KR20130033582A - System for prevent construction equipment collision - Google Patents

System for prevent construction equipment collision Download PDF

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Publication number
KR20130033582A
KR20130033582A KR1020110097317A KR20110097317A KR20130033582A KR 20130033582 A KR20130033582 A KR 20130033582A KR 1020110097317 A KR1020110097317 A KR 1020110097317A KR 20110097317 A KR20110097317 A KR 20110097317A KR 20130033582 A KR20130033582 A KR 20130033582A
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KR
South Korea
Prior art keywords
zigbee node
warning
zigbee
control unit
node
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KR1020110097317A
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Korean (ko)
Inventor
강성옥
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화남전자 주식회사
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Priority to KR1020110097317A priority Critical patent/KR20130033582A/en
Publication of KR20130033582A publication Critical patent/KR20130033582A/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a heavy equipment collision avoidance system and a method thereof, and more particularly, to a collision avoidance system and a method installed in a heavy equipment vehicle, using a ZigBee wireless communication technology to recognize the position between heavy equipment vehicles and mutually wireless The present invention relates to a heavy construction equipment collision prevention system and method for communicating, and preventing a collision between heavy equipment vehicles by controlling a warning and a vehicle driving to a driver according to the degree of mutual access.

Description

Heavy Construction Collision Avoidance System and Method {SYSTEM FOR PREVENT CONSTRUCTION EQUIPMENT COLLISION}

The present invention relates to a heavy equipment collision avoidance system and a method thereof, and more particularly, to a collision avoidance system and a method installed in a heavy equipment vehicle, using a ZigBee wireless communication technology to recognize the position between heavy equipment vehicles and mutually wireless The present invention relates to a heavy construction equipment collision prevention system and method for communicating, and preventing a collision between heavy equipment vehicles by controlling a warning and a vehicle driving to a driver according to the degree of mutual access.

In general, various types of heavy equipment are widely used in large and small construction sites, or construction / civil engineering sites such as civil works, quarries, open-pit mining. The heavy equipment includes equipment such as a dump truck, an excavator, a wheel loader, and the like, and in general, the vehicle body is made large and heavy according to its use characteristics, and generates a lot of noise and dust during driving. Therefore, the driver of heavy equipment should always pay attention to safe driving, there was always a risk of causing a big accident if driving wrong.

The heavy construction equipment mainly serves to lift or lift heavy construction materials, and could cause great damage in the event of an accident.

However, in general, the heavy construction vehicles are driven by only one driver, and in this case, there is a risk of accident because it is impossible for the driver of the vehicle to recognize the situation around the vehicle.

On the other hand, in general, construction sites where civil construction equipment is used, or civil construction sites, many construction heavy equipments are used at the same time, and the driver cannot communicate easily due to noise and dust generated from the construction heavy equipment. You must drive. Therefore, the driver of the heavy construction equipment is very difficult to recognize the situation around the vehicle, there has always been a concern that a collision between the heavy construction equipment occurs, and therefore, a device for preventing the occurrence of accidents of heavy equipment vehicles has been constantly required.

In order to solve the above problems, a driver who recognizes another construction heavy equipment vehicle approaching conventionally is notified of the approach by using a horn provided in the construction equipment, that is, a predetermined appointment or stops driving at the appointed time. How to identify each other with eyes on was used.

However, if the above method is difficult to use, the driver who recognizes the approach should notify the driver of the other vehicle directly. In this case, there is a concern that a very dangerous accident may occur at the construction site. Therefore, a means for recognizing the mutual position between the heavy construction vehicles at the construction site was required.

The present invention was devised to solve the above problems, and in a collision prevention system and method of a construction heavy equipment vehicle in a construction site, heavy equipment using a Zigbee technology that can mutually recognize the position with wireless communication It is designed to recognize vehicle-to-vehicle approach, and when other heavy-duty vehicles approach, it warns the driver according to the level of approach or stops the drive, thereby preventing the collision between heavy-duty vehicles. It is an object of the present invention to provide a prevention system and method thereof.

