Industrial vehicle reversing active anti-collision control system and control method thereof

Abstract

The present invention discloses an industrial vehicle reverse active anti-collision control system and a control method thereof. The control system comprises: a main controller; an on-board sensor for measuring the current speed of the vehicle; a detector assembly for measuring the relative distance and relative speed between the vehicle and an obstacle; an alarm for issuing an alarm; an engine controller; and an electric proportional brake system for controlling the braking of the vehicle. When reversing, the main controller calculates the required braking distance of the vehicle based on the data collected by the on-board sensor and the detector assembly, and calculates the braking margin distance, the speed limit start distance, the braking start distance, the intermediate braking distance, and the terminal braking distance based on the required braking distance of the vehicle. By establishing a dynamic mathematical model, the alarm, the engine controller, and the electric proportional brake system can be controlled according to the dynamic mathematical model, so that anti-collision measures can be automatically taken when reversing, thereby improving the safety and reliability of low-speed vehicle braking.

Description

Technical Field

[0001] The invention relates to the technical field of industrial vehicles, and in particular to an industrial vehicle reversing active anti-collision control system and an industrial vehicle reversing active anti-collision control method. Background Art

[0002] With the development of the logistics industry, the requirements for active safety of forklifts are becoming higher and higher. The blind spot of forklifts' reversing vision and driver fatigue are major hidden dangers that lead to vehicle safety accidents. Once an accident occurs, it will cause huge personal injury and economic losses.

[0003] At present, the commonly used automatic braking systems for private cars on the market use laser radar, millimeter-wave radar and on-board cameras to measure distance, and control alarms and brakes according to the distance between the car and the obstacle. However, since the above automatic braking system does not establish a dynamic mathematical model based on the working conditions of the forklift, and the implementation cost is relatively high, it is not suitable for relatively low-speed industrial vehicles such as forklifts, and there is currently no mature reversing active braking system for forklifts on the market. Therefore, forklifts in the prior art mostly use auxiliary systems such as reversing radar, reversing images and video monitoring to improve the safety factor of the vehicle, but they are greatly affected by human factors and safety cannot be fully guaranteed.

[0004] Therefore, how to prevent low-speed industrial vehicles from being unable to ensure reversing safety is a technical problem that those skilled in the art currently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide an industrial vehicle reversing active anti-collision control system and a control method thereof, which can automatically take anti-collision measures when reversing, thereby improving the safety and reliability of low-speed vehicle braking.

[0006] To achieve the above object, the present invention provides an industrial vehicle reversing active collision avoidance control system, comprising:

[0007] Main controller;

[0008] An on-board sensor connected to the main controller and used to measure the current speed v0 of the vehicle;

[0009] Connected to the main controller, used to measure the relative distance S between the vehicle and the obstacle c and relative velocity v c Detector assembly;

[0010] An alarm connected to the main controller for sounding an alarm;

[0011] an engine controller connected to the main controller;

[0012] An electric proportional brake system connected to the main controller for controlling vehicle braking;

[0013] When reversing, the main controller calculates the required braking distance S0 of the vehicle according to the data collected by the vehicle-mounted sensor and the detector assembly, and calculates the braking margin distance ΔS and the speed limit starting distance S according to the required braking distance S0 of the vehicle. k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n , so as to realize the braking margin distance ΔS, the speed limit starting distance S k , the braking starting distance S l , the intermediate braking distance S m and the terminal braking distance S n Control the operation of the alarm, the engine controller and the electric proportional brake system.

[0014] Optionally, the electric proportional brake system includes a fuel tank, an accumulator, a hydraulic brake valve, an electro-hydraulic brake valve, a shuttle valve and a brake bridge;

[0015] The SP port of the hydraulic brake valve is connected to the accumulator, the BR port of the hydraulic brake valve is connected to an input port of the shuttle valve, and the T port of the hydraulic brake valve is connected to the oil tank;

[0016] One end of the electromagnetic switch valve of the electro-hydraulic brake valve is connected to the accumulator, and the other end is connected to the SP port of the electromagnetic proportional valve of the electro-hydraulic brake valve, the BR port of the electromagnetic proportional valve is connected to another input port of the shuttle valve, and the T port of the electromagnetic proportional valve is connected to the oil tank;

[0017] The output port of the shuttle valve is connected to the input port of the brake bridge.

[0018] Optionally, the electric proportional brake system further includes an oil drain valve, one end of which is connected to the oil tank, and the other end of which is connected to the input port of the brake bridge.

