UWB wireless communication-based equipment emergency control system and method

Abstract

The invention relates to the technical field of equipment remote control, and provides an equipment emergency control system and method based on UWB wireless communication, and the system comprises an actuator disposed on a to-be-controlled device, a remote controller, and one or more positioning base stations disposed on the actuator. The actuators, the remote controller and the positioning base station are respectively provided with UWB modules, and the remote controller is in communication connection with the actuators through the UWB modules; the UWB module comprises a UWB chip and a UWB antenna; uWB antennas are arranged at the front end and the rear end of the remote controller respectively, the included angle and the distance between the UWB antennas and the actuator are recognized through the positioning base station, the direction of the remote controller is determined, and a remote control signal instruction of the remote controller is transmitted to the pointed actuator to execute corresponding actions so as to control equipment to be controlled. According to the control system disclosed by the invention, the response efficiency, the operation convenience, the safety and the reliability of multi-equipment emergency control in an industrial field are remarkably improved.

Description

Technical Field

[0001] This disclosure relates to the technical field of remote control of equipment, specifically to an emergency control system and method for equipment based on UWB wireless communication. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the rapid development of industrial production, automated and large-scale equipment is widely used in production sites, increasing the complexity and risk of equipment operation. If equipment malfunctions, experiences mechanical jamming, or suffers electrical faults, failure to promptly execute emergency stop procedures can lead to equipment damage, production interruptions, and even personal injury. Therefore, establishing a rapid-response, easy-to-operate, and interference-resistant emergency stop system in complex industrial environments has become an urgent need to ensure production safety and improve management efficiency.

[0004] Currently, common emergency stop methods mainly include three categories: physical emergency stop buttons built into the equipment, pull-wire centralized control, and infrared remote control. However, these methods all have obvious limitations. Physical buttons are usually fixed on the equipment itself. When the operator is far from the equipment or the equipment is densely distributed, they need to quickly approach the equipment to perform the emergency stop operation, which wastes time and may delay the response. This is because this method relies on manual approach and manual triggering and lacks remote control capabilities. Pull-wire centralized control can realize centralized emergency stop of multiple devices, but it requires the laying of a large number of cables in the factory area, which is complicated to construction, difficult to maintain, and costly. At the same time, the operator must follow the preset route to perform the operation, which is not flexible and is highly dependent on the factory layout, making it unsuitable for production lines that are frequently adjusted. Infrared remote control can theoretically achieve long-distance control, but because infrared signals are unidirectional and non-communication type transmissions, they lack a device identification mechanism. In an environment with multiple devices densely distributed, they are easily received by multiple devices at the same time, causing misoperation. In addition, infrared signals are easily affected by strong light, heat sources, dust, and obstructions, resulting in signal attenuation or failure, and poor reliability. Summary of the Invention

[0005] To address the aforementioned issues, this disclosure proposes an emergency control system and method for equipment based on UWB wireless communication. This significantly improves the response efficiency, ease of operation, and safety and reliability of emergency control for multiple devices in industrial settings. By introducing a UWB ultra-wideband communication module between the remote controller and the device actuator, combined with high-precision three-dimensional positioning capabilities, it enables physical pointing recognition of the remote controller and rapid matching of the target actuator. This overcomes the technical limitations of traditional infrared remote control methods, such as one-way communication, susceptibility to interference, and lack of target recognition capabilities.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution: One or more embodiments provide a device emergency control system based on UWB wireless communication, including an actuator, a remote controller, and one or more positioning base stations installed on the device to be controlled; the actuator, remote controller, and positioning base stations are each equipped with a UWB module, and the remote controller and each actuator establish a communication connection through the UWB module; the UWB module includes a UWB chip and a UWB antenna; The remote control is equipped with UWB antennas at both the front and rear ends. The angle and distance between the UWB antenna and the actuator are identified by the positioning base station to determine the direction of the remote control. The remote control signal command is then transmitted to the actuator to perform the corresponding action in order to control the device to be controlled.

