CN115379555A - Forklift anti-collision method and system based on UWB positioning technology - Google Patents

Forklift anti-collision method and system based on UWB positioning technology Download PDF

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Publication number
CN115379555A
CN115379555A CN202210973916.XA CN202210973916A CN115379555A CN 115379555 A CN115379555 A CN 115379555A CN 202210973916 A CN202210973916 A CN 202210973916A CN 115379555 A CN115379555 A CN 115379555A
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uwb positioning
current
forklift
peripheral
base station
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梁作坤
邱清华
钱小伟
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Wuxi Isen Wisdom Technology Co ltd
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Wuxi Isen Wisdom Technology Co ltd
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Priority to CN202210973916.XA priority Critical patent/CN115379555A/en
Publication of CN115379555A publication Critical patent/CN115379555A/en
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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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention relates to the technical field of positioning, and particularly discloses a forklift anti-collision method based on a UWB positioning technology, which comprises the following steps: acquiring distance information and azimuth angle information between a peripheral UWB positioning tag and a current UWB positioning base station in real time through the current UWB positioning base station of the current forklift; according to the distance information and azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station, displaying the distribution situation of the peripheral UWB positioning tags of the current UWB positioning base station, and judging whether the peripheral UWB positioning tags enter a preset alarm area or not; if the peripheral UWB positioning tags enter the alarm area, alarming; otherwise, no alarm is given. The invention also discloses a forklift anti-collision system based on the UWB positioning technology. The forklift anti-collision method based on the UWB positioning technology can early warn the collision problem caused by safety dead angles in the operation process of the forklift, and protect the safety of the forklift, pedestrians and articles.

Description

Forklift anti-collision method and system based on UWB positioning technology
Technical Field
The invention relates to the technical field of positioning, in particular to a forklift collision avoidance method based on a UWB positioning technology and a forklift collision avoidance system based on the UWB positioning technology.
Background
In the production scene, use fork truck to carry article, because the complexity of site environment to and the reason of the visual angle of fork truck operation, often have fork truck and fork truck, the thing of fork truck and personnel or article collision takes place.
At present, in order to solve such problems, a video AI detection method, a UWB accurate positioning system push algorithm and a UWB ranging sensing method are generally used. The video AI detection method is that cameras are arranged on four sides of the forklift to monitor the surrounding environment, so that the surrounding safety condition is judged, and the purpose of collision avoidance is achieved; however, video AI has the disadvantage that the risk of collision around the vehicle cannot be identified in dark surroundings or in the case of an object being blocked. The UWB accurate positioning system deduction method is characterized in that a UWB high-precision positioning technology is utilized, positioning anchor points are arranged in a scene in advance, positioning labels are arranged on vehicles and personnel, accurate positions of the personnel and the vehicles are calculated through a server, and then collision risks are early warned in advance according to the distance between the personnel and the vehicles; the disadvantage of this method is that the delay from basic distance measurement to early warning is large, generally about 3s, and there is a safety risk. The UWB ranging induction method is characterized in that UWB ranging equipment is arranged on a forklift and a person, the distance between the person and the forklift or between the forklift and the forklift is calculated through accurate ranging, the result is directly output to the forklift, the system does not need to calculate and process, the response speed is relatively high, and early warning is timely; but the disadvantage is that the direction of the danger source can not be distinguished, and the driver judgment is influenced by frequent alarm in the actual use.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a forklift collision avoidance method and system based on a UWB positioning technology, which can perform early warning on collision problems caused by safety dead angles in the operation process of a forklift, accurately judge the direction of a hazard source, feed the hazard source back to the forklift in time, reduce the probability of danger of the forklift, and protect the safety of the forklift, pedestrians, equipment and articles.