[0019] Optionally, the electric proportional brake system also includes an oil pump and a brake filling valve, one end of the oil pump is connected to the oil tank, and the other end is connected to the brake filling valve, and the brake filling valve is connected to the accumulator; when the pressure of the accumulator is lower than a preset value, the hydraulic oil in the oil tank is transported to the brake filling valve through the oil pump to fill the accumulator.

[0020] Optionally, an oil suction filter is connected between the oil pump and the oil tank; a circulating oil filter and a radiator are connected between the brake filling valve and the brake bridge.

[0021] Optionally, the detector assembly includes a first radar and a second radar, and the first radar and the second radar are used to collect the relative distance and relative speed between the vehicle and the obstacle.

[0022] Optionally, a counterweight is further included, and the first radar and the second radar are both arranged on the counterweight, and the first radar is installed on the left rear side of the counterweight, and the second radar is installed on the right rear side of the counterweight.

[0023] The present invention also provides an industrial vehicle reversing active collision avoidance control method, which is applied to any of the above industrial vehicle reversing active collision avoidance control systems, comprising:

[0024] Get the current speed v0 of the vehicle and the relative distance S between the vehicle and the obstacle c and relative velocity v c ;

[0025] according to Calculate the required distance S0 for vehicle braking, where Δt is the action time of the vehicle braking device, and t1 is the duration of the braking force. is the ground friction coefficient, g is the acceleration due to gravity;

[0026] According to ΔS=S0-S c Calculate the braking margin distance ΔS according to S k = S0×k Calculate the speed limit starting distance S k , according to S l =S0×lCalculate the braking starting distance S l , according to S m =S0×mCalculate the intermediate braking distance S m , according to S n =S0×nCalculate the terminal braking distance S n , where the initial speed limit coefficient k, initial braking coefficient l, intermediate braking coefficient m and terminal braking coefficient n are all adjustable parameters, k>l>m>n>0;

[0027] According to the braking margin distance ΔS, the speed limit starting distance S k , the braking starting distance S l , the intermediate braking distance S m and the terminal braking distance S n Control the operation of the alarm, the engine controller and the electric proportional brake system.

[0028] Optionally, the braking margin distance ΔS, the speed limit starting distance S k , the braking starting distance S l , the intermediate braking distance S m and the terminal braking distance Sn The steps of controlling the alarm, the engine controller and the electric proportional brake system to work include:

[0029] When ΔS>2S k When the alarm is turned off, the engine controller is not limited in speed, the electromagnetic proportional valve opening of the electric proportional brake system is zero, the electromagnetic switch valve of the electric proportional brake system is closed, and the oil drain valve of the electric proportional brake system is opened;

[0030] When S k <ΔS≤2S k When the alarm is controlled to sound a cycle stop alarm, the engine controller is not limited in speed, the electromagnetic proportional valve opening is zero, the electromagnetic switch valve is closed, and the oil drain valve is opened;

[0031] When S l <ΔS≤S k When the alarm is controlled to sound all the time, the engine controller speed limit is v, the electromagnetic proportional valve opening is zero, the electromagnetic switch valve is closed, and the oil drain valve is opened, wherein the speed limit value v m is an adjustable parameter;

[0032] When S m <ΔS≤S l When the alarm is controlled to sound all the time, the engine controller speed limit is zero, the electromagnetic proportional valve opening is the first preset opening x1, the electromagnetic switch valve is opened, and the oil drain valve is closed, wherein the first preset opening

[0033] When S n <ΔS≤S m When the alarm is controlled to sound all the time, the engine controller speed limit is zero, the electromagnetic proportional valve opening is the second preset opening x2, the electromagnetic switch valve is opened, and the oil drain valve is closed, wherein the second preset opening

[0034] When ΔS≤S n When the alarm is controlled to sound all the time, the engine controller speed limit is zero, the electromagnetic proportional valve opening is 100%, the electromagnetic switch valve is opened, and the oil drain valve is closed.

