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Controller Gear Detection Method and System for Practical Assessment and Coaching of Forklift Drivers

A gear position detection and controller technology, applied in transmission control, instruments, simulators, etc., can solve problems such as equipment property loss, casualties, etc.

Active Publication Date: 2021-08-27
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Forklift accidents will not only cause serious property damage to the equipment itself, the surrounding environment and equipment, but also often cause casualties

Method used

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  • Controller Gear Detection Method and System for Practical Assessment and Coaching of Forklift Drivers
  • Controller Gear Detection Method and System for Practical Assessment and Coaching of Forklift Drivers
  • Controller Gear Detection Method and System for Practical Assessment and Coaching of Forklift Drivers

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Embodiment 1: Judging the gear position of the parking brake lever

[0030] The above step 10 includes: installing a camera directly above the steering wheel, establishing an image pixel coordinate system, the coordinate origin O is the upper left vertex of the image, the positive direction of the u-axis is horizontal to the right, and the positive direction of the v-axis is vertical downward.

[0031] Collect I=5 images of different gears of the parking brake lever, and use Mask R-CNN to identify the parking brake lever, acquire and store its bounding box R bd coordinate information Create a handlebar bounding box R with the gear number m bd-n Set H m :

[0032]

[0033] In the formula

[0034] Then the calibration can obtain the centroid 11 position of the parking brake lever m gear for:

[0035]

[0036] In the formula, for The mean values ​​of are:

[0037]

[0038] Then the coordinate set H of the calibration gear position of the parking bra...

Embodiment 2

[0045] Embodiment 2: Judgment of the gear position of the forklift speed control gear

[0046] The above step 10 includes: installing a camera directly above the steering wheel, establishing an image pixel coordinate system, the coordinate origin O is the upper left vertex of the image, the positive direction of the u-axis is horizontal to the right, and the positive direction of the v-axis is vertical downward.

[0047] Collect I=5 images of different gear positions of the forklift speed control handle, and use Mask R-CNN to identify the forklift speed control handle, obtain and store its bounding box R bd coordinate information Create a handlebar bounding box R with the gear number m bd-n Set H m :

[0048]

[0049] In the formula

[0050] Then the centroid position of the m gear of the forklift speed control gear is obtained by calibration for:

[0051]

[0052] In the formula, for The mean values ​​of are:

[0053]

[0054] Then the forklift speed c...

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Abstract

The invention discloses a method for detecting the gear position of a controller for the practical assessment and coaching of forklift drivers. The method includes: adjusting the camera to the alignment position and fixing it, adjusting each gear handle of the forklift to different gear positions, and capturing the corresponding gear position Image, using the Mask R-CNN target recognition and image segmentation framework to obtain and store the bounding box R of the file bd Calculate and store the centroid coordinates of the coordinate information The camera acquires the image during the driving of the forklift, and uses the Mask R-CNN target recognition and image segmentation framework to obtain and store the coordinate information of the gear handle at this time Calculate and store the centroid coordinates and calculate them separately Calculate the distance between the gear coordinates at the current moment and the calibration gear coordinates, and compare them with each other, so that the gear with the smallest distance is the current gear.

Description

technical field [0001] The invention relates to the field of forklift driver practical assessment and coaching, in particular to a controller gear detection method and system for forklift driver practical assessment and coaching. Background technique [0002] Forklifts refer to special motorized industrial vehicles used in specific areas such as factories, including counterbalanced forklifts, reach forklifts, side forklifts, legged forklifts, pallet stackers and three-way stackers, etc. It is widely used in various handling scenarios and is the main force in logistics handling. Forklift accidents will not only cause serious property damage to the equipment itself, the surrounding environment and equipment, but also often cause casualties. With the continuous increase of cargo transportation, the number of forklifts is also increasing. How to reduce forklift accidents from the source has become an urgent problem to be solved. In order to reduce the occurrence of forklift ac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66F9/075F16H63/42G09B9/04G06K9/20G06K9/62G06T7/00G06T7/70
CPCB66F9/0759F16H63/42G09B9/04G06T7/00G06T7/70G06V10/10G06V10/147G06F18/00
Inventor 刘桂雄周介祺李伟黄坚
Owner SOUTH CHINA UNIV OF TECH