The present invention for achieving the above object,

A Zigbee node performing near field communication and recognizing a location through wireless communication with a plurality of Zigbee nodes; A controller connected to the Zigbee node to transmit and receive signals to and from the Zigbee node; And warning means connected to the controller and displaying a warning message to a driver when receiving a warning signal from the controller, wherein the controller receives and recognizes location information of another Zigbee node from the Zigbee node, When the distance between other Zigbee nodes is included in the warning distance, a warning signal is generated and transmitted to the Zigbee node, and when the warning signal is received, the warning signal is transmitted to the warning means, and the Zigbee node receives the warning signal from the controller. If so, it is characterized by transmitting to another Zigbee node.

In addition, a ZigBee node for performing short-range wireless communication and recognizing a location through wireless communication with a plurality of ZigBee nodes; A controller connected to the Zigbee node to transmit and receive signals to and from the Zigbee node; And warning means connected to the controller and displaying a warning message to a driver when receiving a warning signal from the controller, wherein the controller receives and recognizes location information of another Zigbee node from the Zigbee node, When the distance between the other Zigbee node is included in the warning distance, generates a warning signal and transmits the warning signal to the Zigbee node and the warning means, and upon receiving the warning signal, the warning signal is transmitted to the warning means, the Zigbee node is alerted from the control unit When receiving a signal, it is characterized in that for transmitting to other Zigbee node.

The control unit may generate a stop signal and transmit the stop signal to the Zigbee node when the distance between the current location and the Zigbee node of the other heavy construction equipment is included in the dangerous distance, and stop the driving of the vehicle when the stop signal is received. When the node receives the stop signal from the control unit, it transmits it to another Zigbee node.

On the other hand, in the vehicle collision prevention method of the heavy construction equipment collision prevention system comprising a Zigbee node for wireless communication, a control unit connected to the Zigbee node and the warning means connected to the control unit, the Zigbee node of the other Zigbee nodes through wireless communication Recognizing a location and transmitting the location to the controller; The control unit determines whether the distance between the current position and the other Zigbee node is included in the warning distance; Generating a warning signal and transmitting the generated warning signal to the Zigbee node when it is determined that the distance between the current location and the other Zigbee node is included in the warning distance; When the Zigbee node receives the warning signal from the controller, transmitting the Zigbee node to another Zigbee node; When the Zigbee node receives a warning signal from another Zigbee node, the Zigbee node transmits the warning signal to the control unit, and when the control unit receives the warning signal from the Zigbee node, transmitting the warning signal to the warning means; The warning means may include outputting a warning message upon receiving the warning signal from the controller.

In addition, a vehicle collision prevention method through a heavy construction equipment collision prevention system comprising a Zigbee node for wireless communication, a control unit connected to the Zigbee node and a warning means connected to the control unit, the Zigbee node of the other Zigbee nodes through wireless communication Recognizing a location and transmitting the location to the controller; The control unit determines whether the distance between the current position and the other Zigbee node is included in the warning distance; Generating, by the controller, a warning signal and transmitting the warning signal to the warning means and the Zigbee node when it is determined that the distance between the current location and the other Zigbee node is included in the warning distance; When the Zigbee node receives the warning signal from the controller, transmitting the Zigbee node to another Zigbee node; When the Zigbee node receives a warning signal from another Zigbee node, the Zigbee node transmits the warning signal to the control unit, and when the control unit receives the warning signal from the Zigbee node, transmitting the warning signal to the warning means; The warning means may include outputting a warning message upon receiving the warning signal from the controller.

The control unit may include determining whether the distance between the current location and the other Zigbee node is included in the dangerous distance; Generating a stop signal and transmitting the stop signal to the Zigbee node when it is determined that the distance between the current location and the other Zigbee node is included in the dangerous distance; When the Zigbee node receives the stop signal from the control unit, the Zigbee node further comprises transmitting the signal to another Zigbee node.

The present invention having the configuration as described above

In the operation of heavy construction vehicles that are driven in the construction site where noise and dust are generated a lot, there is an effect to recognize the location of each other using a wireless communication technology that can recognize the location of each other.

In addition, by implementing a network-type communication network structure around the central control node, it is possible to network communication between a number of construction heavy equipment, there is an advantage that additional network members can be added freely to the pre-configured communication network.

In addition, by sending a warning signal to the other heavy construction equipment approaching the current position to output a warning message to the other driver, when approaching more than a predetermined approach distance to the other heavy construction equipment of the driving device by sending a start stop signal By stopping the drive, there is an effect that can fundamentally block the bumps between heavy construction vehicles.

