Anti-collision early warning device based on AOA array antenna

Abstract

The invention discloses an anti-collision early warning device based on an AOA array antenna, and relates to the technical field of industrial safety protection, the anti-collision early warning device comprises a UWB early warning base station and an early warning display host, the UWB early warning base station is internally provided with a plurality of small omnidirectional antennas; the early warning display host comprises a touch display screen, a data storage module, a UWB distance measurement chip module, a power module, an MCU algorithm processing module, a network communication module and a relay signal output control module, the anti-collision distance measurement and screen display control functions are integrated, and accurate measurement of the phase angle and distance of a target object is achieved through the AOA technology; the early warning display host is provided with a touch display screen, so that real-time early warning display, parameter setting, acousto-optic / voice alarm, vehicle brake control and alarm data storage and uploading can be realized, and the problems that a traditional anti-collision early warning device is greatly influenced by the environment, single in function, insufficient in positioning precision and the like are solved; the method is suitable for collision prevention scenes of mobile equipment such as forklifts, AGVs and engineering machinery, and the operation safety can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial safety protection, in particular to an anti-collision early warning device based on an AOA array antenna, which is suitable for the collision prevention scene of mobile equipment such as forklifts, AGVs, engineering machinery, etc. BACKGROUND

[0002] In the fields of industrial production, logistics transportation, etc., collision prevention of mobile equipment is a key link to ensure work safety. At present, the traditional anti-collision early warning device has many limitations:

[0003] (1) The anti-collision device based on infrared, laser, camera and other optical technologies is significantly affected by weather. In bad weather conditions such as rain, fog, dust, etc., light propagation is blocked, resulting in a significant decline in device performance, and even unable to work normally, which is difficult to meet the all-weather safety operation demand.

[0004] (2) The anti-collision device based on ultrasonic waves has a short detection distance (usually only suitable for short-range early warning within a few meters), and the positioning accuracy is limited, which cannot provide accurate position information of the target object, and it is difficult to meet the requirement of high-precision position display.

[0005] (3) The existing anti-collision early warning device based on UWB technology has a single function, most of which can only realize simple distance alarm, lacks real-time display of the accurate position of the target object, and does not have the functions of flexible setting of early warning parameters, effective storage and uploading of alarm data, etc., which cannot meet the safety management demand in complex scenes.

[0006] With the continuous improvement of safety operation standards in various industries, there is an urgent need for an anti-collision early warning device with strong environmental adaptability, high positioning accuracy and rich functions to solve the above technical problems. The present application provides an anti-collision early warning device based on an AOA array antenna. SUMMARY

[0007] In view of the deficiencies of the prior art, the present application provides an anti-collision early warning device based on an AOA array antenna, which solves the problems raised in the above background art.

[0008] To achieve the above purpose, the present application realizes the following technical scheme: an anti-collision early warning device based on an AOA array antenna, comprising a UWB early warning base station and an early warning display host;

[0009] The UWB early warning base station is built-in with multiple small omnidirectional antennas, which measures the phase angle and distance of the target object by using the AOA algorithm;

[0010] The pre-warning display host comprises a touch display screen, a data storage module, a UWB ranging chip module, a power module, an MCU algorithm processing module, a network communication module, and a relay signal output control module, and can realize real-time pre-warning display, parameter setting, sound and light / voice alarm, vehicle braking control, and alarm data storage and uploading functions.

[0011] As a further technical solution of the present application, the UWB pre-warning base station further comprises a base and a protective cover mounted on the base in a buckle manner, and an antenna calibration plate for fixing a plurality of small omnidirectional antennas is also mounted on the base.

[0012] As a further technical solution of the present application, the small omnidirectional antenna is 6 or 7, and is arranged in a ring array on the antenna calibration plate inside the UWB pre-warning base station, supports 360° omnidirectional detection, the positioning accuracy error is ≤30 cm, and the detection distance is 0-50 m.

[0013] As a further technical solution of the present application, the touch display screen is used for real-time display of anti-collision pre-warning information and the accurate position and direction of the alarm object, and the touch display screen also supports an intuitive graphical interface, so that the user can quickly understand and master the running state of the equipment.

[0014] As a further technical solution of the present application, the UWB ranging chip module adopts UWB omnidirectional pre-warning technology, can realize 360° omnidirectional high-precision direction measurement, real-time monitoring of the surrounding environment, long detection distance, and high positioning accuracy.