[0007] One or more embodiments provide an emergency control method for a device based on UWB wireless communication, including the following steps: Acquire the UWB signals transmitted by the remote controller received by each positioning base station; Based on the arrival time of the UWB signal recorded by the positioning base station, the arrival time difference is calculated and a hyperbola equation is established to solve for the three-dimensional spatial coordinates of the UWB antenna signal source on the remote control. The remote control has a UWB antenna at both the front and rear ends. The coordinates of the two UWB antennas in three-dimensional space are obtained respectively: Based on the coordinates of the front and rear UWB antennas of the remote control, the pointing vector of the remote control is obtained.

[0008] Compared with the prior art, the beneficial effects of this disclosure are as follows: This disclosed UWB wireless communication-based emergency control system pairs and controls actuators via the physical pointing of a remote control. Users simply point the remote control at the target device to operate it, greatly improving the intuitiveness of the interaction and operational efficiency. A single remote control can dynamically select the control target based on its current pointing direction, enabling flexible control of multiple actuators. This avoids the limitation of traditional infrared remote controls, which are limited to one-to-one control, and enhances the system's scalability and adaptability. Compared to traditional emergency stop buttons and pull-cord methods, the remote control supports long-distance, rapid response without requiring physical contact with the equipment, effectively reducing operator risk and saving inspection time. It also avoids the construction and maintenance costs of wiring, making it suitable for modern factories with distributed multi-device layouts.

[0009] The advantages of this disclosure, as well as its additional advantages, will be described in detail in the following specific embodiments. Attached Figure Description

[0010] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute a limitation thereof.

[0011] Figure 1 This is a flowchart of the control method of Embodiment 2 of this disclosure; Figure 2 This is a first structural schematic diagram of the remote controller according to Embodiment 1 of this disclosure; Figure 3 This is a schematic diagram of the second structure of the remote controller according to Embodiment 1 of this disclosure; Figure 4 This is a schematic diagram of the actuator of Embodiment 1 of this disclosure. Detailed Implementation

[0012] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0013] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0014] It should be noted that the terminology used herein is for descriptive purposes only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. It should be noted that, without conflict, the various embodiments and features within those embodiments can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0015] Example 1 In one or more of the technical solutions disclosed in the embodiments, such as Figures 1 to 4 As shown, the device emergency control system based on UWB wireless communication includes an actuator installed on the device to be controlled, a remote controller, and one or more positioning base stations installed on the actuator. The actuators, remote controllers, and positioning base stations are each equipped with UWB modules. The remote controllers and each actuator establish communication connections through the UWB modules. The UWB modules include UWB chips and UWB antennas. The remote control is equipped with UWB antennas at both the front and rear ends. The angle and distance between the UWB antenna and the actuator are identified by the positioning base station to determine the direction of the remote control. The remote control signal command is then transmitted to the actuator to perform the corresponding action in order to control the device to be controlled.

[0016] Among them, the remote control signal command can be an emergency stop command; This implementation uses ultra-wideband (UWB) communication technology to construct an emergency control system for the equipment. Equipment control is achieved through wireless communication between the remote controller, actuator, and positioning base station. The remote controller is equipped with two UWB antennas, located at its front and rear ends respectively, to determine the spatial attitude of the remote controller. After receiving the UWB signal from the remote controller, the positioning base station calculates the angle and relative distance between the front and rear antennas and the actuator to obtain the remote controller's pointing information, accurately identifying the target actuator currently being pointed at by the remote controller. The system utilizes the high-precision positioning and strong anti-interference characteristics of UWB to establish a point-to-point encrypted communication connection between the remote controller and the target actuator, enabling real-time and secure transmission of control commands. The actuator receives and executes emergency stop commands from the remote controller, thereby achieving remote emergency control of the equipment.

[0017] First, the remote control pairs with and controls the actuator through its physical pointing. Users simply need to point the remote control at the target device to operate it, greatly improving the intuitiveness of the interaction and operational efficiency. Second, a single remote control can dynamically select the control target based on its current pointing direction, enabling flexible control of multiple actuators. This avoids the limitation of traditional infrared remote controls, which can only control one actuator at a time, thus improving the system's scalability and adaptability. Compared to traditional emergency stop buttons and pull-cord methods, the remote control supports long-distance, rapid response without requiring physical contact with the equipment, effectively reducing operator risk and saving inspection time. It also avoids the construction and maintenance costs of wiring, making it suitable for modern factories with distributed layouts of multiple devices.