1 is a block diagram showing a heavy construction collision avoidance system according to a preferred embodiment of the present invention.
FIG. 2 illustrates a network configured through ZigBee wireless communication of a construction equipment collision prevention system as shown in FIG. 1.
3 is a flowchart illustrating a method of preventing construction equipment collision in accordance with a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

1 is a block diagram showing the structure of a heavy equipment collision prevention system according to a preferred embodiment of the present invention, Figure 2 shows a network configured through the wireless communication of the heavy equipment collision prevention system made as shown in FIG.

As shown in Figure 1, the heavy construction equipment collision prevention system of the present invention is installed in the conventional construction heavy equipment wireless communication module that enables wireless communication using the Zigbee communication technology. The wireless communication module generates a signal and interworks with a control unit for controlling the driving of the wireless communication module, thereby transmitting and receiving information to and from the wireless communication module of the heavy construction equipment collision prevention system installed in another construction heavy equipment.

The wireless communication module may preferably be a wireless communication module using Zig 10'ee communication technology.

ZigBee communication technology is one of the IEEE 802.15.4 standards supporting near field communication, and is a well-known technology developed for near field communication and ubiquitous computing in a wireless networking field such as a home or office. Therefore, ZigBee is mainly used for efficient short-range wireless communication by communicating a small amount of information instead of minimizing power consumption.

The Zigbee communication technology is suitable for communication between construction heavy equipment vehicles that are driven in a limited space of a construction site, the present invention implements an impulse prevention device using the Zigbee communication technology.

The Zigbee communication technology has the following characteristics, which is suitable for communication between construction heavy equipment used in the construction site.

First, the Zigbee communication is a technology developed for short-range wireless communication of about 10 ~ 20m, it is used to communicate a small amount of information. Therefore, it is a technique suitable for use within the limited construction site where the heavy construction equipment of the present invention is used. Since the heavy construction equipment collision prevention system of the present invention needs only the location recognition of the other vehicle approaching its own location, it can be sufficiently used even in the short range communication range of the Zigbee communication. Since the construction heavy equipment vehicles of the present invention are used in a limited space, that is, a construction site or a civil engineering site, and operate simultaneously during a working time, that is, during the day, the Zigbee communication technology as described above may be appropriately used.

In addition, the ZigBee communication is a low cost economic means that enables low-speed wireless data communication in a personal wireless communication environment and at the same time does not incur a large cost. Heavy construction anti-collision system of the present invention is used in heavy construction equipment, the construction heavy equipment generally moves at low speed. Therefore, the Zigbee communication as described above can be sufficiently communicated, and does not incur a large cost, thereby providing an advantage of not significantly increasing the manufacturing cost in manufacturing an anti-collision device for a heavy construction vehicle.

In addition, the Zigbee communication technology is characterized by low power, small size, low cost, and transmits data at a rate of 250k10'ps based on IEEE 802.15.4, and can connect more than 65000 nodes 10 at the same time. Thus, it provides the advantage of connecting 65000 construction equipment to each other in one working environment.

Therefore, the present invention has a structure that prevents a collision through communication between construction heavy equipment using the Zigbee communication technology having the above characteristics.

Figure 2 shows a Zigbee communication network implemented through the construction equipment collision prevention system according to a preferred embodiment of the present invention.

Each point on the network depicted represents a respective heavy construction vehicle that installs a Zigbee node.

As shown, the Zigbee node 10 provided in each construction heavy equipment vehicle constitutes a network through Zigbee communication with the end node 30 via the intermediate router node 200 around the central control node 100. do. At this time, each of the nodes (100, 200, 300) can change their roles according to their relative positions (hence, in the following description, the central control node 100, intermediate router node 200 and end node ( 300) without distinguishing them).

Known ZigBee technologies, on the other hand, are made for short-range wireless data communication using signals in a particular frequency range of low power. Therefore, the wireless data communication range is limited, and the present invention is made to recognize the mutual location using the above-described network structure together with the communication range of the Zigbee communication technology.

