Intelligent driving forklift anti-collision system and method based on UWB positioning

Abstract

The invention provides a UWB positioning intelligent driving forklift anti-collision system and method. The method comprises the steps that through distribution arrangement of a forklift top edge bottom UWB detection group and a plurality of UWB base stations, UWB multi-dimensional detection interaction accurate positioning of fixed obstacles and moving obstacles in a forklift operation space is carried out, and UWB multi-dimensional detection interaction accurate positioning information is obtained; active anti-collision detection is carried out through an ultrasonic detection positioning group, an electromagnetic wave scanning detection group and a temperature sensing detector group, and UWB multi-dimensional detection interaction accurate positioning is matched to obtain UWB matched active anti-collision detection information; according to UWB multi-dimensional detection interaction accurate positioning information and UWB cooperation active anti-collision detection information, whether a relative movement collision trend and a collision trend of a moving object and a forklift exist in a detection range of a forklift operation space or not is intelligently analyzed and judged, and the forklift is controlled to change the speed in advance or turn to avoid obstacles. And active enhanced voice warning and active enhanced flash warning are carried out.

Description

Technical Field

[0001] The present invention relates to the field of signal detection, communication transmission, intelligent analysis and control information technology, and more specifically, to a UWB positioning intelligent driving forklift anti-collision system and method. Background Art

[0002] At present, forklift collision avoidance is mostly carried out through simple primary collision avoidance through sound and light warnings, and it is difficult to carry out intelligent path collision avoidance and early warning warnings, etc.; specifically, how to detect and accurately locate fixed obstacles and moving obstacles in the forklift operating space, how to perform active collision avoidance detection and coordinate with detection and positioning, how to perform conventional voice broadcast warning collision avoidance and conventional rotating flash warning collision avoidance, how to intelligently analyze and determine whether there is a relative movement collision trend and a collision trend between a moving object and the forklift within the detection range of the forklift operating space to control the forklift to change speed or turn to avoid obstacles in advance, how to avoid collisions between moving objects around the forklift and the forklift, and other issues remain to be solved; therefore, it is necessary to propose a UWB positioning intelligent driving forklift collision avoidance system and method to at least partially solve the problems existing in the existing technology. Summary of the Invention

[0003] A series of simplified concepts are introduced in the summary of the invention, which will be further explained in detail in the specific implementation method. The summary of the invention does not mean to attempt to limit the key features and necessary technical features of the technical solution for protection, nor does it mean to attempt to determine the scope of protection of the technical solution for protection.

[0004] To at least partially solve the above problems, the present invention provides a UWB positioning intelligent driving forklift collision avoidance system, comprising:

[0005] The UWB multi-dimensional positioning subsystem uses the UWB detection groups on the top, sides and bottom of the forklift and multiple UWB base stations to perform UWB multi-dimensional detection and interactive precise positioning of fixed and moving obstacles in the forklift's operating space, and obtain UWB multi-dimensional detection and interactive precise positioning information;

[0006] The ultrasonic electromagnetic detection coordination subsystem performs active collision avoidance detection through the ultrasonic detection positioning group, electromagnetic wave scanning detection group, and temperature sensor group, and cooperates with the UWB multi-dimensional detection interactive precise positioning to obtain UWB coordinated active collision avoidance detection information;

[0007] Active voice and flash anti-collision subsystem, which uses the forklift voice announcer and the forklift rotating flash warning device to provide conventional voice broadcast warning and conventional rotating flash warning for anti-collision;

[0008] The positioning analysis intelligent collision avoidance subsystem uses the precise positioning information of UWB multi-dimensional detection interaction and the active collision avoidance detection information coordinated with UWB to intelligently analyze and determine whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space when the forklift is moving or stationary. It controls the forklift to change speed or turn to avoid obstacles in advance, and performs active enhanced voice warnings and active enhanced flash warnings to prevent collisions between moving objects around the forklift and the forklift.

[0009] Preferably, the UWB multi-dimensional positioning subsystem includes:

[0010] The forklift UWB detection subsystem detects multi-dimensional obstacles on the top, sides, and bottom of the forklift through the forklift top, side, and bottom UWB detection groups, and obtains the forklift multi-dimensional space obstacle detection signal;

[0011] The spatial UWB base station positioning subsystem interacts with multiple forklift top, side, and bottom UWB detection groups through the distributed configuration of multiple UWB base stations to obtain precise positioning information from UWB multi-dimensional detection interactions.

[0012] The UWB positioning information transmission subsystem receives UWB multi-dimensional detection interactive precise positioning information through the UWB positioning information transmission module and performs system information communication transmission.

[0013] Preferably, the ultrasonic electromagnetic detection coordination subsystem includes:

[0014] The forklift ultrasonic detection subsystem is equipped with an ultrasonic detection and positioning group on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information;

[0015] The electromagnetic wave detection subsystem is equipped with an electromagnetic wave scanning detection group in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information;

[0016] The temperature-sensing object activity detection subsystem uses a temperature sensor group to detect heat source obstacles around the forklift and obtain heat source obstacle detection information;

[0017] The active anti-collision detection coordination subsystem summarizes the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information, and cooperates with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information.

[0018] Preferably, the active voice flash anti-collision subsystem includes:

[0019] The voice broadcast warning subsystem uses the forklift voice broadcast device to provide regular voice broadcast warnings and collision avoidance during the operation of the forklift;

[0020] The rotating flash warning subsystem uses the forklift's rotating flash warning device to perform regular rotating flash warning to avoid collisions when the forklift is running.

[0021] Preferably, the positioning analysis intelligent anti-collision subsystem includes:

[0022] The forklift mobile intelligent collision avoidance subsystem uses UWB multi-dimensional detection interactive precise positioning information and UWB-coordinated active collision avoidance detection information to intelligently analyze and determine whether there is a relative movement collision trend within the detection range of the forklift's operating space when the forklift is moving. It then controls the forklift to change speed or turn to avoid obstacles in advance, avoiding collisions with fixed or moving obstacles.

[0023] The stationary active collision avoidance subsystem of the forklift, when the forklift is stationary and loading or unloading goods, intelligently analyzes and determines whether there is a trend of collision between the moving objects around the forklift and the forklift; when there is a trend of collision between the moving objects around the forklift and the forklift, the forklift voice announcer and the forklift's rotating flashing alarm are controlled, and active enhanced voice warnings and active enhanced flashing warnings are simultaneously performed to avoid collision between the moving objects around the forklift and the forklift.