[0018] Optionally, the positioning base station is fixedly installed at the equipment site and integrates a UWB module to receive remote control signals and identify timestamps; Preferably, at least four positioning base stations are set up, with at least three of them located on the same plane. Setting up at least four base stations and increasing to five or six base stations can improve positioning accuracy and resistance to interference from metallic environments. If the site environment is complex, the number of base stations can be further increased.

[0019] The remote control is a handheld device that can be carried by inspection personnel. When inspection personnel discover an equipment malfunction, they can use the remote control to point at the corresponding indicator light on the equipment and remotely operate it to perform an emergency stop. The three-dimensional coordinates of the indicator lights on the actuators were determined and entered into the actuators during the initial equipment installation.

[0020] In some embodiments, the remote controller includes a first controller, control buttons, and indicator lights. The control buttons are disposed on the panel of the remote controller and electrically connected to the first controller. The control buttons include directional keys, an emergency stop button, and a cancel button. Optionally, the directional keys include up, down, left, right, forward, and backward buttons, used to adjust the selection of the target actuator in different directions. The emergency stop button is used to send an emergency stop command to the device in case of abnormality or emergency, to immediately interrupt the operation of the device; the cancel button is used to cancel the control command in case of accidental triggering.

[0021] Specifically, when multiple actuators are in the direction the remote control is pointing, the target actuator can be quickly switched using the front or back button; Optionally, the UWB chip is specifically a wireless communication module, which can be a module designed based on the Decawave DW3000 series chip.

[0022] The structure of a specific remote control, such as Figure 2 and Figure 3 As shown, a battery is installed on the remote control and is located inside the remote control to provide power for its operation. A first controller is electrically connected to the battery and is used to acquire and process signals from the remote control's button inputs. The control buttons are located on the remote control panel and are electrically connected to the first controller via wires or a circuit board to send corresponding control commands to the first controller. The first controller sends control commands to the actuators via a UWB module.

[0023] Optionally, the actuator can be an emergency stop actuator, used to execute emergency stop commands for the device; it can also be applied to other application scenarios of the device, such as starting the device. It is feasible to install the actuator on the controlled equipment, including a second controller, indicator lights, a UWB module, and an emergency stop actuator.

[0024] In one specific implementation, the control area of ​​the device includes multiple devices to be controlled, each equipped with an actuator. One actuator on one device serves as the master actuator, which is connected to at least four positioning base stations to perform the remote control pointing and positioning task. The remaining actuators are equipped with a positioning base station to receive the positioning results and control commands from the master actuator, and can also assist the master actuator in performing the remote control pointing and positioning task.

[0025] like Figure 4 The setup example shown has an actuator connected to multiple positioning base stations, including a first positioning base station, a second positioning base station, a third positioning base station, and a fourth positioning base station. Optionally, when the control area has more than four actuators, each actuator can be equipped with only one positioning base station, and any one of the actuators can be designated as the master actuator. The other actuators cooperate with the master actuator to complete the positioning task performed by the remote controller.

[0026] A further technical solution involves setting UWB antennas at both the front and rear ends of the remote controller. A method is used to determine the actuator being pointed at by the remote controller by identifying the angle and distance between the UWB antennas and the actuator via a positioning base station. This method can be configured to be executed in the second controller of the main actuator, and includes the following steps: Step 1: Obtain the UWB signal transmitted by the remote controller from the positioning base station; When the remote control transmits a UWB signal, multiple positioning base stations within the site will receive the signal. At least four positioning base stations must be set up. Step 2: Based on the arrival time of the UWB signal recorded by the positioning base station, calculate the arrival time difference and establish a hyperbola equation to solve for the three-dimensional spatial coordinates of the UWB antenna signal source on the remote control. Step 3: There is a UWB antenna at the front and a UWB antenna at the rear of the remote control. Obtain the coordinates of the two UWB antennas in three-dimensional space: Let the coordinates of the front antenna of the remote control be A(x1, y1, z1); and the coordinates of the rear antenna be B(x2, y2, z2). Step 4: Based on the coordinates of the front and rear UWB antennas of the remote control, obtain the pointing vector of the remote control. : ; Where, the pointing vector This represents the physical pointing direction of the remote control. Through the above steps, the remote control's attitude and orientation in space can be calculated in real time, achieving a strong pointing function.