The location recognition method of Zigbee node is as follows. Known ZigBee communication techniques provide multi-hop routing at the network layer to overcome the narrow communication range described above. Thus, each ZigBee node relays and relays information over a long distance. In other words, ZigBee nodes located beyond the data communication range communicate via a ZigBee node placed between them (ie, a node placed between any two nodes outside the data communication range receives and retransmits data). Communication is possible.

The present invention can recognize the location using the multi-hop routing of the Zigbee technology. That is, Zigbee nodes (10) installed in each construction heavy equipment transmit their unique IDs to the central control node 100 at regular intervals. In this case, each of the ZigBee nodes transmits the received information of the ZigBee nodes to the central control node (100) using a multi-hop routing scheme. Accordingly, the central control node 100 may recognize the location of a specific node by combining the unique ID information received at each Zigbee node and the information of the Zigbee nodes received using multi-hop routing at the node. .

Heavy construction collision avoidance system of the present invention includes a Zigbee node having a unique ID as described above, thereby recognizing the position through the above method. Since the location recognition method between these Zigbee nodes is a well-known technique, a detailed description thereof will be omitted.

In a preferred embodiment of the present invention, each of the Zigbee nodes 10 provided in each construction heavy equipment recognizes the position of the Zigbee nodes 10 located in the vicinity, and transmits it to the control unit 20, the control unit 20 is configured to generate a different warning signal step by step based on the distance from the other heavy construction equipment based on the received position signal.

For example, if the distance between any Zigbee node 10 and the Zigbee nodes 10 'located around it is not included within the preset distance (warning distance and danger distance to be described later), the heavy construction equipment collision of the present invention. The control unit 20 included in the prevention system recognizes that the position of the construction heavy equipment vehicle in which the other Zigbee node 10 is installed is made so as not to take any special warning.

(The arbitrary ZigBee node 10 and the ZigBee node 10 'positioned around it are arbitrarily designated. Any ZigBee node may be selected according to the relative position between the ZigBee nodes arranged in the construction site by a plurality of numbers. For convenience of description below, arbitrary Zigbee nodes and Zigbee nodes located around them will be identified by adding (') to the reference numerals.)

However, if the distance between any node 10 and the nodes 10 'located around it is included in the preset warning distance, the controller 20 generates a warning signal to the node 10' of the counterpart. This is done using Zigbee communication. The warning distance may be, for example, a distance at which a collision risk between each other is 70% or more. In this case, a warning signal generated and transmitted by an arbitrary node 10 may be received by a node 10 'of the other party to receive the corresponding node 10. ') May be a signal for controlling to output through the warning means of the construction heavy equipment vehicle is installed.

On the other hand, when the distance between any node 10 and the nodes 10 'located around it is included in the danger distance, for example, the distance determined to be 90% or more collision risk, the Zigbee node 10 and The connected control unit 20 generates a stop signal and transmits the stop signal to the Zigbee node 10 'of the counterpart. The stop signal is a signal that is received through the Zigbee node 10 'of the heavy equipment collision prevention system installed in the construction heavy equipment vehicle of the approaching opponent and transmitted to the control unit 20' to stop the driving system of the vehicle, for example For example, it may be a signal to forcibly stop the engine system of the construction heavy equipment vehicle.

Therefore, each heavy construction vehicle to which the heavy construction collision prevention system of the present invention is applied receives different warning signals according to the step of distance according to the collision risk between each other, and receives a warning signal to warn the driver of the danger of collision, Receiving a stop signal, by stopping the drive system of the vehicle, it is made to prevent a collision between heavy equipment vehicles.

On the other hand, in another embodiment of the present invention, if the distance between any node 10 and the nodes 10 ′ located around it is included in the preset warning distance, the control unit generates a warning signal to generate the other party's Zigbee node ( 10 ') is transmitted to the warning means 30 of the vehicle at the same time by using the Zigbee communication.

Therefore, in another embodiment of the present invention, when the distance to the opponent heavy construction vehicle is at a dangerous distance, a warning message is output to both vehicles on both sides, so that both drivers can be alerted at the same time.

3 is a flowchart illustrating a method of preventing construction equipment collision in accordance with a preferred embodiment of the present invention.

Hereinafter, a Zigbee node 10 installed in a specific construction heavy equipment will be described with reference to the drawings.

First, a distance between a specific node 10 and neighboring nodes 10 'is recognized through Zigbee communication between the respective construction heavy equipment vehicles (S001).