[0024] The present invention provides a UWB positioning intelligent driving forklift anti-collision method, comprising:

[0025] P100, through the UWB detection group on the top, side and bottom of the forklift and the distribution of multiple UWB base stations, performs UWB multi-dimensional detection and interactive precise positioning of fixed and mobile obstacles in the forklift operation space, and obtains UWB multi-dimensional detection and interactive precise positioning information;

[0026] P200 uses ultrasonic detection and positioning, electromagnetic wave scanning detection, and temperature sensor groups to perform active collision avoidance detection, and cooperates with UWB multi-dimensional detection for interactive precise positioning to obtain UWB-coordinated active collision avoidance detection information;

[0027] P300, through the forklift voice announcer and forklift rotating flash warning device, provides conventional voice broadcast warning and conventional rotating flash warning for collision avoidance;

[0028] P400, based on the precise positioning information of UWB multi-dimensional detection interaction and the active collision avoidance detection information coordinated with UWB, intelligently analyzes and determines whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space when the forklift is moving or stationary. It controls the forklift to change speed or turn to avoid obstacles in advance, and actively enhances voice warnings and active enhanced flash warnings to prevent collisions between the forklift and moving objects around it.

[0029] Preferably, P100 comprises:

[0030] P101 uses the forklift top, side, and bottom UWB detection group to detect multi-dimensional space obstacles on the top, side, and bottom of the forklift, and obtain the forklift multi-dimensional space obstacle detection signal;

[0031] P102, through the distributed setting of multiple UWB base stations and the information interaction with multiple forklift top, side and bottom UWB detection groups, obtains UWB multi-dimensional detection interaction precise positioning information;

[0032] P103, through the UWB positioning information transmission module, receives UWB multi-dimensional detection interactive precise positioning information and performs system information communication transmission.

[0033] Preferably, P200 comprises:

[0034] P201: An ultrasonic detection and positioning group is installed on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information.

[0035] P202, an electromagnetic wave scanning detection group is set in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic wave absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information;

[0036] P203, using the temperature sensor group, detects heat source obstacles around the forklift and obtains heat source obstacle detection information;

[0037] P204, the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information are summarized and coordinated with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active collision avoidance detection information.

[0038] Preferably, P300 includes:

[0039] P301, through the forklift voice announcer, regular voice broadcast warning and collision prevention during the operation of the forklift;

[0040] P302, through the forklift rotating flash warning device, regular rotating flash warning to avoid collision when the forklift is running.

[0041] Preferably, P400 includes:

[0042] P401, based on the precise positioning information from UWB multi-dimensional detection interaction and the active collision avoidance detection information from UWB, intelligently analyzes and determines whether there is a relative movement collision trend within the detection range of the forklift's operating space when the forklift is moving. It then controls the forklift to change speed or turn in advance to avoid collisions with fixed or moving obstacles.

[0043] P402: When a forklift is stationary loading or unloading cargo, it intelligently analyzes and determines whether there is a collision trend between the moving objects around the forklift and the forklift. When there is a collision trend between the moving objects around the forklift and the forklift, it controls the forklift voice announcer and the forklift's rotating flashing warning device, and simultaneously performs active enhanced voice warnings and active enhanced flashing warnings to prevent the moving objects around the forklift from colliding with the forklift.

[0044] Compared with the prior art, the present invention has at least the following beneficial effects:

[0045] The present invention provides a UWB positioning intelligent driving forklift anti-collision system and method, which uses a UWB multi-dimensional positioning subsystem, a forklift top, side and bottom UWB detection group and a plurality of UWB base stations to perform UWB multi-dimensional detection interactive precise positioning of fixed obstacles and moving obstacles in the forklift operation space, and obtain UWB multi-dimensional detection interactive precise positioning information; an ultrasonic electromagnetic detection coordination subsystem performs active anti-collision detection through an ultrasonic detection positioning group, an electromagnetic wave scanning detection group and a temperature sensing detector group, and coordinates with UWB multi-dimensional detection interactive precise positioning to obtain UWB coordinated active anti-collision detection information; an active voice flash anti-collision subsystem performs conventional voice broadcast warning anti-collision and conventional rotating flash warning anti-collision through a forklift voice announcer and a forklift rotating flash alarm; a positioning analysis intelligent anti-collision subsystem performs, according to UWB multi-dimensional detection interactive precise positioning information and UWB coordinated active anti-collision detection information, when the forklift moves and When stationary, it intelligently analyzes and determines whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space, controls the forklift to change speed or turn to avoid obstacles in advance, and performs active enhanced voice warnings and active enhanced flash warnings to prevent collisions between moving objects around the forklift and the forklift; it can perform intelligent path collision avoidance and early warning alarms; it can detect and accurately locate fixed obstacles and moving obstacles in the forklift's operating space; it can perform active collision avoidance detection and cooperate with detection and positioning; it can perform conventional voice broadcast warnings for collision avoidance and conventional rotating flash warnings for collision avoidance; it can intelligently analyze and determine whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space, and control the forklift to change speed or turn to avoid obstacles in advance, to prevent collisions between moving objects around the forklift and the forklift; it significantly improves the safety of the forklift during operation and loading and unloading of goods in a stationary state; it has great significance and significant effects.

[0046] The UWB positioning intelligent driving forklift collision avoidance system and method described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technical personnel in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0048] Figure 1 This is a diagram showing an embodiment of the UWB positioning intelligent driving forklift collision avoidance system framework described in the present invention.

[0049] Figure 2 This is a diagram showing an embodiment of the interactive precise positioning of a UWB positioning intelligent driving forklift collision avoidance system described in the present invention.

[0050] Figure 3 This is a diagram showing an embodiment of the UWB positioning intelligent driving forklift collision avoidance system for automated warehouses described in the present invention.

[0051] Figure 4 This is a diagram of an embodiment of a UWB detection group of a UWB positioning intelligent driving forklift collision avoidance system described in the present invention. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the instructions. As shown in the drawings, the present invention provides a UWB positioning intelligent driving forklift collision avoidance system, including:

[0053] The UWB multi-dimensional positioning subsystem uses the UWB detection groups on the top, sides and bottom of the forklift and multiple UWB base stations to perform UWB multi-dimensional detection and interactive precise positioning of fixed and moving obstacles in the forklift's operating space, and obtain UWB multi-dimensional detection and interactive precise positioning information;

[0054] The ultrasonic electromagnetic detection coordination subsystem performs active collision avoidance detection through the ultrasonic detection positioning group, electromagnetic wave scanning detection group, and temperature sensor group, and cooperates with the UWB multi-dimensional detection interactive precise positioning to obtain UWB coordinated active collision avoidance detection information;

[0055] Active voice and flash anti-collision subsystem, which uses the forklift voice announcer and the forklift rotating flash warning device to provide conventional voice broadcast warning and conventional rotating flash warning for anti-collision;

[0056] The positioning analysis intelligent collision avoidance subsystem uses the precise positioning information of UWB multi-dimensional detection interaction and the active collision avoidance detection information coordinated with UWB to intelligently analyze and determine whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space when the forklift is moving or stationary. It controls the forklift to change speed or turn to avoid obstacles in advance, and performs active enhanced voice warnings and active enhanced flash warnings to prevent collisions between moving objects around the forklift and the forklift.

