram of a wiring circuit of the ARM microprocessor of the present embodiment;
FIG. 15 is a schematic diagram of the LDO voltage regulator circuit of the present embodiment;
FIG. 16 is a schematic diagram of a UWB wireless transceiver wiring circuit according to the embodiment;
FIG. 17 is a schematic diagram of a circuit of an indicator light of a UWB positioning tag according to the embodiment;
FIG. 18 is a schematic diagram of a 1.8V power supply circuit of the present embodiment;
FIG. 19 is a schematic diagram of a wiring circuit of the memory according to the present embodiment;
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1 to 19, the present embodiment provides a forklift collision avoidance system based on UWB positioning, which includes a positioning base station, front and rear display boards, an audible and visual alarm, a forklift deceleration and brake control circuit, a communication circuit, a UWB positioning tag based on UWB, and a power supply circuit.
Specifically, the positioning base station comprises a main base station and a secondary base station which are arranged at fixed positions of a forklift, wherein the main base station and the secondary base station both adopt a TWR technology to obtain a real ranging distance, the secondary base station transmits the real ranging distance to the main base station through RS232 communication, a UWB ranging module is arranged in the main base station and used as a core component of wireless ranging and responsible for receiving request data of a UWB positioning tag and sending a confirmation request to the tag, an ARM microprocessor is arranged in the main base station and used for receiving and sending control of UWB ranging signals of the main base station and receiving ranging results of the secondary base station, a microcontroller is used for calculating the position of the UWB positioning tag by using the ranging results of the main base station and the secondary base station, a UWB ranging module is arranged in the secondary base station and used as a core component of wireless ranging and responsible for receiving the request data of the UWB positioning tag and sending the, the UWB ranging signal's that is responsible for the auxiliary base station receiving and dispatching control calculates the actual distance of auxiliary base station to UWB location label, sends the range finding data to main base station, and main base station has obtained the actual range finding distance of self and the actual range finding distance of auxiliary base station simultaneously, and the position that the label was located can be judged through calculating the difference between the actual distance of self and the actual distance of auxiliary base station to main base station, can distinguish 5 position at present: front, lateral side, lateral rear, rear.
The front and back display boards are arranged for indicating specific directions of positioning personnel, and comprise a front display board and a back display board which are respectively arranged in the front and the back of a forklift driver, each display board is respectively provided with 5 groups of yellow lamps and 1 group of red lamps, the yellow lamps are used for indicating the position of a positioning label to the forklift driver, and the red lamps are used for reducing the speed of the forklift and braking the indicating lamps, for example: fork truck traveles forward, and the place ahead staff carries the location label and is located the yellow light in early warning scope place ahead and light, and fork truck continues to travel forward and arrives speed reduction early warning scope red light and light, and fork truck slows down immediately and reminds the driver to walk slowly dangerous.
The audible and visual alarm is established for warning the danger to the forklift driver, and when the normal operation staff of the forklift enters a dangerous range, the audible and visual alarm immediately sends out a buzzing sound to remind the driver to slow down.
When the forklift normally operates, people around the forklift enter a dangerous range of speed reduction or braking, the main base station sends an instruction to the forklift controller, a control circuit of the speed reduction and braking of the forklift acts, and the forklift immediately decelerates and crawls or brakes and stops.
The communication module is that corresponding parameter setting software is installed on the PC, and RS232 interface connection PC host computer can set up fork truck's tertiary warning distance and five directions's warning distance through PC end software, for example: the rear alarm is set to 10 meters, the deceleration is set to 8 meters, and the brake is set to 6 meters.
UWB location label includes ARM microcontroller, UWB signal processing, receiving and dispatching antenna, power management module, pilot lamp, shock motor, battery voltage detection and vibrations switch, ARM microcontroller chooses for use that small, powerful STM32 singlechip is used for calculating UWB location label's position, battery voltage detection, drive shock motor, discernment shock switch state and controls the sending and receiving of UWB signal processing unit data through the SPI interface, UWB signal processing one end links to each other with receiving and dispatching antenna, and the other end links to each other with ARM microcontroller, pilot lamp, shock motor, battery voltage detection and shock switch link to each other with ARM microcontroller, power management module provides the electric energy for each part of UWB location label, UWB location label power management module include lithium ion battery, charge module and magnetism inhale the interface that charges, the battery adopts small, small, The lithium ion battery with high energy density provides electric energy for the label, and the charging interface adopts a magnetic attraction charging technology.