As a first aspect of the present invention, there is provided a forklift truck collision avoidance method based on UWB positioning technology, where a current forklift truck includes current forklift truck positioning equipment, where the current forklift truck positioning equipment includes a current UWB positioning base station and a current UWB positioning tag, and the forklift truck collision avoidance method based on UWB positioning technology includes:
step S1: acquiring distance information and azimuth angle information between a peripheral UWB positioning tag and a current UWB positioning base station in real time through the current UWB positioning base station of the current forklift; the peripheral UWB positioning tag is arranged in personnel positioning equipment, article positioning equipment and peripheral forklift positioning equipment around the current forklift positioning equipment;
step S2: displaying the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station according to the distance information and the azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station;
and step S3: judging whether the peripheral UWB positioning tags enter a preset alarm area or not according to the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station;
and step S4: if the peripheral UWB positioning tag enters the alarm area, alarming; otherwise, no alarm is given.
Further, current UWB location basic station through current fork truck acquires in real time that peripheral UWB location label with distance information and azimuth information between the current UWB location basic station still includes:
and calculating distance information between the peripheral UWB positioning tag and the current UWB positioning base station according to the TOF time flight principle.
Further, current UWB location basic station through current fork truck acquires in real time that peripheral UWB location label with distance information and azimuth information between the current UWB location basic station still includes:
and calculating azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station according to an AOA signal arrival angle principle.
As a second aspect of the present invention, a forklift collision avoidance system based on UWB positioning technology is provided, including a current forklift positioning device, a vehicle-mounted tablet, a system server, and an alarm, where the current forklift positioning device, the system server, and the alarm are all connected to the vehicle-mounted tablet, and the current forklift positioning device includes a current UWB positioning base station and a current UWB positioning tag;
the current forklift positioning equipment is used for acquiring distance information and azimuth angle information between a peripheral UWB positioning tag and the current UWB positioning base station in real time through the current UWB positioning base station of the current forklift; the peripheral UWB positioning tag is arranged in the personnel positioning equipment, the article positioning equipment and the peripheral forklift positioning equipment around the current forklift positioning equipment;
the vehicle-mounted panel is used for displaying the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station according to the distance information and the azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station;
the system server is used for judging whether the peripheral UWB positioning tags enter a preset alarm area or not according to the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station; if the peripheral UWB positioning tag enters the alarm area, alarming through the alarm; otherwise, no alarm is given.
Further, the current UWB positioning base station is specifically configured to calculate distance information between the peripheral UWB positioning tag and the current UWB positioning base station according to a TOF time-of-flight principle.
Further, the current UWB positioning base station is specifically configured to calculate azimuth information between the peripheral UWB positioning tag and the current UWB positioning base station according to an AOA signal angle of arrival principle.
Further, the current forklift positioning device comprises a current UWB positioning base station, a current UWB positioning tag, a WiFi module and a battery, wherein the battery is used for supplying power to the current UWB positioning base station, the current UWB positioning tag and the WiFi module, and the current UWB positioning base station is further used for sending the acquired distance information and azimuth angle information between the peripheral UWB positioning tag and the current UWB positioning base station to the vehicle-mounted panel through the WiFi module;
peripheral fork truck positioning equipment with current fork truck positioning equipment's structure is the same, peripheral fork truck positioning equipment is when carrying out self anticollision calculation, peripheral fork truck positioning equipment is equivalent to current fork truck positioning equipment.
Further, the person locating device and the item locating device are both battery powered.
Further, the peripheral area of the current forklift is divided into an alarm area, a pre-alarm area and a report-free area, and the pre-alarm area is arranged between the alarm area and the report-free area.
Furthermore, the UWB positioning technology is an ultra-wideband positioning technology, and is a carrier-free communication technology, and data are transmitted by using nanosecond-microsecond-level non-sine wave narrow pulses.