[0027] Compared to traditional methods of selecting target devices via button switching or infrared recognition, this method significantly improves interaction efficiency and accuracy. First, users only need to point the remote control at the target actuator; the system can accurately identify the target device in real time without manual selection, making operation more intuitive and convenient. Second, by calculating the time difference of UWB signals to establish a hyperbolic positioning model, sub-meter or even centimeter-level 3D positioning accuracy can be achieved, greatly improving the reliability of target identification. Furthermore, this method is insensitive to interference factors such as ambient light, obstructions, and heat sources, possessing strong adaptability to different environments. It is particularly suitable for industrial environments with densely distributed or constantly changing actuators, reducing the risk of misidentification and misoperation, and enhancing the system's safety and flexibility.

[0028] Furthermore, in step 3 above, there is a UWB antenna at both the front and rear ends of the remote control. The coordinates of the two UWB antennas in three-dimensional space are obtained respectively. The specific process is as follows: Assume there are N positioning base stations, and their three-dimensional spatial coordinates are known: ; Where N represents the number of positioning base stations, which is not less than 4; Assume the spatial coordinates of the UWB antenna at the front (or rear) end of the remote control are the quantities to be determined: ; Since the propagation speed of UWB signals is the speed of light c, the time difference between the reception of signals by the two positioning base stations i and j is: ; The difference in distance between positioning base stations i and j and the UWB antenna on the remote controller is: ; ; To solve for the three unknowns x, y, and z, at least three independent hyperboloid equations are needed, meaning at least four positioning base stations are required to construct the hyperbola equations as follows: ; Solving the above equations will give us the coordinates of the UWB antenna on the remote control. Furthermore, the actuator to be pointed to is determined based on the pointing vector of the remote control. Specifically: Step 51: Use the indicator light on the actuator as a target; The position of the indicator light on each actuator is a known coordinate point, which can be registered by the system or calibrated by the base station; Step 52: Calculate the spatial angle between the pointing vector of the remote control and the coordinate vector of each actuator indicator light; Step 53: When the indicator light of a certain actuator is within the set tolerance range of the direction pointed by the remote control, the actuator is considered to be the actuator pointed by the remote control. The tolerance range can be set to 5% to 7%; Furthermore, if there are multiple actuators within the tolerance range, the actuator closest to the UWB antenna at the front end of the remote control is determined to be the actuator pointed to by the remote control; calculating the distance between two points based on their coordinates is a common technique used in this invention, and will not be described in detail in this embodiment.

[0029] Furthermore, the second controller of the main actuator sends a communication connection request to the actuator pointed to by the remote controller; when the actuator receives the communication connection request, it initiates a wireless connection and pairs with the UWB module of the remote controller; the remote controller establishes a point-to-point communication link with the actuator it is pointing to through the UWB module.

[0030] After the connection is established, the target actuator control indicator light will provide a reminder. When the remote control outputs an emergency stop command, the remote control will send an emergency stop command to the target actuator with which the communication connection has been established. Among them, each actuator establishes a wireless communication connection with the others through the UWB module configured on the actuator; During this process, once the remote control establishes a connection with the target actuator via the UWB module, the indicator light can flash. At this time, commands can be transmitted. When the operator presses the emergency stop button again, the emergency stop command can be transmitted to the target actuator. After receiving the command, the selected actuator controls the internal emergency stop mechanism to achieve an emergency stop of the equipment.