[0057] The principle and effect of the above technical solution are: a UWB positioning intelligent driving forklift anti-collision system, a UWB multi-dimensional positioning subsystem 100 is distributed and arranged through a forklift top edge bottom UWB detection group 11 and a plurality of UWB base stations 12, UWB multi-dimensional detection interaction accurate positioning of fixed obstacles 13 and mobile obstacles 14 in the forklift running space is carried out, and UWB multi-dimensional detection interaction accurate positioning information is obtained; an ultrasonic electromagnetic detection cooperation subsystem 200 is carried out through an ultrasonic detection positioning group 21, an electromagnetic wave scanning detection group 22 and a thermal sensor group 23, active anti-collision detection is carried out, cooperation with UWB multi-dimensional detection interaction accurate positioning is carried out, and UWB cooperation active anti-collision detection information is obtained; an active voice flash anti-collision subsystem 300 is carried out through a forklift voice broadcaster 31 and a forklift rotating flash warning indicator 32, regular voice broadcast warning anti-collision and regular rotating flash warning anti-collision are carried out; a positioning analysis intelligent anti-collision subsystem 400, according to the UWB multi-dimensional detection interaction accurate positioning information and the UWB cooperation active anti-collision detection information, when the forklift moves and is static, whether there is a relative moving collision trend and a moving object and forklift collision trend in the detection range of the forklift running space is intelligently analyzed and judged, the forklift is controlled to change speed or turn to avoid obstacles in advance, active enhanced voice warning and active enhanced flash warning are carried out, and the forklift is avoided from colliding with the moving object around the forklift; intelligent path anti-collision avoidance and early warning warning can be carried out; the fixed obstacles and the mobile obstacles in the forklift running space can be accurately positioned; active anti-collision detection can be carried out and cooperation with detection positioning can be carried out; regular voice broadcast warning anti-collision and regular rotating flash warning anti-collision can be carried out; whether there is a relative moving collision trend and a moving object and forklift collision trend in the detection range of the forklift running space can be intelligently analyzed and judged, the forklift is controlled to change speed or turn to avoid obstacles in advance, and the forklift is avoided from colliding with the moving object around the forklift; the safety in the process of loading and unloading goods in the forklift running and static state is significantly improved; it has great significance and remarkable effect.

[0058] In one embodiment, the UWB multi-dimensional positioning subsystem includes:

[0059] The forklift UWB detection subsystem detects the multi-dimensional space obstacles of the top, edge and bottom of the forklift through the forklift top edge bottom UWB detection group, and obtains the forklift multi-dimensional space obstacle detection signal;

[0060] The space UWB base station positioning subsystem obtains the UWB multi-dimensional detection interaction accurate positioning information through information interaction of a plurality of UWB base stations distributed and arranged and a plurality of forklift top edge bottom UWB detection groups;

[0061] The UWB positioning information transmission subsystem receives the UWB multi-dimensional detection interaction accurate positioning information through the UWB positioning information transmission module and carries out system information communication transmission.

[0062] The principle and effect of the above technical solution are as follows: the UWB multi-dimensional positioning subsystem includes: a forklift UWB detection subsystem, which detects multi-dimensional spatial obstacles on the top, edge and bottom of the forklift through the UWB detection group on the top, side and bottom of the forklift, and obtains the multi-dimensional spatial obstacle detection signal of the forklift; a space UWB base station positioning subsystem, which interacts with multiple forklift top, side and bottom UWB detection groups through the distributed setting of multiple UWB base stations to obtain UWB multi-dimensional detection interaction precise positioning information; a UWB positioning information transmission subsystem, which receives UWB multi-dimensional detection interaction precise positioning information and performs system information communication transmission through the UWB positioning information transmission module; a space UWB base station positioning subsystem, which interacts with multiple forklift top, side and bottom UWB detection groups through the distributed setting of multiple UWB base stations to obtain UWB Multi-dimensional detection interaction precise positioning information includes: distributing multiple UWB base stations in the forklift operating space, receiving the forklift multi-dimensional space obstacle detection signal, and transmitting UWB base station positioning signal, interacting with multiple forklift top, side and bottom UWB detection groups, performing UWB multi-dimensional detection interaction precise positioning of fixed obstacles and mobile obstacles in the forklift operating space, and obtaining UWB multi-dimensional detection interaction precise positioning information; the forklift top, side and bottom UWB detection groups include: forklift top UWB detection group 111, forklift edge UWB detection group 112, forklift bottom UWB detection group 113; forklift top UWB detection group: install a group of UWB sensors on the top of the forklift cab or the top of the overhead guard; a group of UWB sensors includes: multiple UWB signal transceiver pairs Direction detection beacon; detect upward, obliquely upward and obliquely downward respectively; Forklift edge UWB detection group: install a group of UWB sensors at the two top ends of the forklift fork frame, the front and rear bumpers of the vehicle body or the two side guards to detect horizontally forward, backward, left and right, and detect the up and down movement of the two top ends of the forklift fork frame and the left and right movement of the forklift; Forklift bottom UWB detection group: install a group of UWB sensors that detect upward, obliquely downward and obliquely upward at the front, back and middle of the forklift chassis to detect the ground and the intersection space area respectively; UWB base stations are deployed in key locations of the operating area of ​​large automated warehouses. Multiple UWB base stations are distributed and installed with overlapping signal coverage; Key locations of the operating area include: aisles, shelf areas, loading and unloading areas, and corners; UWB positioning signals The information transmission module includes: a UWB signal transceiver that communicates with the UWB base station, receives the UWB base station positioning signal, and sends the forklift UWB detection signal; a main control signal processor that processes the forklift UWB detection group signal and the base station signal and controls the detection; a vehicle communication module that transmits the processed positioning information and obstacle information through the industrial mobile network; all detection groups on the forklift continuously communicate with multiple UWB base stations deployed in the warehouse space in a two-way manner; the base station receives signals from each forklift detection group and simultaneously sends precise positioning signals to the forklift detection group; using the time difference of arrival TDOA or time of arrival TOA, combined with signals from multiple base stations, the real-time and precise position and movement status of each part of the forklift are accurately obtained, and the distance and direction of obstacles are detected;By integrating data from top, edge, and bottom detection groups with the forklift's own precise location information, the system constructs a real-time obstacle map of the multi-dimensional space surrounding the forklift. It distinguishes fixed obstacles: shelves, pillars, walls, and fixed equipment. This information is partially pre-calibrated and continuously detected and verified using detection signals. Mobile obstacles: other forklifts, workers, and moving goods / AGVs are identified and tracked through real-time, dynamically changing signals and positioning information. UWB multi-dimensional detection interaction accurately positions the forklift's own position, posture, and the precise position, distance, and relative speed of surrounding fixed / mobile obstacles, transmitted via the UWB positioning information transmission module and the vehicle communication module. All-round safety protection is significantly improved, eliminating detection blind spots and resolving the key technical issues of difficulty covering high-altitude obstacles above the vehicle roof and low obstacles below the vehicle, achieving full-angle protection in the spatial range. The high positioning accuracy of UWB, combined with the interaction of distributed base stations and detection groups, significantly improves the positioning accuracy of the forklift's own position and obstacle positions. The system constructs a real-time, multi-dimensional dynamic map of mobile obstacles and multi-dimensional spatial situational awareness, significantly improving environmental perception and potential risk detection capabilities.