The forklift anti-collision method and system based on the UWB positioning technology have the following advantages:
(1) The early warning effect is achieved between the forklift and the forklift, between the forklift and personnel, and between the forklift and the object at a certain distance;
(2) The problems of large delay and untimely response in the collision prevention of the traditional forklift are solved;
(3) The problem that the danger direction cannot be effectively distinguished in the traditional forklift collision avoidance is solved, the front direction, the rear direction, the left direction and the right direction of the forklift are accurately judged, the effective early warning distance is set, and early warning is carried out in advance;
(4) Integrated fork truck positioning system on the basis of anticollision, can effectively use fork truck and supervise the dispatch.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is an overall flowchart of a forklift collision avoidance method based on the UWB positioning technology provided in the present invention.
Fig. 2 is a flow chart of an anti-collision method between the forklift and the person provided by the invention.
Fig. 3 is a flow chart of an anti-collision method between the forklift trucks provided by the invention.
Fig. 4 is a flowchart of an anti-collision method between the forklift and the object according to the present invention.
Fig. 5 is a schematic structural diagram of a forklift collision avoidance system based on the UWB positioning technology provided by the present invention.
Fig. 6 is a schematic structural diagram of the forklift positioning device provided by the invention.
Fig. 7 is a TOF ranging schematic diagram provided by the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be made on the specific implementation, structure, features and effects of the method and system for preventing collision of forklift based on UWB positioning technology according to the present invention with reference to the accompanying drawings and preferred embodiments. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to limit the invention to the precise embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
In this embodiment, a forklift collision avoidance method based on a UWB positioning technology is provided, as shown in fig. 1, a current forklift includes a current forklift positioning device, the current forklift positioning device includes a current UWB positioning base station and a current UWB positioning tag, and the forklift collision avoidance method based on the UWB positioning technology includes:
step S1: acquiring distance information and azimuth angle information between a peripheral UWB positioning tag and a current UWB positioning base station in real time through the current UWB positioning base station of the current forklift; the peripheral UWB positioning tag is arranged in personnel positioning equipment, article positioning equipment and peripheral forklift positioning equipment around the current forklift positioning equipment;
step S2: displaying the distribution situation of the peripheral UWB positioning tags of the current UWB positioning base station according to the distance information and the azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station;
and step S3: judging whether the peripheral UWB positioning tags enter a preset alarm area or not according to the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station;
and step S4: if the peripheral UWB positioning tag enters the alarm area, alarming; otherwise, no alarm is given.
Preferably, the current UWB positioning base station through the current forklift acquires distance information and azimuth information between the peripheral UWB positioning tag and the current UWB positioning base station in real time, and further includes:
and calculating distance information between the peripheral UWB positioning tag and the current UWB positioning base station according to the TOF time flight principle.
Specifically, as shown in fig. 7, the TOF (time-of-flight) time flight principle. The time-of-flight principle refers to various methods for measuring the time of flight, and more specifically, to the time taken by an object or particle or other waves such as sound waves or electric waves to travel a certain distance in a certain medium. The conventional Ranging technology is divided into a Two-Way Ranging technology (Two Way Ranging) and a one-Way Ranging technology (OneWay Ranging). The TOF ranging method belongs to a two-way ranging technology, and mainly utilizes the time of flight of a signal to and fro between two asynchronous transceivers (transceivers) to measure the distance between nodes. In order to improve the ranging accuracy, symmetric bilateral two-way ranging (SDSTWR) is generally adopted.
Tag sends a poll message and records a timestamp, which is denoted as Tsp (Time start poll), anchor receives the poll message and records Trp (Time receive poll), anchor receives the signal and generates a Response message, it takes Time to send the Response message, anchor sends the Response message and records Time Tsr (Time start Response), tag receives the Response message and records Trr (Time receive Response), tag receives the signal and generates a Final message, it takes Time to send the Final message, tag sends the Final message, and records Time Tsf (Time start Final), anchor receives the Final message and records Trf (Time receive Final). After the above process is completed, the Anchor knows all timestamp information, including Tsp, trp, tsr, trr, tsf, and Trf.