[0031] A further technical solution involves using the arrow keys to confirm the selection of the device to be controlled when the actuator establishing the communication connection is not the target actuator. This allows for quick selection of the device to be controlled, including the following steps: Step 61: The main actuator receives the instructions from the directional keys on the remote control, and jumps to the next actuator in the corresponding direction of adjustment based on the direction of adjustment and the number of times the directional keys are pressed. Specifically, the directional keys include the up button, down button, left button, right button, forward button, and back button. Pressing the corresponding button adjusts the set angle. For example, pressing the up button once will jump to the next actuator in the height direction (corresponding to the Z-axis of the coordinate axis); pressing the up button twice will jump twice in the height direction (corresponding to the Z-axis of the coordinate axis) to the next actuator. Step 62: The master actuator uses the adjusted actuator as the target actuator and sends a communication connection request message to enable the remote controller to establish a communication connection with the target actuator. The above steps are for the operator to confirm the pairing result. If the paired device is incorrect, it can be adjusted using the directional buttons. The main actuator combines the three-dimensional coordinates and the remote control's direction to determine the meaning of the corresponding button pressed by the operator. For example, if the operator presses "left," the target actuator will be changed to the device closest to the left of the current device, according to the perspective direction of the remote control. This continues until the device that the operator wants to stop urgently is matched.

[0032] Furthermore, by setting combination button commands, multiple actuators within the area pointed to by the remote control or all actuators within the communication range can be controlled to execute emergency stop commands. Combination button commands can be configured to be combinations of multiple presses of a single button, or combinations of two or more buttons. For example, if the operator presses "left, right, left, right" in sequence, all actuators within the communication range will execute emergency stop commands, controlling all equipment to stop urgently.

[0033] Furthermore, if the operator presses the cancel button, the actuator that has established a communication connection with the remote control will be disconnected, and the UWB signal will be resent to perform steps 1 to 4 to locate the remote control.

[0034] In this implementation, when the target deviation is large and the actuator cannot be quickly located using button operation, the operator can press the cancel button to stop pairing, and the indicator light will turn off. Then, the actuator positioning can be re-executed.

[0035] Furthermore, the target actuator receives an emergency stop command, performs an emergency stop action, and returns information indicating success or failure. The remote controller receives the actuator's response and displays the result of this execution via indicator lights.

[0036] This implementation method significantly improves the accuracy, flexibility, and interactivity of remote control by combining UWB high-precision spatial positioning, adjustable pointing correction, secondary confirmation, and feedback mechanisms. It is particularly suitable for industrial sites with densely distributed multiple devices, providing a safer, more reliable, and intelligent solution for remote emergency stop control.

[0037] This embodiment uses UWB antennas at both the front and rear ends of the remote control, and calculates the spatial coordinates based on the time difference of arrival of the signal using a positioning base station. This constructs the remote control's pointing vector, and by determining the angle between this vector and the coordinates of the device's indicator lights, the target device intended for control by the operator is identified. This method allows any remote control to freely select and control any actuator on-site, significantly improving the system's flexibility and adaptability. It is particularly suitable for industrial sites where equipment is widely distributed, has variable layouts, or requires frequent dynamic adjustments.

[0038] During target recognition and communication connection, an auxiliary adjustment mechanism is included. Operators can use the directional keys on the remote control to make minor corrections to the initial recognition results, thereby quickly and accurately selecting the target actuator and further improving the system's fault tolerance and ease of operation. Simultaneously, the UWB communication link between the remote control and the actuator supports point-to-point bidirectional data interaction. After an emergency stop command is issued, the actuator returns the command execution status to the remote control, ensuring that the operator can obtain the control results immediately, achieving a closed-loop control system.

[0039] Example 2 Based on Embodiment 1, this embodiment provides a device emergency control method based on UWB wireless communication, configured to be executed in the second controller of the main actuator, including the following steps: Acquire the UWB signals transmitted by the remote controller received by each positioning base station; Based on the arrival time of the UWB signal recorded by the positioning base station, the arrival time difference is calculated and a hyperbola equation is established to solve for the three-dimensional spatial coordinates of the UWB antenna signal source on the remote control. The remote control has a UWB antenna at both the front and rear ends. The coordinates of the two UWB antennas in three-dimensional space are obtained respectively: Based on the coordinates of the front and rear UWB antennas of the remote control, the pointing vector of the remote control is obtained.