In a further embodiment, the UWB positioning tag is provided with three indicating lamps with different colors, including a blue charging indicating lamp, a yellow working indicating lamp and a red low-battery alarm lamp, the blue indicating lamp of the charger tag is connected to be turned on to indicate that the tag is charging, the blue indicating lamp is turned off after the charging is finished,
in a further embodiment, the vibration switch accurately identifies that the tag is in a silent state or a working state, the blue working lamp does not flicker when the UWB positioning tag is in a completely static state, when the electric quantity of the tag is lower than 20%, the red low-electricity lamp flickers to remind a wearer of charging in time, and when the tag is charged and works normally, the low-electricity lamp is turned off,
the further implementation scheme is that when the label enters the alarm range set by the forklift collision avoidance system, the label vibrates to remind a user of operating a forklift nearby the staff, the user should leave the area as soon as possible and enter a safe area, and when the label leaves the alarm range, the label does not vibrate any more to prompt.
In a further embodiment, aviation plugs are adopted among all the interfaces of all the parts so as to ensure reliability.
The working process is as follows: and the base station and the UWB positioning tag normally work, firstly, the RS232 interface is used for connecting the PC, and the alarm distances in all directions and all levels are set, so that the base station and the UWB positioning tag are ready to work. Assume that the parameters for a certain direction are set as follows: the front 10 meters gives an alarm, the front 8 meters decelerates and the front 6 meters brakes. When the forklift works normally, a worker carries a UWB positioning tag to slowly approach from the front, when the UWB positioning tag reaches the position within 10 meters of the forklift, a yellow indicator lamp arranged in front of a display board on the forklift is turned on to remind a driver, and the UWB positioning tag carried by the worker vibrates to remind a pedestrian; when a person arrives within 8 meters of the forklift, the vehicle is immediately decelerated and driven under the control of the base station, and a red indicator light of the display board is lightened; when the vehicle reaches the range of 6 meters of the forklift, the vehicle is immediately braked under the control of the base station, and all indicator lights of the display board are lighted up to prompt a driver that great potential safety hazards exist; the personnel tag is constantly vibrating throughout the process.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes, modifications, substitutions and alterations can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, the scope of the present invention being defined by the appended claims and their equivalents.
Claims (8)
1. The utility model provides a fork truck collision avoidance system based on UWB location, includes location basic station, front and back demonstration billboard, audible-visual annunciator, fork truck speed reduction and brake braking control circuit, communication circuit, UWB location label and supply circuit, its characterized in that:
the positioning base station comprises a main base station and an auxiliary base station which are arranged at fixed positions of a forklift, wherein the main base station and the auxiliary base station both adopt a TWR technology to obtain real distance measurement distance, a UWB distance measurement module is arranged in the main base station and is used as a core part for wireless distance measurement and is responsible for receiving request data of a UWB positioning label and sending a confirmation request to the label, an ARM microprocessor is arranged in the main base station and is responsible for receiving and sending control of UWB distance measurement signals of the main base station and receiving the distance measurement results of the auxiliary base station, a microcontroller is used for calculating the position of the positioning label by using the distance measurement results of the main base station and the auxiliary base station, a UWB distance measurement module is arranged in the auxiliary base station and is used as a core part for wireless distance measurement and is responsible for receiving the request data of the UWB positioning label and sending the confirmation request to the label, an ARM microcontroller is arranged, the secondary base station transmits the real ranging distance to the main base station through RS232 communication, the main base station obtains the actual ranging distance of the main base station and the actual ranging distance of the secondary base station at the same time, the main base station can judge the position of the tag by calculating the difference value between the actual ranging distance of the main base station and the actual ranging distance of the secondary base station,
the audible and visual alarm is established for warning the danger to the forklift driver, and when the normal operation staff of the forklift enters a dangerous range, the audible and visual alarm immediately sends out a buzzing sound to remind the driver to slow down.
When the forklift normally operates, people around the forklift enter a dangerous range of speed reduction or braking, the main base station sends an instruction to the forklift controller, a control circuit of the speed reduction and braking of the forklift acts, and the forklift immediately decelerates and crawls or brakes and stops.