Calculating the signal single flight time Tsf = { (Trr-Tsp) - (Tsr-Trp) + (Trf-Tsr) - (Tsf-Trr) }/4; base station to tag distance D = Tsf c, where c is the speed of light.
Preferably, the current UWB positioning base station through the current forklift acquires distance information and azimuth information between the peripheral UWB positioning tag and the current UWB positioning base station in real time, and further includes:
and calculating azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station according to an AOA signal angle of arrival principle.
Specifically, angle-of-Arrival (AOA): the relative orientation or angle between the receiving node and the anchor node is calculated by sensing the direction of arrival of the transmitting node signal by some hardware device. In the invention, the forklift positioning equipment uses multiple antennas, and the azimuth angles of other positioning equipment relative to the forklift positioning equipment are calculated by receiving signals of other positioning equipment.
Specifically, as shown in fig. 2, collision avoidance between the forklift and the person: UWB location basic station uses AOA/TOF mixed algorithm, can detect the position and the distance of UWB location label that peripheral personnel wore, links to each other UWB location basic station and on-vehicle flat board, and the location APP of self-service development is cooperated can show peripheral personnel for fork truck's distribution situation through the mode of radar map on the flat board. According to different requirements, an early warning area, an alarming area and a free-report area can be defined around the forklift. In different directions, different alarm thresholds are set according to the actual requirements of the forklift, when the thresholds are reached, the vehicle-mounted panel gives an alarm, the personnel label is given an alarm, the personnel is reminded, and meanwhile, the alarm is controlled to give an alarm to the driver.
Specifically, as shown in fig. 3, collision avoidance between the forklift truck and the forklift truck: contain a UWB location basic station and a UWB location label in the fork truck positioning device, can realize mutual location between fork truck and the fork truck like this to calculate each other azimuth and distance. Similarly, the situation of the peripheral forklift can be displayed on the vehicle-mounted flat plate in a radar map manner. Whether to give an alarm or not can be set according to needs in different directions, different early warning threshold values can be set when the alarm is started, the alarm is sent out on the vehicle-mounted panel when the threshold value is reached, and meanwhile the alarm is controlled to send out the alarm to a driver.
Specifically, as shown in fig. 4, collision avoidance between the forklift and the article: some fixed equipment or article exist the risk of being hit bad by fork truck under the general condition, consequently can install the article inductor on equipment or article, and article inductor inside is a UWB location label, can fix a position the position of equipment or article when fork truck passes through, carries out the early warning to fork truck through the different early warning threshold values that set up, when having the collision risk, sends out the warning to the fork truck driver, and its theory of operation is similar with fork truck and personnel anticollision.
As another embodiment of the present invention, as shown in fig. 5, a forklift collision avoidance system based on UWB positioning technology is provided, which includes a current forklift positioning device, a vehicle-mounted tablet, a system server, and an alarm, where the current forklift positioning device, the system server, and the alarm are all connected to the vehicle-mounted tablet, and the current forklift positioning device includes a current UWB positioning base station and a current UWB positioning tag;
the current forklift positioning equipment is used for acquiring distance information and azimuth angle information between a peripheral UWB positioning tag and the current UWB positioning base station in real time through the current UWB positioning base station of the current forklift; the peripheral UWB positioning tag is arranged in the personnel positioning equipment, the article positioning equipment and the peripheral forklift positioning equipment around the current forklift positioning equipment;
the vehicle-mounted panel is used for displaying the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station according to the distance information and the azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station;
the system server is used for judging whether the peripheral UWB positioning tags enter a preset alarm area or not according to the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station; if the peripheral UWB positioning tag enters the alarm area, alarming is carried out through the alarm; otherwise, no alarm is given.
Specifically, fork truck positioning equipment carries out UWB communication with personnel positioning equipment, article positioning equipment or other fork truck positioning equipment respectively, through the AOA algorithm, calculates the mutual position of positioning equipment, then sets for the crashproof scope in the equidirectional not according to the demand of difference to realize the crashproof purpose of fork truck intelligence.