[0035] Compared with the above background technology, the industrial vehicle reversing active anti-collision control system provided by the embodiment of the present invention includes a main controller, a vehicle-mounted sensor, a detector assembly, an alarm, an engine controller and an electric proportional brake system, wherein the vehicle-mounted sensor is connected to the main controller, and the vehicle-mounted sensor is used to measure the current speed v0 of the vehicle; the detector assembly is connected to the main controller, and the detector assembly is used to measure the relative distance S between the vehicle and the obstaclec and relative velocity v c ; The alarm is connected to the main controller, and the alarm is used to issue an alarm; the engine controller is connected to the main controller, and the engine controller is used to control the vehicle running speed; the electric proportional brake system is connected to the main controller, and the electric proportional brake system is used to control the vehicle brakes.

[0036] In this way, when reversing, the main controller calculates the required braking distance S0 of the vehicle based on the data collected by the on-board sensors and detector components, and calculates the braking margin distance ΔS and the speed limit starting distance S according to the required braking distance S0 of the vehicle. k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n By establishing a dynamic mathematical model, determining the dangerous area, and identifying the dangerous state, the braking margin distance ΔS, the speed limit starting distance S k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n (Dynamic mathematical model) controls the operation of the alarm, engine controller and electric proportional brake system, so that anti-collision measures can be automatically taken when reversing, thereby improving the safety and reliability of low-speed vehicle braking.

[0037] The embodiment of the present invention further provides an active anti-collision control method for industrial vehicle reversing, and the beneficial effects are as described above and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0039] Figure 1 A circuit schematic diagram of an industrial vehicle reversing active collision avoidance control system provided by an embodiment of the present invention;

[0040] Figure 2 This is the hydraulic principle diagram of the electric proportional brake system;

[0041] Figure 3 is a schematic diagram of the arrangement of the detector components;

[0042] Figure 4 for Figure 3 Side view of

[0043] Figure 5 for Figure 3 A top view of

[0044] Figure 6 The present invention provides a flowchart of an active anti-collision control method for industrial vehicles when reversing.

[0045] in:

[0046] 1-Oil tank, 2-Oil suction filter, 3-Oil pump, 4-Brake filling valve, 5-Circulating filter, 6-Radiator, 7-Check valve, 8-Accumulator, 9-Hydraulic brake valve, 10-Electro-hydraulic brake valve, 101-Solenoid switch valve, 102-Solenoid proportional valve, 11-Oil drain valve, 12-Shuttle valve, 13-Brake bridge, 14-Ball valve. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] The core of the present invention is to provide an industrial vehicle reversing active anti-collision control system and a control method thereof, which can automatically take anti-collision measures when reversing, thereby improving the safety and reliability of low-speed vehicle braking.

[0049] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] It should be noted that the directional words such as "upper end, lower end, left side, right side" described below are all defined based on the drawings in the specification.

[0051] Please refer to Figures 1 to 6 , Figure 1 A circuit schematic diagram of an industrial vehicle reversing active collision avoidance control system provided by an embodiment of the present invention; Figure 2 This is the hydraulic principle diagram of the electric proportional brake system; Figure 3 is a schematic diagram of the arrangement of the detector components; Figure 4 for Figure 3 Side view of Figure 5 for Figure 3 A top view of Figure 6 The present invention provides a flowchart of an active anti-collision control method for industrial vehicles when reversing.

[0052] The industrial vehicle reversing active anti-collision control system provided in the embodiment of the present invention includes a main controller E1, a vehicle-mounted sensor G1, a detector assembly, an alarm H01, an engine controller E2 and an electric proportional brake system, wherein the vehicle-mounted sensor G1 is connected to the main controller E1, and the vehicle-mounted sensor G1 is used to measure the current speed v0 of the vehicle; the detector assembly is connected to the main controller E1, and the detector assembly is used to measure the relative distance S between the vehicle and the obstacle c and relative velocity v c ; The alarm H01 is connected to the main controller E1, and the alarm H01 is used to issue an alarm; the engine controller E2 is connected to the main controller E1, and the engine controller E2 is used to control the vehicle running speed; the electric proportional brake system is connected to the main controller E1, and the electric proportional brake system is used to control the vehicle brakes.

[0053] In this way, when reversing, the main controller E1 calculates the required braking distance S0 of the vehicle based on the data collected by the on-board sensor G1 and the detector assembly, and calculates the braking margin distance ΔS and the speed limit starting distance S according to the required braking distance S0 of the vehicle. k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n Through certain algorithm processing, a dynamic mathematical model is established, the dangerous area is determined, and the dangerous state is identified to achieve the braking margin distance ΔS, the speed limit starting distance S k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n (Dynamic mathematical model) controls the alarm H01, engine controller E2 and electric proportional brake system to automatically take anti-collision measures when reversing, thereby improving the safety and reliability of low-speed vehicle braking.