The distance recognition between the Zigbee node 10 and the peripheral node 10 'is recognized using the multi-hop routing of Zigbee communication, as described above, the location recognition is made periodically through periodic signal exchange, It is desirable to reflect in real time the distance of each heavy construction vehicle moving in real time.

At this time, the Zigbee node 10 transmits the positions of the peripheral nodes 10 'recognized as the control unit 20 provided in the construction heavy equipment vehicle (S002), the control unit 20 through the peripheral node 10 through this Judge the risk of collision with them.

First, the control unit 20 of the specific Zigbee node 10 determines whether the distance to any node 10 ′ of the surrounding nodes is included in the warning distance (S003). As described above, the distance between any two heavy construction equipment is a distance of 70% or more of the risk of collision between each other, and when the distance between the two recognized nodes is included in the warning distance, the construction heavy equipment collision prevention of the present invention The control unit of the system generates a warning signal and transmits it to the counterpart node 10 '(S004). The warning signal is received by the controller of the construction heavy equipment vehicle in which the counter node 10 'is installed, and the warning means (for example, display means, sound output means (buzzer, loudspeaker, horn, etc.) installed in the construction heavy equipment vehicle). Through it may be a signal to output the warning message to the driver to display.

On the other hand, the control unit 20 of the heavy construction equipment collision prevention system in which the Zigbee node 10 is installed, the distance from any node 10 'from the position information of each node received from the peripheral nodes 10' is a dangerous distance It is determined whether it is included (S005). As described above, the dangerous distance is a distance between any two heavy construction equipment is at least 90% of the collision risk between each other, the construction equipment collision prevention system of the present invention includes the distance between the two recognized nodes within the dangerous distance. If it is determined that it is determined to generate a stop signal to transmit to the counterpart node 10 '(S006).

On the other hand, the control unit of the construction heavy equipment vehicle is installed the counterpart node 10 'determines whether to receive a warning signal from the node (10') (S007), when receiving a warning signal, and transmits the warning signal to the warning means. do. Therefore, the warning means receiving the warning signal from the control unit displays a warning message to the vehicle driver (S008).

In addition, the control unit 20 'of the construction heavy equipment vehicle in which the counterpart node 10' is installed determines whether to receive a stop signal from the node 10 '(S009), and upon receiving the stop signal, the driving unit of the vehicle immediately. Control to stop (S010). Therefore, when the risk of collision increases by more than 90% as the distance between the vehicle in which the node 10 and the node 10 'is installed becomes very close, by controlling the driving unit to stop access any more, and thereby the collision between the vehicles. To prevent.

Although the preferred embodiment of the heavy construction equipment collision prevention system and method of the present invention has been described in detail, this is merely presented a specific example to help the understanding of the present invention, it is intended to limit the scope of the present invention no. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: Zigbee node 20: control unit
30: warning
100: central control node 200: intermediate relay node
300: end node

Claims (6)