[0063] In one embodiment, the ultrasonic electromagnetic detection coordination subsystem includes:

[0064] The forklift ultrasonic detection subsystem is equipped with an ultrasonic detection and positioning group on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information;

[0065] The electromagnetic wave detection subsystem is equipped with an electromagnetic wave scanning detection group in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information;

[0066] The temperature-sensing object activity detection subsystem uses a temperature sensor group to detect heat source obstacles around the forklift and obtain heat source obstacle detection information;

[0067] The active anti-collision detection coordination subsystem summarizes the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information, and cooperates with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information.

[0068] The principles and effects of the above technical solution are as follows: ultrasonic electromagnetic detection coordination subsystem, including: forklift ultrasonic detection subsystem, an ultrasonic detection and positioning group is set at the top of the forklift, and obstacles around the forklift are detected and positioned in a multi-directional ultrasonic manner through the ultrasonic detection and positioning group to obtain multi-directional ultrasonic detection and positioning obstacle information; electromagnetic wave detection subsystem, an electromagnetic wave scanning detection group is set in the middle of the forklift, and non-electromagnetic absorbing obstacles within the height range of the forklift are scanned by the electromagnetic wave scanning detection group to obtain electromagnetic wave scanning detection obstacle information; temperature-sensing object activity detection subsystem, through the temperature-sensing detector group, heat source obstacle objects around the forklift are detected to obtain heat source obstacle object detection information; active anti-collision detection coordination subsystem, multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information are summarized, and coordinated with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information; avoid missed detection of obstacles made of ultrasonic absorbing materials and missed detection of obstacles made of electromagnetic wave shielding and absorbing materials.

[0069] In one embodiment, the ultrasonic electromagnetic detection coordination subsystem includes:

[0070] The forklift ultrasonic detection subsystem is equipped with an ultrasonic detection and positioning group on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information;

[0071] The electromagnetic wave detection subsystem is equipped with an electromagnetic wave scanning detection group in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information;

[0072] The temperature-sensing object activity detection subsystem uses a temperature sensor group to detect heat source obstacles around the forklift and obtain heat source obstacle detection information;

[0073] The active anti-collision detection coordination subsystem summarizes the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information, and cooperates with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information.

[0074] The principles and effects of the above technical solutions are as follows: the forklift ultrasonic detection subsystem sets an ultrasonic detection and positioning group at the top of the forklift, and uses the ultrasonic detection and positioning group to perform multi-directional ultrasonic detection and positioning of obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information; the electromagnetic wave detection subsystem sets an electromagnetic wave scanning detection group in the middle of the forklift, and uses the electromagnetic wave scanning detection group to scan non-electromagnetic absorbing obstacles within the height range of the forklift to obtain electromagnetic wave scanning detection obstacle information; the temperature-sensing object activity detection subsystem detects heat source obstacles around the forklift through the temperature-sensing detector group to obtain heat source obstacle detection information; the active anti-collision detection coordination subsystem summarizes the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle detection information, and coordinates with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information; avoids missed detection of obstacles made of ultrasonic absorbing materials and missed detection of obstacles made of electromagnetic wave shielding and absorbing materials.

[0075] In one embodiment, the active voice and flash anti-collision subsystem includes:

[0076] The voice broadcast warning subsystem uses the forklift voice broadcast device to provide regular voice broadcast warnings and collision avoidance during the operation of the forklift;

[0077] The rotating flash warning subsystem uses the forklift's rotating flash warning device to perform regular rotating flash warning to avoid collisions when the forklift is running.

[0078] The principle and effect of the above technical solution are as follows: the active voice flash anti-collision subsystem includes: a voice broadcast warning subsystem, which uses the forklift voice announcer to perform conventional voice broadcast warning anti-collision during the operation of the forklift; a rotating flash warning subsystem, which uses the forklift rotating flash warning to perform conventional rotating flash warning anti-collision during the operation of the forklift; it can perform conventional voice broadcast warning anti-collision and conventional rotating flash warning anti-collision; display real-time status information and obstacle warning information on the forklift cab display; integrate with the control system to realize automatic deceleration, emergency braking or automatic obstacle avoidance path planning; and grasp the precise position, status, surrounding environment and moving obstacles of the forklift in real time. Intelligent traffic control prevents forklifts from intersecting in narrow passages, optimizes task scheduling, and dynamically manages safe areas; for example, it issues alarms or limits speed when personnel approach high-risk work areas; precise collision warning and prevention, with real-time detection and positioning of fixed and moving obstacles at the top and bottom of the forklift in all directions, especially those that are easily overlooked, with centimeter-level accuracy; greatly advances warning time to effectively prevent collision accidents, especially high-risk accidents such as side collisions, collisions with low structures or cargo, and crushing of ground objects; personnel safety is enhanced, with earlier and more accurate detection and warnings for personnel close to forklifts, especially those in the side and rear blind spots, significantly reducing the risk of human-vehicle collisions.