[0054] It should be noted that the above-mentioned detector assembly includes a first radar and a second radar, and the first radar and the second radar are used to collect the relative distance and relative speed between the vehicle and the obstacle.

[0055] In addition, the system also includes a counterweight, which is arranged on the vehicle for adjusting the center of gravity of the vehicle. The first radar and the second radar are both arranged on the counterweight, and the first radar is installed on the left rear side of the counterweight, and the second radar is installed on the right rear side of the counterweight.

[0056] Of course, according to actual needs, the first radar and the second radar mentioned above are both millimeter wave radars.

[0057] Specifically, the first millimeter-wave radar E3 is installed on the left rear side of the counterweight, and the second millimeter-wave radar E4 is installed on the right rear side of the counterweight.

[0058] It should be noted that when arranging the radar, it is necessary to avoid interference between the radar's millimeter wave emission area and the counterweight, so as to determine the lateral spacing X and longitudinal distance Y of the two millimeter wave radars. Among them, the height value of the radar installation is Z, α is the monitoring angle of the radar in the up and down directions, S is the maximum distance allowed for the blind spot, and h is the minimum height of the obstacle required to be detected.

[0059] On the basis of the above, the industrial vehicle reversing active collision avoidance control system also includes electrical system accessories, which mainly include battery B, ignition switch S1, reversing switch S2, enabling switch S3, first fuse F1, second fuse F2 and third fuse F3; at the same time, in addition to the vehicle-mounted sensor G1, the first millimeter-wave radar E3 and the second millimeter-wave radar E4, it also includes a brake pedal opening sensor G2 and a pressure sensor G3.

[0060] The circuit connection method of the industrial vehicle reversing active collision avoidance control system is described in detail below.

[0061] Pin 4 of the common terminal of the ignition switch S1 is connected to the positive pole of the battery B through the first fuse F1; the power supply terminal of the main controller E1 is connected to pin 2 of the ignition switch S1 through the second fuse F2, and the power supply terminal of the engine controller E2, the power supply terminal of the first millimeter-wave radar E3 and the power supply terminal of the second millimeter-wave radar E4 are connected to pin 2 of the ignition switch S1 through the third fuse F3; the second fuse F2 is simultaneously connected to one end of the reversing switch S2, one end of the enabling switch S3, one end of the vehicle sensor G1, one end of the brake pedal opening sensor G2, and one end of the pressure sensor G3; the other end of the reversing switch S2, the other end of the enabling switch S3, and the signal end of the vehicle sensor G1 , the signal end of the brake pedal opening sensor G2, and the other end of the pressure sensor G3 are all connected to the main controller E1; the engine controller E2, the first millimeter-wave radar E3, the second millimeter-wave radar E4 and the main controller E1 exchange information through the CAN bus; one end of the electric brake switch valve 101 of the electric proportional brake system is connected to the main controller E1, and the other end is grounded; one end of the electric brake proportional valve 102 of the electric proportional brake system is connected to the main controller E1, and the other end is grounded; one end of the oil drain valve 11 of the electric proportional brake system is connected to the main controller E1, and the other end is grounded; one end of the alarm H01 is connected to the main controller E1, and the other end is grounded.

[0062] More specifically, the electric proportional brake system includes an oil tank 1, an oil suction filter 2, an oil pump 3, a brake filling valve 4, a circulating filter 5, a radiator 6, a one-way valve 7, an accumulator 8, a hydraulic brake valve 9, an electro-hydraulic brake valve 10 (the electro-hydraulic brake valve 10 includes an electromagnetic switch valve 101 and an electromagnetic proportional valve 102), an oil drain valve 11, a shuttle valve 12, a brake bridge 13, and a ball valve 14. Among them, the brake bridge 13 is a wet brake bridge, and the oil drain valve 11 is an electromagnetic oil drain valve.

[0063] In order to ensure the safety of braking, a mechanical hydraulic braking circuit is redundantly designed. Specifically, the SP port of the hydraulic brake valve 9 is connected to the accumulator 8, the BR port of the hydraulic brake valve 9 is connected to an input port of the shuttle valve 12, the output port of the shuttle valve 12 is connected to the input port of the brake bridge 13, and the T port of the hydraulic brake valve 9 is connected to the oil tank 1.