Preferably, the current UWB positioning base station is specifically configured to calculate distance information between the peripheral UWB positioning tag and the current UWB positioning base station according to a TOF time flight principle.
Preferably, the current UWB positioning base station is specifically configured to calculate azimuth information between the peripheral UWB positioning tag and the current UWB positioning base station according to an AOA signal angle of arrival principle.
Preferably, as shown in fig. 6, the current forklift positioning device includes a current UWB positioning base station, a current UWB positioning tag, a WiFi module, and a battery, where the battery is configured to supply power to the current UWB positioning base station, the current UWB positioning tag, and the WiFi module, and the current UWB positioning base station is further configured to send acquired distance information and azimuth angle information between the peripheral UWB positioning tag and the current UWB positioning base station to the vehicle-mounted tablet through the WiFi module;
peripheral fork truck positioning equipment with current fork truck positioning equipment's structure is the same, peripheral fork truck positioning equipment is when carrying out self anticollision calculation, peripheral fork truck positioning equipment is equivalent to current fork truck positioning equipment.
Specifically, the UWB positioning base station adopts an AOA/TOF hybrid algorithm, and can calculate the azimuth and the distance of the peripheral UWB positioning tag, thereby calculating the position of the tag relative to the base station. The WiFi module is used for managing forklift positioning equipment.
Preferably, the person locating device and the article locating device are both comprised of a UWB locating tag and a battery. The personnel positioning equipment and the article positioning equipment are both powered by batteries.
Preferably, the peripheral area of the current forklift is divided into an alarm area, a pre-alarm area and a no-report area, and the pre-alarm area is arranged between the alarm area and the no-report area.
Preferably, the UWB positioning technology is an ultra-wideband positioning technology, and is a carrier-free communication technology, and data are transmitted by using nanosecond-microsecond-level non-sine wave narrow pulses.
Specifically, the forklift positioning device can be directly configured through the vehicle-mounted tablet, or the device can be remotely configured on the server through the WiFi network by using application management software, and states and running conditions of the devices are monitored. If the monitoring and dispatching needs exist, the positioning and monitoring of the field forklift can be completed by adding a satellite positioning mode, a Bluetooth positioning mode or a UWB positioning base station supplement mode.
It should be noted that, fork truck collision avoidance system based on UWB location technique, supporting corresponding location APP and computer end application management software contains hardware such as a series of equipment, computer server.
The invention provides a forklift anti-collision method based on a UWB (ultra wide band) positioning technology, which can be used for early warning the collision problem caused by safety dead angles in the running process of a forklift, accurately judging the direction of a danger source, feeding the direction back to the forklift in time, reducing the danger probability of the forklift, and protecting the safety of the forklift, pedestrians, equipment and articles.
Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.

Claims (10)

1. The forklift collision avoidance method based on the UWB positioning technology is characterized in that a current forklift comprises current forklift positioning equipment, the current forklift positioning equipment comprises a current UWB positioning base station and a current UWB positioning label, and the forklift collision avoidance method based on the UWB positioning technology comprises the following steps:
step S1: the method comprises the steps that distance information and azimuth angle information between a peripheral UWB positioning tag and a current UWB positioning base station are obtained in real time through the current UWB positioning base station of the current forklift; the peripheral UWB positioning tag is arranged in personnel positioning equipment, article positioning equipment and peripheral forklift positioning equipment around the current forklift positioning equipment;
step S2: displaying the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station according to the distance information and the azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station;
and step S3: judging whether the peripheral UWB positioning tags enter a preset alarm area or not according to the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station;
and step S4: if the peripheral UWB positioning tag enters the alarm area, alarming; otherwise, no alarm is given.