A Zigbee node performing near field communication and recognizing a location through wireless communication with a plurality of Zigbee nodes;
A controller connected to the Zigbee node to transmit and receive signals to and from the Zigbee node; And
And a warning means connected to the control unit and displaying a warning message to the driver when receiving a warning signal from the control unit.
The control unit,
Receives and recognizes location information of another Zigbee node from the Zigbee node,
If the distance between the current position and the other Zigbee node is included in the warning distance, generates a warning signal and transmits to the Zigbee node,
Upon receiving the warning signal, the warning signal is transmitted to the warning means.
The Zigbee node receives a warning signal from the control unit, and transmits it to another Zigbee node, heavy construction equipment collision prevention system.
A Zigbee node performing near field communication and recognizing a location through wireless communication with a plurality of Zigbee nodes;
A controller connected to the Zigbee node to transmit and receive signals to and from the Zigbee node; And
And a warning means connected to the control unit and displaying a warning message to the driver when receiving a warning signal from the control unit.
The control unit,
Receives and recognizes location information of another Zigbee node from the Zigbee node,
When the distance between the current position and the other Zigbee node is included in the warning distance, generates a warning signal and transmits to the Zigbee node and warning means,
Upon receiving the warning signal, the warning signal is transmitted to the warning means.
The Zigbee node receives a warning signal from the control unit, and transmits it to another Zigbee node, heavy construction equipment collision prevention system.
The method of claim 1 or 2,
The control unit,
When the distance between the current position and the Zigbee node of the other heavy construction vehicle is included in the dangerous distance, a stop signal is generated and transmitted to the Zigbee node, and when the stop signal is received, the driving of the vehicle is stopped,
When the Zigbee node receives the stop signal from the control unit, it is transmitted to other Zigbee nodes, heavy construction equipment collision prevention system.
In the vehicle collision prevention method through a heavy equipment collision prevention system comprising a Zigbee node for wireless communication, a control unit connected to the Zigbee node and a warning means connected to the control unit,
Transmitting, by a Zigbee node, the location of other Zigbee nodes to a control unit through wireless communication;
The control unit determines whether the distance between the current position and the other Zigbee node is included in the warning distance;
Generating a warning signal and transmitting the generated warning signal to the Zigbee node when it is determined that the distance between the current location and the other Zigbee node is included in the warning distance;
When the Zigbee node receives the warning signal from the controller, transmitting the Zigbee node to another Zigbee node;
When the Zigbee node receives a warning signal from another Zigbee node, the Zigbee node transmits the warning signal to the control unit, and when the control unit receives the warning signal from the Zigbee node, transmitting the warning signal to the warning means; And
And warning means for outputting a warning message when receiving a warning signal from the control unit.
In the vehicle collision prevention method through a heavy equipment collision prevention system comprising a Zigbee node for wireless communication, a control unit connected to the Zigbee node and a warning means connected to the control unit,
Transmitting, by a Zigbee node, the location of other Zigbee nodes to a control unit through wireless communication;
The control unit determines whether the distance between the current position and the other Zigbee node is included in the warning distance;
Generating, by the controller, a warning signal and transmitting the warning signal to the warning means and the Zigbee node when it is determined that the distance between the current location and the other Zigbee node is included in the warning distance;
When the Zigbee node receives the warning signal from the controller, transmitting the Zigbee node to another Zigbee node;
When the Zigbee node receives a warning signal from another Zigbee node, the Zigbee node transmits the warning signal to the control unit, and when the control unit receives the warning signal from the Zigbee node, transmitting the warning signal to the warning means; And
And warning means for outputting a warning message when receiving a warning signal from the control unit.
The method of claim 4 or 5,
The control unit determines whether the distance between the current position and the other Zigbee node is included in the dangerous distance;
Generating a stop signal and transmitting the stop signal to the Zigbee node when it is determined that the distance between the current location and the other Zigbee node is included in the dangerous distance;
When the Zigbee node receives the stop signal from the controller, transmitting the Zigbee node to another Zigbee node;
Heavy construction equipment collision prevention method comprising a further.

KR1020110097317A 2011-09-27 2011-09-27 System for prevent construction equipment collision KR20130033582A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104420494A (en) * 2013-09-03 2015-03-18 斗山英维高株式会社 Apparatus and method for collision prevention control of front device of construction machinery
KR101638845B1 (en) 2015-07-16 2016-07-12 (주)영신디엔씨 Safety alert and slow down stop control system comprising active RFID tag for FOR heavy equipment of industry and construction
KR101972511B1 (en) 2017-11-23 2019-04-25 헤넷시스 주식회사 Communication method of master node and slave node
KR102447794B1 (en) 2021-10-22 2022-09-27 (주)영신디엔씨 Automatic Deceleration Braking System with the Preventing Collision and Narrowly Stuck Accident of Moving Equipment for Harbor

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104420494A (en) * 2013-09-03 2015-03-18 斗山英维高株式会社 Apparatus and method for collision prevention control of front device of construction machinery
KR101638845B1 (en) 2015-07-16 2016-07-12 (주)영신디엔씨 Safety alert and slow down stop control system comprising active RFID tag for FOR heavy equipment of industry and construction
KR101972511B1 (en) 2017-11-23 2019-04-25 헤넷시스 주식회사 Communication method of master node and slave node
KR102447794B1 (en) 2021-10-22 2022-09-27 (주)영신디엔씨 Automatic Deceleration Braking System with the Preventing Collision and Narrowly Stuck Accident of Moving Equipment for Harbor

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