[0064] When the automatic brake fails, the driver can control the hydraulic brake valve 9 to open the internal oil circuit by stepping on the brake pedal. The hydraulic oil is transported from the accumulator 8 to the input port at the other end of the shuttle valve 12, and the output port of the shuttle valve 12 is connected to the brake bridge 13. At this time, if the electro-hydraulic brake valve 10 does not work or the opening is smaller than the hydraulic brake valve 9, the oil can still flow through the hydraulic proportional valve 9 through the shuttle valve 12 and then enter the brake bridge 13, so that mechanical braking can be achieved.

[0065] In order to realize the service brake by both electrical signal and mechanical means, an electro-hydraulic brake valve 10 is provided on the basis of the hydraulic proportional valve 9, and the electro-hydraulic brake valve 10 includes an electromagnetic switch valve 101 and an electromagnetic proportional valve 102. Specifically, the SP port of the hydraulic brake valve 9 is connected to the accumulator 8, the BR port of the hydraulic brake valve 9 is connected to an input port of the shuttle valve 12, and the T port of the hydraulic brake valve 9 is connected to the oil tank 1; one end of the electromagnetic switch valve 101 of the electro-hydraulic brake valve 10 is connected to the accumulator 8, and the other end is connected to the SP port of the electromagnetic proportional valve 102 of the electro-hydraulic brake valve 10, the BR port of the electromagnetic proportional valve 102 is connected to another input port of the shuttle valve 12, the T port of the electromagnetic proportional valve 102 is connected to the oil tank 1, and the output port of the shuttle valve 12 is connected to the input port of the brake bridge 13.

[0066] This design combines electric braking with hydraulic braking, and can achieve service braking through both electrical signals and mechanical control methods. This ensures safety while taking into account economy and saving space.

[0067] In addition, the system is also provided with an oil drain valve 11, which is an electromagnetic oil drain valve, one end of which is connected to the oil tank 1, and the other end is connected to the input port of the brake bridge 13 (the output port of the shuttle valve 12). When the brake is stopped, the main controller E1 controls the oil drain valve 11 to be energized, and the input port of the brake bridge 13 (the output port of the shuttle valve 12) is connected to the oil tank 1, which can ensure that the pressure at the output port of the shuttle valve 12 is 0 at this time, eliminating hidden dangers.

[0068] In this way, when the controller E1 controls the electric proportional brake system through the corresponding algorithm to perform electric braking, the electromagnetic switch valve 101 is powered on and opened, and the electromagnetic proportional valve 102 is opened in a corresponding proportion according to the calculation result, so that the internal oil circuit of the electro-hydraulic brake valve 10 can be controlled to be connected, and the hydraulic oil is delivered from the accumulator 8 to the input port at one end of the shuttle valve 12, and the output port of the shuttle valve 12 is connected to the brake bridge 13. At this time, if the hydraulic brake valve 9 does not act or the opening is smaller than the electro-hydraulic brake valve 10, the oil flows through the electric brake valve 10 through the shuttle valve 12 and enters the brake bridge 13 to achieve automatic braking; when the vehicle is in a safe state, the oil circuit in the electro-hydraulic brake valve 10 is disconnected (the electromagnetic switch valve 101 loses power and the electromagnetic proportional valve 102 loses power), the oil drain valve 11 is powered on and opened, and the braking part of the brake bridge 13 is directly connected to the oil tank 1, and the service brake is released.

[0069] It should be noted that the pressure sensor G3 can be connected to the input port of the brake bridge 13 to facilitate the collection of actions.

[0070] On the basis of the above, in order to facilitate the filling of the accumulator 8, the electric proportional brake system further includes an oil pump 3 and a brake filling valve 4, and the brake filling valve 4 is used to supply oil to the accumulator 8. Specifically, one end of the oil pump 3 is connected to the oil tank 1, and the other end is connected to the brake filling valve 4, and the brake filling valve 4 is connected to the accumulator 8; when the pressure of the accumulator 8 is lower than the preset value, the accumulator 8 filling signal switch will send a signal, and the hydraulic oil in the oil tank 1 will be delivered to the brake filling valve 4 through the oil pump 3 to achieve the filling of the accumulator 8.

[0071] In addition, an oil suction filter 2 is connected between the oil pump and the oil tank, and a circulating oil filter 5 and a radiator 6 are connected between the brake filling valve 4 and the brake bridge 13. At the same time, in order to ensure the safety of the oil circuit, the pipeline between the brake filling valve 4 and the accumulator 8 is connected to the oil tank 1 through a pipeline with a ball valve 14, and the pipeline between the radiator 6 and the brake bridge 13 is connected to the oil tank 1 through a pipeline with a one-way valve 7.