[0079] In one embodiment, the positioning analysis and intelligent collision avoidance subsystem includes:

[0080] The forklift mobile intelligent collision avoidance subsystem uses UWB multi-dimensional detection interactive precise positioning information and UWB-coordinated active collision avoidance detection information to intelligently analyze and determine whether there is a relative movement collision trend within the detection range of the forklift's operating space when the forklift is moving. It then controls the forklift to change speed or turn to avoid obstacles in advance, avoiding collisions with fixed or moving obstacles.

[0081] The stationary active collision avoidance subsystem of the forklift, when the forklift is stationary and loading or unloading goods, intelligently analyzes and determines whether there is a trend of collision between the moving objects around the forklift and the forklift; when there is a trend of collision between the moving objects around the forklift and the forklift, the forklift voice announcer and the forklift's rotating flashing alarm are controlled, and active enhanced voice warnings and active enhanced flashing warnings are simultaneously performed to avoid collision between the moving objects around the forklift and the forklift.

[0082] The principle and effect of the above technical solution are as follows: Positioning and analysis intelligent anti-collision subsystem, including: forklift mobile intelligent anti-collision subsystem, based on UWB multi-dimensional detection interactive precise positioning information and UWB coordinated active anti-collision detection information, when the forklift moves, intelligent analysis determines whether there is a relative movement collision trend within the detection range of the forklift operation space, and controls the forklift to change speed or turn to avoid obstacles in advance to avoid collision with fixed obstacles or moving obstacles; forklift stationary active anti-collision subsystem, when the forklift is stationary loading and unloading goods, intelligent analysis determines whether there is a collision trend between the moving objects around the forklift and the forklift; when there is a collision trend between the moving objects around the forklift When a moving object tends to collide with a forklift, the forklift voice announcer and the forklift rotating flash warning device are controlled, and active enhanced voice warnings and active enhanced flash warnings are performed at the same time to prevent the moving objects around the forklift from colliding with the forklift; according to the UWB multi-dimensional detection interactive precise positioning information and UWB combined with active anti-collision detection information, when the forklift moves, intelligent analysis determines whether there is a relative moving collision trend within the detection range of the forklift's operating space, and controls the forklift to change speed or turn to avoid obstacles in advance to avoid collisions with fixed obstacles or moving obstacles. Including: according to the UWB multi-dimensional detection interactive precise positioning information and UWB combined with active anti-collision detection information, when the forklift moves, the intelligent analysis determines whether there is a relative moving collision trend within the detection range of the forklift's operating space, and controls the forklift to change speed or turn to avoid obstacles in advance to avoid collisions with fixed obstacles or moving obstacles. When moving, intelligent analysis determines whether there are fixed and mobile obstacles within the detection range of the forklift's operating space, and whether there is a relative movement collision trend between the fixed and mobile obstacles and the forklift's operating space and relative movement speed; when there is a relative movement collision trend, the forklift is controlled to change speed or turn in advance to avoid collision with fixed or mobile obstacles in the forklift's operating space and within the detection range; reduces manual deceleration / stopping, earlier and more reliable obstacle detection and more accurate positioning, without the need for frequent excessive deceleration or stopping for observation, especially in complex or poor visibility areas, maintaining a smoother driving speed; Digitalized path planning for autonomous forklifts: multi-dimensional and accurate obstacle information is the key foundation for achieving efficient, safe, dynamic path planning and real-time obstacle avoidance, thereby improving overall operational efficiency. Global scheduling optimization: The warehouse management system can make better task allocation and traffic scheduling decisions based on the precise location and real-time environmental information of all forklifts, reducing congestion and waiting time. UWB signals are less sensitive to dust, smoke, and light changes, making them suitable for various warehouse working conditions. The system can effectively distinguish and track fixed and mobile obstacles, providing more accurate risk assessment information. It can prevent collision accidents and directly reduce the risks of vehicle maintenance, cargo damage, and personnel injuries.

[0083] The present invention provides a UWB positioning intelligent driving forklift collision avoidance method, comprising:

[0084] P100, through the UWB detection group on the top, side and bottom of the forklift and the distribution of multiple UWB base stations, performs UWB multi-dimensional detection and interactive precise positioning of fixed and mobile obstacles in the forklift operation space, and obtains UWB multi-dimensional detection and interactive precise positioning information;

[0085] P200 uses ultrasonic detection and positioning, electromagnetic wave scanning detection, and temperature sensor groups to perform active collision avoidance detection, and cooperates with UWB multi-dimensional detection for interactive precise positioning to obtain UWB-coordinated active collision avoidance detection information;

[0086] P300, through the forklift voice announcer and forklift rotating flash warning device, provides conventional voice broadcast warning and conventional rotating flash warning for collision avoidance;

[0087] P400, based on the precise positioning information of UWB multi-dimensional detection interaction and the active collision avoidance detection information coordinated with UWB, intelligently analyzes and determines whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space when the forklift is moving or stationary. It controls the forklift to change speed or turn to avoid obstacles in advance, and actively enhances voice warnings and active enhanced flash warnings to prevent collisions between the forklift and moving objects around it.

[0088] The principle and effect of the above technical solution are as follows: the present invention provides a UWB positioning intelligent driving forklift anti-collision method, through the forklift top side bottom UWB detection group 11 and multiple UWB base stations 12 distributed setting, the UWB multi-dimensional detection interaction precise positioning of the fixed obstacles 13 and the mobile obstacles 14 in the forklift operation space is carried out, and the UWB multi-dimensional detection interaction precise positioning information is obtained; through the ultrasonic detection positioning group 21, the electromagnetic wave scanning detection group 22 and the temperature sensor group 23, active anti-collision detection is carried out, and coordinated with the UWB multi-dimensional detection interaction precise positioning, to obtain UWB coordinated active anti-collision detection information; through the forklift voice announcer 31 and the forklift rotating flash alarm 32, conventional voice broadcast warning anti-collision and conventional rotating flash warning anti-collision are carried out; according to the UWB multi-dimensional detection interaction precise positioning information and the UWB coordinated active anti-collision detection information, when the forklift is moving and stationary, intelligent analysis and judgment are made Whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space, the forklift is controlled to change speed or turn to avoid obstacles in advance, and active enhanced voice warnings and active enhanced flash warnings are performed to prevent the moving objects around the forklift from colliding with the forklift; intelligent path collision avoidance and early warning alarms can be performed; the fixed obstacles and moving obstacles in the forklift's operating space can be detected and accurately positioned; active collision avoidance detection can be performed and coordinated with detection and positioning; conventional voice broadcast warnings for collision avoidance and conventional rotating flash warnings for collision avoidance can be performed; intelligent analysis can be performed to determine whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space, and the forklift is controlled to change speed or turn to avoid obstacles in advance to prevent the moving objects around the forklift from colliding with the forklift; the safety of the forklift during operation and loading and unloading of goods in a stationary state is significantly improved; it has great significance and significant effects.