[0040] In this embodiment, a set of UWB antennas is installed at both the front and rear ends of the remote controller, respectively emitting ultra-wideband signals. These signals are received by UWB positioning base stations located at multiple positions within the control area. Each base station records the specific arrival time of the signal and feeds back the received signal timestamp to the second controller in the main actuator. Based on the time difference data received from multiple base stations, the controller uses a hyperbolic positioning algorithm to calculate the precise position of the UWB signal source in three-dimensional space. This allows the remote controller to establish its pointing vector, i.e., the direction from the rear antenna to the front antenna. Combined with the spatial coordinates of the actuator, the system identifies the device currently being pointed at by the remote controller and sends control commands only to that device. This method achieves "intention-based" remote control, ensuring that commands only act on the target actuator, thereby enabling precise and rapid emergency device control operations.

[0041] The method described in this embodiment significantly improves the response speed and ease of operation for emergency stops in industrial settings. Compared to traditional physical buttons and infrared remote control, UWB communication offers stronger anti-interference capabilities and centimeter-level positioning accuracy, enabling stable operation in environments with dense equipment, strong lighting, and obstructions. Through remote control posture recognition and spatial positioning, this method achieves point-to-point, directional control, greatly reducing the risk of misoperation. Furthermore, the control logic is highly aligned with user intent, eliminating the need for proximity to equipment or complex wiring, thus enhancing operational flexibility and system deployment economy.

[0042] Furthermore, the actuator to be pointed to is determined based on the pointing vector of the remote control. Specifically: Use the indicator lights on the actuator as targets; Calculate the spatial angle between the pointing vector of the remote control and the coordinate vectors of each actuator indicator light; If the indicator light of an actuator is within the tolerance range of the direction pointed by the remote control, then the actuator is considered to be the actuator pointed to by the remote control.

[0043] Furthermore, when the actuator establishing the communication connection is not the target actuator to be controlled, a second confirmation is made using the arrow keys to quickly select the device to be controlled, including the following steps: Obtain the commands from the directional keys on the remote control, and jump to the next actuator in the corresponding direction of adjustment based on the direction of adjustment and the number of times the keys are pressed; The adjusted actuator is used as the target actuator, and a communication connection request is sent to enable the remote controller to establish a communication connection with the target actuator. This embodiment's remote control method supports remote, contactless operation, avoiding the dependence on the operating position of traditional physical emergency stop buttons and saving on the construction and maintenance costs associated with extensive wiring in pull-wire emergency stop methods. Its strong anti-interference capability ensures the system is unaffected by light, heat sources, or obstructions, guaranteeing stable operation even in complex environments.

[0044] The emergency control system for equipment provided in this embodiment demonstrates significant technological advancements in response speed, control precision, ease of interaction, system reliability, and application flexibility. It can be widely applied in manufacturing, logistics warehousing, automated production lines, and other scenarios, possessing excellent practical value and promising prospects for promotion.

[0045] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

[0046] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A device emergency control system based on UWB wireless communication, characterized in that: The device to be controlled comprises an executor arranged on the device to be controlled, a remote controller, and one or more positioning base stations arranged on the executor; The executor, the remote controller, and the positioning base stations are respectively provided with an UWB module, and the remote controller and each executor are connected through the UWB modules; The UWB module comprises an UWB chip and an UWB antenna; The front end and the rear end of the remote controller are respectively provided with an UWB antenna, the included angle and the distance between the UWB antenna and the executor are identified through the positioning base station, the pointing direction of the remote controller is determined, the remote control signal instruction of the remote controller is transmitted to the executor pointed to, and the corresponding action is executed to control the device to be controlled.

2. The UWB wireless communication based device emergency control system of claim 1, wherein: The positioning base station is fixedly installed on the device site, is integrated with an UWB antenna, is used for receiving the remote controller signal and identifying the time stamp, and at least four positioning base stations are arranged.