[0072] At the same time, an embodiment of the present invention also provides an industrial vehicle reversing active collision avoidance control method, which is applied to the above industrial vehicle reversing active collision avoidance control system, comprising:

[0073] S1: Get the current speed v0 of the vehicle and the relative distance S between the vehicle and the obstacle c and relative velocity v c ;

[0074] S2: According to Calculate the required distance S0 for vehicle braking, where Δt is the action time of the vehicle braking device, and t1 is the duration of the braking force. is the ground friction coefficient, g is the acceleration due to gravity;

[0075] S3: According to ΔS=S0-S c Calculate the braking margin distance ΔS according to S k = S0×k Calculate the speed limit starting distance S k , according to S l =S0×lCalculate the braking starting distance S l , according to S m =S0×mCalculate the intermediate braking distance S m , according to S n =S0×nCalculate the terminal braking distance S n , where the initial speed limit coefficient k, initial braking coefficient l, intermediate braking coefficient m and terminal braking coefficient n are all adjustable parameters, k>l>m>n>0;

[0076] S4: Based on the braking margin distance ΔS and the speed limit starting distance S k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n Controls the operation of the alarm, engine controller and electric proportional brake system.

[0077] Specifically, when the ignition / key switch S1 is closed, first, the main controller E1 collects the relative distance S between the vehicle and the obstacle measured by the two millimeter-wave radars. c and relative velocity v c , and taking the reverse direction of the vehicle as positive, the vehicle's current speed v0 is obtained through the vehicle sensor G1, and the vehicle's braking device action process time (i.e., the braking device's reaction time) Δt and the braking force duration t1 can be obtained through the timing recognition of the brake pedal opening sensor G2, the pressure sensor G3, and the input and output pins of the main controller E1. At the same time, the ground friction coefficient is set The initial speed limit coefficient k, the initial braking coefficient l, the intermediate braking coefficient m and the terminal braking coefficient n, where: k, l, m, and n are all adjustable parameters, k>l>m>n>0; then, according to Calculate the required braking distance S0 of the vehicle; further, according to ΔS=S0-S c Calculate the braking margin distance ΔS according to S k = S0×k Calculate the speed limit starting distance S k , according to S l =S0×lCalculate the braking starting distance S l , according to S m =S0×mCalculate the intermediate braking distance S m , according to S n =S0×nCalculate the terminal braking distance S n .

[0078] Furthermore, based on the above calculations, a dynamic mathematical model is proposed to determine the danger zone, identify the dangerous state, and control the operation of the alarm, engine controller and electric proportional brake system.

[0079] Specifically, for step S4, according to the braking margin distance ΔS, the speed limit starting distance S k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n The steps to control the operation of the alarm, engine controller and electric proportional brake system include:

[0080] When ΔS>2S k When the control alarm H01 is turned off, the engine controller E2 has no speed limit, the electromagnetic proportional valve 102 of the electric proportional brake system is opened to zero, the electromagnetic switch valve 101 of the electric proportional brake system is closed, and the drain valve 11 of the electric proportional brake system is opened;

[0081] When S k <ΔS≤2S k When the control alarm H01 sounds a cycle stop alarm, the engine controller E2 has no speed limit, the opening of the electromagnetic proportional valve 102 is zero, the electromagnetic switch valve 101 is closed, and the oil drain valve 11 is opened;

[0082] When S l <ΔS≤S k When the control alarm H01 keeps sounding, the engine controller E2 speed limit is v, the electromagnetic proportional valve 102 opening is zero, the electromagnetic switch valve 101 is closed, and the oil drain valve 11 is opened. Among them, the speed limit value v m It is an adjustable parameter and can be set by the customer according to the actual situation;

[0083] When S m <ΔS≤S l When the control alarm H01 keeps sounding, the engine controller E2 speed limit is zero, the opening of the electromagnetic proportional valve 102 is the first preset opening x1, the electromagnetic switch valve 101 is opened, and the oil drain valve 11 is closed.

[0084] When S n <ΔS≤S m When the control alarm H01 keeps sounding, the engine controller E2 speed limit is zero, the opening of the electromagnetic proportional valve 102 is the second preset opening x2, the electromagnetic switch valve 101 is opened, and the oil drain valve 11 is closed.