[0089] In one embodiment, P100 includes:

[0090] P101 uses the forklift top, side, and bottom UWB detection group to detect multi-dimensional space obstacles on the top, side, and bottom of the forklift, and obtain the forklift multi-dimensional space obstacle detection signal;

[0091] P102, through the distributed setting of multiple UWB base stations and the information interaction with multiple forklift top, side and bottom UWB detection groups, obtains UWB multi-dimensional detection interaction precise positioning information;

[0092] P103, through the UWB positioning information transmission module, receives UWB multi-dimensional detection interactive precise positioning information and performs system information communication transmission.

[0093] The principle and effect of the above technical solution are as follows: through the UWB detection group of the top, edge and bottom of the forklift, the multi-dimensional space obstacles on the top, edge and bottom of the forklift are detected to obtain the multi-dimensional space obstacle detection signal of the forklift; through the distributed setting of multiple UWB base stations, information interaction with multiple UWB detection groups of the top, edge and bottom of the forklift is obtained to obtain the precise positioning information of the UWB multi-dimensional detection interaction; through the UWB positioning information transmission module, the precise positioning information of the UWB multi-dimensional detection interaction is received and the system information communication transmission is carried out; through the distributed setting of multiple UWB base stations, information interaction with multiple UWB detection groups of the top, edge and bottom of the forklift is obtained to obtain the precise positioning information of the UWB multi-dimensional detection interaction, including: distributing multiple UWB base stations in the forklift operation space, receiving The forklift detects obstacles in multi-dimensional space and transmits UWB base station positioning signals, interacts with multiple forklift top, side and bottom UWB detection groups to perform UWB multi-dimensional detection interaction and precise positioning of fixed obstacles and moving obstacles in the forklift operation space, and obtains UWB multi-dimensional detection interaction and precise positioning information; the forklift top, side and bottom UWB detection groups include: forklift top UWB detection group 111, forklift edge UWB detection group 112, forklift bottom UWB detection group 113; forklift top UWB detection group: a group of UWB sensors are installed on the top of the forklift cab or the top of the overhead guard; a group of UWB sensors includes: multiple UWB signal transceiver bidirectional detection beacons; detection is respectively upward and obliquely upward and obliquely downward; forklift side Along the UWB detection group: a group of UWB sensors are installed at the two tops of the forklift fork frame, the front and rear bumpers of the vehicle body or the two side guard plates to detect horizontally forward, backward, left and right, and detect the up and down movement of the two tops of the forklift fork frame and the left and right movement of the forklift; Forklift bottom UWB detection group: a group of UWB sensors for upward or downward and upward detection are installed at the front, back and middle of the forklift chassis to detect the ground and the middle detection intersection space area respectively; UWB base stations are deployed in key locations of the operation area of ​​large automated warehouses. Multiple UWB base stations are distributed and installed with overlapping signal coverage; key locations in the operation area include: aisles, shelf areas, loading and unloading areas, and corners; UWB positioning information transmission modules include: UWB signal The transceiver communicates with the UWB base station, receives the UWB base station positioning signal, and sends the forklift UWB detection signal; the main control signal processor processes the forklift UWB detection group signal and the base station signal to control the detection; the vehicle communication module transmits the processed positioning information and obstacle information through the industrial mobile network; all detection groups on the forklift continuously communicate with multiple UWB base stations deployed in the warehouse space in a two-way manner; the base station receives the signals from each forklift detection group and simultaneously sends a precise positioning signal to the forklift detection group; using the time difference of arrival (TDOA) or time of arrival (TOA) combined with the signals from multiple base stations, the real-time and precise position and motion status of each part of the forklift are accurately obtained, and the distance and direction of the obstacle are detected;By integrating data from top, edge, and bottom detection groups with the forklift's own precise location information, the system constructs a real-time obstacle map of the multi-dimensional space surrounding the forklift. It distinguishes fixed obstacles: shelves, pillars, walls, and fixed equipment. This information is partially pre-calibrated and continuously detected and verified using detection signals. Mobile obstacles: other forklifts, workers, and moving goods / AGVs are identified and tracked through real-time, dynamically changing signals and positioning information. UWB multi-dimensional detection interaction accurately positions the forklift's own position, posture, and the precise position, distance, and relative speed of surrounding fixed / mobile obstacles, transmitted via the UWB positioning information transmission module and the vehicle communication module. All-round safety protection is significantly improved, eliminating detection blind spots and resolving the key technical issues of difficulty covering high-altitude obstacles above the vehicle roof and low obstacles below the vehicle, achieving full-angle protection in the spatial range. The high positioning accuracy of UWB, combined with the interaction of distributed base stations and detection groups, significantly improves the positioning accuracy of the forklift's own position and obstacle positions. The system constructs a real-time, multi-dimensional dynamic map of mobile obstacles and multi-dimensional spatial situational awareness, significantly improving environmental perception and potential risk detection capabilities.

[0094] In one embodiment, P200 includes:

[0095] P201: An ultrasonic detection and positioning group is installed on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information.

[0096] P202, an electromagnetic wave scanning detection group is set in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic wave absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information;

[0097] P203, using the temperature sensor group, detects heat source obstacles around the forklift and obtains heat source obstacle detection information;

[0098] P204, the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information are summarized and coordinated with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active collision avoidance detection information.

[0099] The principle and effect of the above technical solution are as follows: an ultrasonic detection and positioning group is set at the top of the forklift, and obstacles around the forklift are detected and positioned in a multi-directional ultrasonic manner through the ultrasonic detection and positioning group to obtain multi-directional ultrasonic detection and positioning obstacle information; an electromagnetic wave scanning detection group is set in the middle of the forklift, and non-electromagnetic absorbing obstacles within the height range of the forklift are scanned by the electromagnetic wave scanning detection group to obtain electromagnetic wave scanning detection obstacle information; heat source obstacles around the forklift are detected through the temperature sensing detector group to obtain heat source obstacle detection information; multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle detection information are summarized, and coordinated with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information; avoid missed detection of obstacles made of ultrasonic absorbing materials and missed detection of obstacles made of electromagnetic wave shielding and absorbing materials.