[0015] The MCU algorithm processing module is used for analyzing and processing the data obtained by the UWB pre-warning base station, can analyze the distance and direction data of the target object according to the preset multi-level anti-collision pre-warning distance, judge and trigger the corresponding level of pre-warning.

[0016] As a further technical solution of the present application, the data storage module adopts a Flash memory, and is used for storing alarm records, facilitating subsequent query and analysis.

[0017] The network communication module supports Ethernet, 4G / 5G or LoRa communication mode, and adopts an encryption protocol to transmit data.

[0018] As a further technical solution of the present application, the power module provides stable power support for the entire device, and the power module has overvoltage, overcurrent, and short circuit protection functions.

[0019] The relay signal output control module can output a switching value signal, and is used for controlling vehicle braking and driving an external alarm to realize sound and light / voice alarm.

[0020] As a further technical scheme of the present application, the early warning display host supports black and white list setting, the white list object does not trigger alarm when entering the early warning area, the black list object triggers the highest level alarm when entering the early warning area, and an explosion-proof shell is further arranged outside the early warning display host.

[0021] As a further technical scheme of the present application, the device can be externally connected with an alarm, an electronic brake controller, a monitoring camera and the like.

[0022] The present application provides an AOA array antenna-based anti-collision early warning device.

[0023] 1. An AOA array antenna-based anti-collision early warning device, which realizes accurate measurement of the distance and direction of a target object through UWB (AOA) technology and 6 / 7 antenna array design, and has a positioning accuracy error of less than 30 cm, which is much higher than that of a traditional ultrasonic or optical device, and uses UWB technology, which is not affected by rain, fog, dust and other bad weather, and solves the environmental limitations of optical devices.

[0024] 2. An AOA array antenna-based anti-collision early warning device, which integrates positioning, early warning, display, control and data management, supports multi-level early warning, black and white list, parameter customization and the like, overcomes the problem of single function of traditional UWB devices, and further has an automatic brake control function, which can directly control the vehicle to slow down or stop in an emergency, and combines sound and light / voice alarms, so as to improve the effect and reliability of the alarm, greatly reduce the risk of collision accidents, and combine local storage and remote uploading of alarm data, so as to facilitate management personnel to analyze the work safety status.

[0025] 3. An AOA array antenna-based anti-collision early warning device, which can realize anti-collision early warning function without networking, is not limited by network signals, is suitable for various complex working environments, and improves the adaptability and usability of the device. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 It is a structure principle diagram of an AOA array antenna-based anti-collision early warning device.

[0027] Fig. 2 It is a structure diagram of a UWB early warning base station in an AOA array antenna-based anti-collision early warning device.

[0028] Fig. 3 It is a system principle diagram of an AOA array antenna-based anti-collision early warning device.

[0029] In the figure: 1, UWB early warning base station; 11, base; 12, antenna calibration board; 13, small omnidirectional antenna; 14, protective cover; 2, early warning display host; 3, alarm. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] Please refer to Figs. 1-3 The present application provides a kind of based on AOA array antenna's anti-collision early warning device technical scheme: a kind of based on AOA array antenna's anti-collision early warning device, including UWB early warning base station 1 and early warning display host 2, UWB early warning base station 1 still has signal processing module, UWB early warning base station 1 is received to the UWB signal and carries out preliminary filtering and amplification processing, raw data after processing is transmitted to the MCU algorithm processing module of early warning display host 2.

[0032] UWB early warning base station 1 is built-in with multiple small omnidirectional antennas 13, the phase angle and distance of target object are measured using AOA algorithm, UWB early warning base station 1 further includes base 11 and the protective cover 14 installed in buckle mode on base 11, base 11 is also installed with the antenna calibration board 12 for fixing multiple small omnidirectional antennas 13, small omnidirectional antenna 13 is 6 or 7, and it is annular array on the antenna calibration board 12 inside UWB early warning base station 1, supports 360 ° all-around detection, forms antenna array using 6 or 7 small omnidirectional antennas 13, uses AOA (angle of arrival) algorithm, transmits and receives UWB (ultra-wideband) signal, the phase difference of signal arriving at different antennas is used to calculate the phase angle of target object, and the distance of base station and target object is calculated by measuring signal round trip time difference, realize 360 ° all-around high-precision positioning;