[0085] When ΔS≤S nWhen the control alarm H01 keeps sounding, the engine controller E2 speed limit is zero, the opening of the electromagnetic proportional valve 102 is 100%, the electromagnetic switch valve 101 is opened, and the oil drain valve 11 is closed.

[0086] Therefore, the industrial vehicle with the above-mentioned active reverse collision avoidance control system has an economical and reliable active reverse collision avoidance system, which combines electric braking with hydraulic braking by establishing a quantitative dynamic mathematical model and matching a reliable electro-hydraulic dual braking system, that is, braking can be achieved through both electrical signals and mechanical control methods. At the same time, through the automatic braking response mechanism and alarm mechanism, according to the mathematical model of the relevant level and state, the dangerous state is identified and combined with the electric proportional braking system, and anti-collision measures are taken without the intervention of the driver, thereby improving the safety and reliability of low-speed vehicle braking.

[0087] In addition, the parameters ΔS, S k , S l , S m and S n The braking comfort can be adjusted by setting the values ​​of these parameters; and the calculation of the speed limit value v also introduces the parameters ΔS, v m , S l and S k The smoothness of the transition from speed limit mode to braking mode can be adjusted by setting the values ​​of these parameters.

[0088] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0089] The above is a detailed introduction to the industrial vehicle reversing active anti-collision control system and the industrial vehicle reversing active anti-collision control method provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the scheme of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An industrial vehicle reversing active collision avoidance control system, characterized in that: include: Main controller; An on-board sensor connected to the main controller and used to measure the current speed v0 of the vehicle; Connected to the main controller, used to measure the relative distance S between the vehicle and the obstacle c and relative velocity v c Detector assembly; An alarm connected to the main controller for sounding an alarm; an engine controller connected to the main controller; An electric proportional brake system connected to the main controller for controlling vehicle braking; When reversing, the main controller calculates the required braking distance S0 of the vehicle according to the data collected by the vehicle-mounted sensor and the detector assembly, and calculates the braking margin distance ΔS and the speed limit starting distance S according to the required braking distance S0 of the vehicle. k , Braking start distance S l , Intermediate braking distance S m and terminal braking distance S n , so as to realize the braking margin distance ΔS, the speed limit starting distance S k , the braking starting distance S l , the intermediate braking distance S m and the terminal braking distance S n Control the alarm, the engine controller and the electric proportional brake system to work; the required braking distance S0 of the vehicle is based on Calculated, where Δt is the action time of the vehicle braking device, t1 is the duration of the braking force, is the ground friction coefficient, g is the acceleration due to gravity; The braking margin distance ΔS is calculated according to ΔS=S0-S c Calculate and obtain; The speed limit starting distance S k According to S k =S0×k calculated; The braking starting distance S l According to S l =S0×1 calculated; The intermediate braking distance S m According to S m =S0×m calculated; The terminal braking distance S n According to S n =S0×n, where k is the initial speed limit coefficient, l is the initial braking coefficient, m is the intermediate braking coefficient, and n is the terminal braking coefficient.

2. The industrial vehicle reversing active collision avoidance control system according to claim 1, characterized in that: The electric proportional brake system comprises an oil tank (1), an accumulator (8), a hydraulic brake valve (9), an electro-hydraulic brake valve (10), a shuttle valve (12) and a brake bridge (13); The SP port of the hydraulic brake valve (9) is connected to the accumulator (8), the BR port of the hydraulic brake valve (9) is connected to an input port of the shuttle valve (12), and the T port of the hydraulic brake valve (9) is connected to the oil tank (1); One end of the electromagnetic switch valve (101) of the electro-hydraulic brake valve (10) is connected to the accumulator (8), and the other end is connected to the SP port of the electromagnetic proportional valve (102) of the electro-hydraulic brake valve (10), the BR port of the electromagnetic proportional valve (102) is connected to another input port of the shuttle valve (12), and the T port of the electromagnetic proportional valve (102) is connected to the oil tank (1); The output port of the shuttle valve (12) is connected to the input port of the brake bridge (13).

3. The industrial vehicle reversing active collision avoidance control system according to claim 2, characterized in that: The electric proportional brake system also includes an oil drain valve (11), one end of which is connected to the oil tank (1), and the other end of which is connected to the input port of the brake bridge (13).