[0100] In one embodiment, P300 includes:

[0101] P301, through the forklift voice announcer, regular voice broadcast warning and collision prevention during the operation of the forklift;

[0102] P302, through the forklift rotating flash warning device, regular rotating flash warning to avoid collision when the forklift is running.

[0103] The principle and effect of the above technical solution are as follows: through the forklift voice announcer, regular voice broadcast warning and collision avoidance are carried out during the operation of the forklift; through the forklift rotating flash warning device, regular rotating flash warning and collision avoidance are carried out during the operation of the forklift; regular voice broadcast warning and collision avoidance and regular rotating flash warning and collision avoidance are carried out; real-time status information and obstacle warning information are displayed on the forklift cab display; integrated with the control system, automatic deceleration, emergency braking or automatic obstacle avoidance path planning is realized; the precise position, status, surrounding environment and moving obstacles of the forklift are grasped in real time; intelligent traffic control prevents forklifts from crossing in narrow passages Integration, task scheduling optimization, dynamic management of safe areas; such as warnings or speed limits when personnel approach high-risk work areas; precise collision warning and prevention, real-time detection and positioning of fixed and mobile obstacles at the top and bottom of the forklift in all directions, especially those that are easily overlooked, with centimeter-level accuracy; greatly advanced warning time, effective prevention of collision accidents, especially high-risk accidents such as side collisions, collisions with low structures or cargo, and crushing of ground objects; enhanced personnel safety, earlier and more accurate detection and warning of personnel close to the forklift, especially in the side and rear blind spots, significantly reducing the risk of human-vehicle collisions.

[0104] In one embodiment, P400 includes:

[0105] P401, based on the precise positioning information from UWB multi-dimensional detection interaction and the active collision avoidance detection information from UWB, intelligently analyzes and determines whether there is a relative movement collision trend within the detection range of the forklift's operating space when the forklift is moving. It then controls the forklift to change speed or turn in advance to avoid collisions with fixed or moving obstacles.

[0106] P402: When a forklift is stationary loading or unloading cargo, it intelligently analyzes and determines whether there is a collision trend between the moving objects around the forklift and the forklift. When there is a collision trend between the moving objects around the forklift and the forklift, it controls the forklift voice announcer and the forklift's rotating flashing warning device, and simultaneously performs active enhanced voice warnings and active enhanced flashing warnings to prevent the moving objects around the forklift from colliding with the forklift.

[0107] The principle and effect of the above technical solution are as follows: based on the interactive precise positioning information of UWB multi-dimensional detection and the active anti-collision detection information of UWB, when the forklift moves, it intelligently analyzes and determines whether there is a relative movement collision trend within the detection range of the forklift's operating space, and controls the forklift to change speed or turn to avoid obstacles in advance to avoid collision with fixed obstacles or moving obstacles; when the forklift is stationary and loading and unloading goods, it intelligently analyzes and determines whether there is a collision trend between the moving objects around the forklift and the forklift; when there is a collision trend between the moving objects around the forklift and the forklift, it controls the forklift voice announcer and the forklift rotation flash The warning device can simultaneously perform active enhanced voice warning and active enhanced flash warning to prevent the forklift from colliding with moving objects around it; based on the precise positioning information of UWB multi-dimensional detection interaction and the active anti-collision detection information of UWB, when the forklift moves, it can intelligently analyze and determine whether there is a relative movement collision trend within the detection range of the forklift's operating space, and control the forklift to change speed or turn to avoid obstacles in advance to avoid collision with fixed or moving obstacles. Including: based on the precise positioning information of UWB multi-dimensional detection interaction and the active anti-collision detection information of UWB, when the forklift moves, it can intelligently analyze and determine the detection range of the forklift's operating space Whether there are fixed and mobile obstacles within the range, and whether there is a relative movement collision trend between the fixed and mobile obstacles and the forklift's operating space and relative moving speed; when there is a relative movement collision trend, control the forklift to change speed or turn in advance to avoid obstacles, so as to avoid collision with fixed or mobile obstacles in the forklift's operating space and within the detection range; reduce manual deceleration / stopping, earlier and more reliable obstacle detection and more accurate positioning, without the need for frequent excessive deceleration or stopping for observation, especially in complex or poor visibility areas, to maintain a smoother driving speed; optimize the path of the autonomous forklift Planning: Multi-dimensional and accurate obstacle information is the key foundation for achieving efficient, safe, dynamic path planning and real-time obstacle avoidance, thereby improving overall operational efficiency. Global scheduling optimization: The warehouse management system can make better task allocation and traffic scheduling decisions based on the precise location and real-time environmental information of all forklifts, reducing congestion and waiting time. UWB signals are less sensitive to dust, smoke, and light changes, making them suitable for various warehouse working conditions. The system can effectively distinguish and track fixed and mobile obstacles, providing more accurate risk assessment information. It can prevent collision accidents and directly reduce the risks of vehicle maintenance, cargo damage, and personnel injuries.

[0108] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A UWB positioning intelligent driving forklift collision avoidance system, characterized in that: include: The UWB multi-dimensional positioning subsystem uses the UWB detection groups on the top, sides and bottom of the forklift and multiple UWB base stations to perform UWB multi-dimensional detection and interactive precise positioning of fixed and moving obstacles in the forklift's operating space, and obtain UWB multi-dimensional detection and interactive precise positioning information; The ultrasonic electromagnetic detection coordination subsystem performs active collision avoidance detection through the ultrasonic detection positioning group, electromagnetic wave scanning detection group, and temperature sensor group, and cooperates with the UWB multi-dimensional detection interactive precise positioning to obtain UWB coordinated active collision avoidance detection information; Active voice and flash anti-collision subsystem, which uses the forklift voice announcer and the forklift rotating flash warning device to provide conventional voice broadcast warning and conventional rotating flash warning for anti-collision; The positioning analysis intelligent collision avoidance subsystem uses the precise positioning information of UWB multi-dimensional detection interaction and the active collision avoidance detection information coordinated with UWB to intelligently analyze and determine whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space when the forklift is moving or stationary. It controls the forklift to change speed or turn to avoid obstacles in advance, and performs active enhanced voice warnings and active enhanced flash warnings to prevent collisions between moving objects around the forklift and the forklift.