The communication module is formed by installing corresponding parameter setting software on a PC, connecting an RS232 interface with a PC host, setting the three-level alarm distance and the alarm distances in five directions of the forklift through PC end software,
the UWB positioning tag comprises an ARM microcontroller, a UWB signal processing, a transmitting-receiving antenna, a power management module, an indicator light, a vibration motor, a battery voltage detection and a vibration switch,
UWB signal processing one end links to each other with receiving and dispatching antenna, and the other end links to each other with ARM microcontroller, and pilot lamp, shock motor, battery voltage detection and shock switch link to each other with ARM microcontroller, and power management module provides the electric energy for each part of UWB location label.
2. The UWB positioning-based forklift collision avoidance system of claim 1, wherein: the ARM microcontroller selects an STM32 single chip microcomputer which is small in size and strong in function and is used for calculating the position of a UWB positioning label, detecting battery voltage, driving a vibration motor, identifying the state of a vibration switch and controlling the sending and receiving of UWB signal processing unit data through an SPI (serial peripheral interface).
3. The UWB positioning-based forklift collision avoidance system of claim 1, wherein: the front and back display boards are arranged for indicating specific directions of positioning personnel and comprise a front display board and a back display board which are respectively arranged in the front and the back of a forklift driver, each display board is respectively provided with 5 groups of yellow lamps and 1 group of red lamps, the yellow lamps are used for indicating the position of a positioning label to the forklift driver, and the red lamps are used for reducing the speed of the forklift and braking the indicating lamps.
4. The UWB positioning-based forklift collision avoidance system of claim 1, wherein: the UWB positioning tag power management module comprises a lithium ion battery, a charging module and a magnetic charging interface.
5. The UWB positioning-based forklift collision avoidance system of claim 4, wherein: the battery adopts the lithium ion battery with small volume and high energy density to provide electric energy for the label, and the charging interface adopts a magnetic attraction charging technology.
6. The UWB positioning-based forklift collision avoidance system of claim 1, wherein: UWB location label is equipped with the pilot lamp of three kinds of different colours, including blue charge pilot lamp, yellow work pilot lamp and red low-battery alarm lamp, connects charger label blue pilot lamp and lights and show that the label is charging, and the blue pilot lamp of completion of charging extinguishes.
7. The UWB positioning-based forklift collision avoidance system of claim 1, wherein: the accurate discernment label of vibrations switch is in silent state or operating condition, UWB location label is under complete quiescent condition, and blue work lamp does not glimmer, and when the electric quantity of label was less than 20%, the red low-power lamp can glimmer and remind the personnel of wearing in time to charge, and the label charges and during normal work, the low-power lamp extinguishes.
8. The UWB positioning-based forklift collision avoidance system of claim 1, wherein: the vibration motor is used for reminding a user that a forklift which runs near an employee is in vibration warning when the label enters an alarm range set by the forklift collision avoidance system, the user should leave the area as soon as possible and enter a safe area, and when the label leaves the alarm range, the label does not vibrate any more for reminding.
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| CN202011290487.3A CN112423222B (en) | 2020-11-18 | 2020-11-18 | Fork truck collision avoidance system based on UWB location |
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| CN202011290487.3A CN112423222B (en) | 2020-11-18 | 2020-11-18 | Fork truck collision avoidance system based on UWB location |
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Cited By (6)
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| CN113371642A (en) * | 2021-06-29 | 2021-09-10 | 安徽合力股份有限公司 | Forklift reversing anti-collision system |
| CN113370170A (en) * | 2021-06-08 | 2021-09-10 | 西安热工研究院有限公司 | Automatic following tool car based on-vehicle UWB location |
| CN113411742A (en) * | 2021-06-11 | 2021-09-17 | 三一海洋重工有限公司 | Engineering machinery control method, device and system based on wireless positioning |
| CN114038159A (en) * | 2021-11-11 | 2022-02-11 | 云南电网有限责任公司红河供电局 | Live working safety distance measurement system and method based on UWB positioning |
| CN114084857A (en) * | 2021-11-24 | 2022-02-25 | 合肥朗云物联科技股份有限公司 | UWB-based forklift anti-collision method |
| CN114125706A (en) * | 2021-11-24 | 2022-03-01 | 合肥朗云物联科技股份有限公司 | UWB-based forklift arrival reminding display system |
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| CN114125706A (en) * | 2021-11-24 | 2022-03-01 | 合肥朗云物联科技股份有限公司 | UWB-based forklift arrival reminding display system |
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