4. The industrial vehicle reversing active collision avoidance control system according to claim 2, characterized in that: The electric proportional brake system further comprises an oil pump (3) and a brake filling valve (4); one end of the oil pump (3) is connected to the oil tank (1), and the other end is connected to the brake filling valve (4); the brake filling valve (4) is connected to the accumulator (8); when the pressure of the accumulator (8) is lower than a preset value, the hydraulic oil in the oil tank (1) is transported to the brake filling valve (4) through the oil pump (3) to fill the accumulator (8).

5. The industrial vehicle reversing active collision avoidance control system according to claim 4, characterized in that: An oil suction filter (2) is connected between the oil pump (3) and the oil tank (1); a circulating oil filter (5) and a radiator (6) are connected between the brake filling valve (4) and the brake bridge (13).

6. The industrial vehicle reversing active collision avoidance control system according to any one of claims 1 to 5, characterized in that: The detector assembly includes a first radar and a second radar, and the first radar and the second radar are used to collect the relative distance and relative speed between the vehicle and the obstacle.

7. The industrial vehicle reversing active collision avoidance control system according to claim 6, characterized in that: The invention also includes a counterweight, wherein the first radar and the second radar are both arranged on the counterweight, and the first radar is installed on the left rear side of the counterweight, and the second radar is installed on the right rear side of the counterweight.

8. An industrial vehicle reverse active collision avoidance control method, characterized in that: The industrial vehicle reversing active collision avoidance control system applied to any one of claims 1 to 7 above comprises: Get the current speed v0 of the vehicle and the relative distance S between the vehicle and the obstacle c and relative velocity v c ; according to Calculate the required distance S0 for vehicle braking, where Δt is the action time of the vehicle braking device, and t1 is the duration of the braking force. is the ground friction coefficient, g is the acceleration due to gravity; According to ΔS=S0-S c Calculate the braking margin distance ΔS according to S k = S0×k Calculate the speed limit starting distance S k , according to S l =S0×lCalculate the braking starting distance S l , according to S m =S0×mCalculate the intermediate braking distance S m , according to S n =S0×nCalculate the terminal braking distance S n , where the initial speed limit coefficient k, initial braking coefficient l, intermediate braking coefficient m and terminal braking coefficient n are all adjustable parameters, k>l>m>n>0; According to the braking margin distance ΔS, the speed limit starting distance S k , the braking starting distance S l , the intermediate braking distance S m and the terminal braking distance S n Control the operation of the alarm, the engine controller and the electric proportional brake system.

9. The industrial vehicle reverse active collision avoidance control method according to claim 8, characterized in that: The braking margin distance ΔS, the speed limit starting distance S k , the braking starting distance S l , the intermediate braking distance S m and the terminal braking distance S n The steps of controlling the alarm, the engine controller and the electric proportional brake system to work include: When ΔS>2S k When the alarm is turned off, the engine controller is not limited in speed, the electromagnetic proportional valve (102) of the electric proportional brake system is opened to zero, the electromagnetic switch valve (101) of the electric proportional brake system is closed, and the oil drain valve (11) of the electric proportional brake system is opened; When S k <ΔS≤2S k When the alarm is controlled to sound a stop cycle alarm, the engine controller is not limited in speed, the opening of the electromagnetic proportional valve (102) is zero, the electromagnetic switch valve (101) is closed, and the oil drain valve (11) is opened; When S l <ΔS≤S k , the alarm is controlled to sound continuously, the engine controller speed limit is v, the electromagnetic proportional valve (102) opening is zero, the electromagnetic switch valve (101) is closed, and the oil drain valve (11) is opened, wherein the speed limit value v m is an adjustable parameter; When S m <ΔS≤S l When the alarm is controlled to keep sounding, the engine controller speed limit is zero, the opening of the electromagnetic proportional valve (102) is a first preset opening x1, the electromagnetic switch valve (101) is opened, and the oil drain valve (11) is closed, wherein the first preset opening When S n <ΔS≤S m When the alarm is controlled to sound continuously, the engine controller speed limit is zero, the opening of the electromagnetic proportional valve (102) is a second preset opening x2, the electromagnetic switch valve (101) is opened, and the oil drain valve (11) is closed, wherein the second preset opening When ΔS≤S n When the alarm is controlled to keep sounding, the engine controller speed limit is zero, the electromagnetic proportional valve (102) is opened to 100%, the electromagnetic switch valve (101) is opened, and the oil drain valve (11) is closed.

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