[0033] The early warning display host 2 comprises a touch display screen, a data storage module, a UWB ranging chip module, a power module, an MCU algorithm processing module, a network communication module, a relay signal output control module, can realize real-time early warning display, parameter setting, sound and light / voice alarm, vehicle braking control and alarm data storage and uploading functions, in addition, the device can also be externally connected with an alarm 3, an electronic brake controller, a monitoring camera and the like, supports external monitoring camera, realizes video linkage when alarming; can be connected with other industrial equipment through an RS485 interface, expands the system function, when detecting that a target object enters a preset early warning area, immediately issues sound and light and voice alarm prompt, the alarm sound is loud and has recognition degree, the light flashes and is eye-catching, can timely attract the attention of the operator in a noisy environment, the voice alarm prompt can more directly inform the operator of the dangerous situation.

[0034] The early warning display host 2 is further provided with an explosion-proof shell, the explosion-proof shell is made of high-strength alloy material, has dustproof, waterproof and impact resistance, and protects the internal circuit to stably operate in a complex industrial environment.

[0035] The touch display screen is used for displaying the anti-collision early warning information and the accurate position and direction of the alarm object in real time, and the touch display screen also supports an intuitive graphical interface, so that the user can quickly understand and master the running state of the equipment.

[0036] The UWB ranging chip module adopts UWB omnidirectional early warning technology, cooperates with the UWB early warning base station 1, can realize 360° omnidirectional high-precision direction measurement, realizes real-time monitoring of the surrounding environment, has long detection distance and high positioning accuracy, the detection distance is 0-50 meters, and the positioning accuracy error is less than or equal to 30 centimeters.

[0037] Further, the MCU algorithm processing module is used for analyzing and processing the data acquired by the UWB early warning base station 1, can analyze the distance and direction data of the target object according to the preset multi-level anti-collision early warning distance, judges and triggers the early warning of the corresponding level, specifically, by receiving the data from the UWB ranging chip module, combining the preset multi-level anti-collision early warning distance parameter, analyzing the position and motion trend of the target object in real time, judging whether to trigger the early warning of the corresponding level, the distance parameter can be set according to the actual situation, for example, the first level early warning distance is 10 meters, the second level early warning distance is 5 meters, and the third level early warning distance is 2 meters.

[0038] The data storage module adopts a flash memory, is used for storing alarm records, and is convenient for subsequent query and analysis; can store at least 100,000 alarm records, supports local query and remote uploading, including alarm time, target object ID, distance, direction, early warning level and the like, the stored data can be kept for more than one year, and supports query through the touch display screen or external equipment;

[0039] The network communication module supports Ethernet, 4G / 5G or LoRa communication mode, adopts an encryption protocol (for example, AES-256) to transmit data, and can upload alarm data to a system platform, so that a manager can remotely monitor and analyze data; the data transmission adopts a safe and reliable communication protocol, so that the integrity and confidentiality of the data are ensured.

[0040] The power module provides stable power support for the entire device, and has overvoltage, overcurrent and short circuit protection functions.

[0041] The relay signal output control module can output a switching signal for controlling a vehicle brake and driving an external alarm to realize sound and light / voice alarm; when a pre-warning is triggered, the switching signal can be output to control a vehicle brake system (such as an electromagnetic brake of a forklift), and an external alarm (such as a sound and light alarm or a voice player) is driven to issue an alarm prompt.

[0042] In addition, the pre-warning display host 2 supports black and white list setting; a white list object does not trigger an alarm when entering a pre-warning area, and a black list object triggers a highest level alarm when entering a pre-warning area; in specific use, a user can set a black and white list on the pre-warning display host 2; for a target object listed in the white list, even if the target object enters a pre-warning area, an alarm is not triggered, and the target object is suitable for some known and safe mobile devices or personnel; and for a target object listed in the black list, the target object is monitored, and a strong alarm prompt is issued as soon as the target object enters a pre-warning area.

[0043] The working principle of the application is as follows: in use, the UWB pre-warning base station 1 is installed on the top of a forklift, the pre-warning display host 2 is fixed in a forklift cab, and an external sound and light alarm 3 and a vehicle brake control interface are connected.