2. The forklift truck anti-collision method based on the UWB positioning technology according to claim 1, wherein the current UWB positioning base station of the current forklift truck acquires distance information and azimuth angle information between the peripheral UWB positioning tag and the current UWB positioning base station in real time, further comprising:
and calculating distance information between the peripheral UWB positioning tag and the current UWB positioning base station according to the TOF time flight principle.
3. The forklift truck anticollision method based on UWB positioning technology as claimed in claim 1, wherein said current UWB positioning base station through the current forklift truck acquires distance information and azimuth angle information between the surrounding UWB positioning tag and the current UWB positioning base station in real time, further comprising:
and calculating azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station according to an AOA signal angle of arrival principle.
4. A forklift collision avoidance system based on a UWB positioning technology is characterized by comprising current forklift positioning equipment, a vehicle-mounted panel, a system server and an alarm, wherein the current forklift positioning equipment, the system server and the alarm are all connected with the vehicle-mounted panel;
the current forklift positioning equipment is used for acquiring distance information and azimuth angle information between a peripheral UWB positioning tag and the current UWB positioning base station in real time through the current UWB positioning base station of the current forklift; the peripheral UWB positioning tag is arranged in the personnel positioning equipment, the article positioning equipment and the peripheral forklift positioning equipment around the current forklift positioning equipment;
the vehicle-mounted panel is used for displaying the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station according to the distance information and the azimuth angle information between the peripheral UWB positioning tags and the current UWB positioning base station;
the system server is used for judging whether the peripheral UWB positioning tags enter a preset alarm area or not according to the distribution condition of the peripheral UWB positioning tags of the current UWB positioning base station; if the peripheral UWB positioning tag enters the alarm area, alarming is carried out through the alarm; otherwise, no alarm is given.
5. The UWB positioning technology based forklift collision avoidance system of claim 4, wherein the current UWB positioning base station is specifically configured to calculate distance information between the peripheral UWB positioning tags and the current UWB positioning base station through TOF time flight principle.
6. The UWB positioning technology based forklift collision avoidance system of claim 4 wherein the current UWB positioning base station is specifically configured to calculate azimuth information between the peripheral UWB positioning tags and the current UWB positioning base station according to the AOA signal arrival angle principle.
7. The UWB positioning technology based forklift collision avoidance system according to claim 4, wherein the current forklift positioning equipment comprises a current UWB positioning base station, a current UWB positioning tag, a WiFi module and a battery, the battery is used for supplying power to the current UWB positioning base station, the current UWB positioning tag and the WiFi module, and the current UWB positioning base station is further used for sending the acquired distance information and azimuth angle information between the peripheral UWB positioning tag and the current UWB positioning base station to the vehicle-mounted tablet through the WiFi module;
peripheral fork truck positioning equipment with current fork truck positioning equipment's structure is the same, peripheral fork truck positioning equipment is when carrying out self anticollision calculation, peripheral fork truck positioning equipment is equivalent to current fork truck positioning equipment.
8. The UWB positioning technology based forklift collision avoidance system of claim 4 wherein the personnel positioning device and the item positioning device are both battery powered.
9. The UWB positioning technology based forklift truck collision avoidance system of claim 4 wherein the peripheral area of the current forklift truck is divided into an alarm area, a pre-warning area and a hands-free area, the pre-warning area is between the alarm area and the hands-free area.
10. The forklift collision avoidance system based on the UWB positioning technology as claimed in claim 4, wherein the UWB positioning technology is ultra wide band positioning technology, is a carrier-free communication technology, and transmits data by using non-sine wave narrow pulses of nanosecond to microsecond level.
CN202210973916.XA 2022-08-15 2022-08-15 Forklift anti-collision method and system based on UWB positioning technology Pending CN115379555A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118298585A (en) * 2024-06-04 2024-07-05 深圳唯创安全技术有限公司 Industrial vehicle anti-collision early warning method, device, system and medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118298585A (en) * 2024-06-04 2024-07-05 深圳唯创安全技术有限公司 Industrial vehicle anti-collision early warning method, device, system and medium

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