3. The UWB wireless communication based device emergency control system of claim 1, wherein: The remote controller comprises a controller, control keys, and indicator lights, the control keys are arranged on the panel of the remote controller and are electrically connected with the controller, and the control keys comprise direction keys, an emergency stop key, and a cancel key; The direction keys comprise up keys, down keys, left keys, right keys, front keys, and rear keys, and are used for adjusting and selecting the target executor in different directions.

4. The UWB wireless communication based device emergency control system of claim 1, wherein: The control area of the device has multiple devices to be controlled, and the executor is arranged on each device, wherein the executor on one device serves as a master executor, the master executor is connected with the positioning base stations arranged to be set to at least four, so as to complete the pointing positioning task of the remote controller.

5. The UWB wireless communication based device emergency control system of claim 1, wherein: The front end and the rear end of the remote controller are respectively provided with an UWB antenna, the included angle and the distance between the UWB antenna and the executor are identified through the positioning base station, the pointing direction of the remote controller is determined, the remote control signal instruction of the remote controller is transmitted to the executor pointed to, and the corresponding action is executed to control the device to be controlled. The method for determining the executor pointed to by the remote controller through the front end and the rear end of the remote controller respectively provided with an UWB antenna and the positioning base station comprises the following steps: UWB signals emitted by the remote controller and received by each positioning base station are acquired; According to the arrival time of the UWB signals recorded by the positioning base station, the arrival time difference is calculated, a hyperbolic equation is established, and the three-dimensional space coordinates of the signal source of the UWB antenna on the remote controller are solved; The front end and the rear end of the remote controller are respectively provided with an UWB antenna, the included angle and the distance between the UWB antenna and the executor are identified through the positioning base station, the pointing direction of the remote controller is determined, the remote control signal instruction of the remote controller is transmitted to the executor pointed to, and the corresponding action is executed to control the device to be controlled.

6. The UWB wireless communication based device emergency control system of claim 5, wherein: The front end and the rear end of the remote controller are respectively provided with an UWB antenna, the included angle and the distance between the UWB antenna and the executor are identified through the positioning base station, the pointing direction of the remote controller is determined, the remote control signal instruction of the remote controller is transmitted to the executor pointed to, and the corresponding action is executed to control the device to be controlled. The method for determining the executor pointed to by the remote controller through the front end and the rear end of the remote controller respectively provided with an UWB antenna and the positioning base station comprises the following steps: UWB signals emitted by the remote controller and received by each positioning base station are acquired; According to the arrival time of the UWB signals recorded by the positioning base station, the arrival time difference is calculated, a hyperbolic equation is established, and the three-dimensional space coordinates of the signal source of the UWB antenna on the remote controller are solved; 7. The UWB wireless communication based device emergency control system of claim 5, wherein: The front end and the rear end of the remote controller are respectively provided with an UWB antenna, the included angle and the distance between the UWB antenna and the executor are identified through the positioning base station, the pointing direction of the remote controller is determined, the remote control signal instruction of the remote controller is transmitted to the executor pointed to, and the corresponding action is executed to control the device to be controlled. ​ ​ 8. A method for emergency control of a device based on UWB wireless communication, characterized by, ​ ​ ​ ​ According to the obtained coordinates of the front and rear UWB antennas of the remote controller, a pointing vector of the remote controller is obtained.

9. The device emergency control method based on UWB wireless communication according to claim 8, wherein: An executor pointed at is determined according to the pointing vector of the remote controller, and specifically: An indicator light on the executor is taken as a target; A spatial included angle between the pointing vector of the remote controller and a coordinate vector of the indicator light of each executor is calculated; When the indicator light of a certain executor is located within a tolerance range of the pointing direction of the remote controller, the executor is considered as the executor pointed at by the remote controller.

10. The device emergency control method based on UWB wireless communication according to claim 8, wherein: When the executor establishing the communication connection is not the target executor to be controlled, a secondary confirmation is performed through the direction keys to quickly select the device needed to be controlled, including the following steps: An instruction of the direction keys on the remote controller is obtained, and according to the adjustment direction and the number of times of pressing the direction keys, a jump is performed to the next executor in the corresponding adjustment direction; The adjusted executor is taken as the target executor, and a communication connection request information is sent, so that the remote controller and the target executor are in communication connection.

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