[0044] Then, the device is started, UWB signal calibration and parameter loading are automatically completed, a pre-warning distance is set according to requirements, and a user can modify parameters suitable for a storage channel, such as 8 meters, 4 meters and 2 meters, through a touch display screen.

[0045] Further, the UWB pre-warning base station 1 continuously emits a UWB signal; when detecting that there is another AGV (target object) around, a signal phase difference and a time difference are obtained through an antenna array, the distance (such as 6 meters) and the direction (such as 30° to the left of the forklift) of the AGV are calculated, and data are transmitted to an MCU algorithm processing module; then, the detected distance is compared with preset three-level pre-warning distances through the MCU module.

[0046] (1) if 6 meters are in a first-level pre-warning range (within 8 meters), a first-level pre-warning is triggered, a sound and light alarm is driven to emit a low-frequency alarm sound and light flashing through a relay signal output control module, and a touch display screen displays “there is an AGV 6 meters to the left, and a first-level pre-warning”;

[0047] (2) If the AGV continues to approach to 3 meters, at the second warning distance, the alarm sound frequency is increased, and the voice player issues a prompt voice;

[0048] (3) When the distance is reduced to 2 meters, at the third warning distance, the device outputs a brake signal to control the forklift to slow down and issue the highest level alarm;

[0049] Further, the time, distance, direction and other information of each alarm are stored in the data storage module and uploaded to the remote management platform through the 4G network, and the management personnel can check the real-time alarm data and historical records on the platform;

[0050] When encountering rainy and foggy weather, the device can still maintain stable detection due to the use of UWB technology, and if the network is interrupted, the alarm data is temporarily stored locally and automatically supplemented after the network is restored.

[0051] It should be noted that, in the present text, relational terms such as first and second are used merely to distinguish one entity or action from another, without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but also includes other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0052] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An anti-collision warning device based on AOA array antenna, characterized in that: It includes a UWB early warning base station (1) and an early warning display host (2); The UWB early warning base station (1) has multiple small omnidirectional antennas (13) built in, and uses an AOA algorithm to measure the phase angle and distance of the target object; The warning display host (2) comprises a touch screen, a data storage module, a UWB distance measurement chip module, a power supply module, an MCU algorithm processing module, a network communication module, and a relay signal output control module, and can realize real-time warning display, parameter setting, sound and light / voice alarm, vehicle braking control, and alarm data storage and uploading functions.

2. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The UWB early warning base station (1) further comprises a base (11) and a protective cover (14) mounted on the base (11) in a snap-fit ​​manner. An antenna calibration plate (12) for fixing a plurality of the small omnidirectional antennas (13) is also mounted on the base (11).

3. The anti-collision warning device based on AOA array antenna according to claim 2, characterized in that: The small omnidirectional antennas are 6 or 7 in a circular array on an antenna calibration board (12) inside the UWB early warning base station (1), supporting 360° all-round detection, with a positioning accuracy error of ≤30 cm and a detection distance of 0-50 meters.

4. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The touch screen is used to display anti-collision warning information and the precise location of the alarm object in real time, and the touch screen also supports an intuitive graphical interface, allowing users to quickly understand and grasp the operating status of the equipment.

5. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The UWB ranging chip module adopts UWB omnidirectional warning technology, which can achieve 360° all-round high-precision azimuth measurement and real-time monitoring of the surrounding environment; The MCU algorithm processing module is used to analyze and process data acquired by the UWB warning base station (1), and can analyze the distance and orientation data of the target object according to the preset multi-level anti-collision warning distance, and judge and trigger the corresponding level of warning.

6. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The data storage module uses Flash memory to store alarm records for easy subsequent query and analysis; The network communication module supports Ethernet, 4G / 5G or LoRa communication modes and uses encryption protocol to transmit data.

7. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The power module provides stable power support for the entire device, and the power module has overvoltage, overcurrent and short circuit protection functions; The relay signal output control module can output a switching signal for controlling vehicle braking and driving an external alarm to realize sound, light / voice alarm.

8. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The early warning display host (2) supports black and white list settings. When a white list object enters the early warning area, no alarm is triggered. When a black list object enters the early warning area, the highest level alarm is triggered. The early warning display host (2) is also provided with an explosion-proof shell on the outside.

9. The anti-collision warning device based on AOA array antenna according to claim 1, characterized in that: The device can also be connected to external devices such as an alarm (3), an electronic brake controller, and a monitoring camera.

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