2. The UWB positioning intelligent driving forklift collision avoidance system according to claim 1 is characterized in that: The UWB multi-dimensional positioning subsystem includes: The forklift UWB detection subsystem detects multi-dimensional obstacles on the top, sides, and bottom of the forklift through the forklift top, side, and bottom UWB detection groups, and obtains the forklift multi-dimensional space obstacle detection signal; The spatial UWB base station positioning subsystem interacts with multiple forklift top, side, and bottom UWB detection groups through the distributed configuration of multiple UWB base stations to obtain precise positioning information from UWB multi-dimensional detection interactions. The UWB positioning information transmission subsystem receives UWB multi-dimensional detection interactive precise positioning information through the UWB positioning information transmission module and performs system information communication transmission.

3. The UWB positioning intelligent driving forklift collision avoidance system according to claim 1 is characterized in that: Ultrasonic electromagnetic detection coordination subsystem, including: The forklift ultrasonic detection subsystem is equipped with an ultrasonic detection and positioning group on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information; The electromagnetic wave detection subsystem is equipped with an electromagnetic wave scanning detection group in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information; The temperature-sensing object activity detection subsystem uses a temperature sensor group to detect heat source obstacles around the forklift and obtain heat source obstacle detection information; The active anti-collision detection coordination subsystem summarizes the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information, and cooperates with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active anti-collision detection information.

4. The UWB positioning intelligent driving forklift collision avoidance system according to claim 1 is characterized in that: Active voice and flash anti-collision subsystem, including: The voice broadcast warning subsystem uses the forklift voice broadcast device to provide regular voice broadcast warnings and collision avoidance during the operation of the forklift; The rotating flash warning subsystem uses the forklift's rotating flash warning device to perform regular rotating flash warning to avoid collisions when the forklift is running.

5. The UWB positioning intelligent driving forklift collision avoidance system according to claim 1 is characterized in that: Positioning analysis and intelligent anti-collision subsystem, including: The forklift mobile intelligent collision avoidance subsystem uses UWB multi-dimensional detection interactive precise positioning information and UWB-coordinated active collision avoidance detection information to intelligently analyze and determine whether there is a relative movement collision trend within the detection range of the forklift's operating space when the forklift is moving. It then controls the forklift to change speed or turn to avoid obstacles in advance, avoiding collisions with fixed or moving obstacles. The stationary active collision avoidance subsystem of the forklift, when the forklift is stationary and loading or unloading goods, intelligently analyzes and determines whether there is a trend of collision between the moving objects around the forklift and the forklift; when there is a trend of collision between the moving objects around the forklift and the forklift, the forklift voice announcer and the forklift's rotating flashing alarm are controlled, and active enhanced voice warnings and active enhanced flashing warnings are simultaneously performed to avoid collision between the moving objects around the forklift and the forklift.

6. A UWB positioning intelligent driving forklift collision avoidance method, characterized in that: include: P100, through the UWB detection group on the top, side and bottom of the forklift and the distribution of multiple UWB base stations, performs UWB multi-dimensional detection and interactive precise positioning of fixed and mobile obstacles in the forklift operation space, and obtains UWB multi-dimensional detection and interactive precise positioning information; P200 uses ultrasonic detection and positioning, electromagnetic wave scanning detection, and temperature sensor groups to perform active collision avoidance detection, and cooperates with UWB multi-dimensional detection for interactive precise positioning to obtain UWB-coordinated active collision avoidance detection information; P300, through the forklift voice announcer and forklift rotating flash warning device, performs conventional voice broadcast warning and conventional rotating flash warning for collision avoidance; P400, based on the precise positioning information of UWB multi-dimensional detection interaction and the active collision avoidance detection information coordinated with UWB, intelligently analyzes and determines whether there is a relative movement collision trend or a collision trend between a moving object and the forklift within the detection range of the forklift's operating space when the forklift is moving or stationary. It controls the forklift to change speed or turn to avoid obstacles in advance, and actively enhances voice warnings and active enhanced flash warnings to prevent collisions between the forklift and moving objects around it.

7. The UWB positioning intelligent driving forklift collision avoidance method according to claim 6 is characterized in that: P100 includes: P101 uses the forklift top, side, and bottom UWB detection group to detect multi-dimensional space obstacles on the top, side, and bottom of the forklift, and obtain the forklift multi-dimensional space obstacle detection signal; P102, through the distributed setting of multiple UWB base stations and the information interaction with multiple forklift top, side and bottom UWB detection groups, obtains UWB multi-dimensional detection interaction precise positioning information; P103, through the UWB positioning information transmission module, receives UWB multi-dimensional detection interactive precise positioning information and performs system information communication transmission.

8. The UWB positioning intelligent driving forklift collision avoidance method according to claim 6 is characterized in that: P200 includes: P201: An ultrasonic detection and positioning group is installed on the top of the forklift. The ultrasonic detection and positioning group performs multi-directional ultrasonic detection and positioning on obstacles around the forklift to obtain multi-directional ultrasonic detection and positioning obstacle information. P202, an electromagnetic wave scanning detection group is set in the middle of the forklift. The electromagnetic wave scanning detection group scans non-electromagnetic wave absorbing obstacles within the height range of the forklift and obtains electromagnetic wave scanning detection obstacle information; P203, using the temperature sensor group, detects heat source obstacles around the forklift and obtains heat source obstacle detection information; P204, the multi-directional ultrasonic detection and positioning obstacle information, electromagnetic wave scanning detection obstacle information and heat source obstacle object detection information are summarized and coordinated with UWB multi-dimensional detection interactive precise positioning to form UWB coordinated active collision avoidance detection information.

9. The UWB positioning intelligent driving forklift collision avoidance method according to claim 6 is characterized in that: P300 includes: P301, through the forklift voice announcer, regular voice broadcast warning and collision prevention during the operation of the forklift; P302, through the forklift rotating flash warning device, regular rotating flash warning to avoid collision when the forklift is running.

10. The UWB positioning intelligent driving forklift collision avoidance method according to claim 6, characterized in that: P400 includes: P401, based on the precise positioning information from UWB multi-dimensional detection interaction and the active collision avoidance detection information from UWB, intelligently analyzes and determines whether there is a relative movement collision trend within the detection range of the forklift's operating space when the forklift is moving. It then controls the forklift to change speed or turn in advance to avoid collisions with fixed or moving obstacles. P402: When a forklift is stationary loading or unloading cargo, it intelligently analyzes and determines whether there is a collision trend between the moving objects around the forklift and the forklift. When there is a collision trend between the moving objects around the forklift and the forklift, it controls the forklift voice announcer and the forklift's rotating flashing warning device, and simultaneously performs active enhanced voice warnings and active enhanced flashing warnings to prevent the moving objects around the forklift from colliding with the forklift.

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