An industrial vehicle aisle travel safety control system and method thereof

Abstract

The application relates to the electrical field and discloses an industrial vehicle lane driving safety control system and a control method thereof. The system comprises: a plurality of magnetic switch groups, which are installed side by side on a vehicle front cross beam; a plurality of ground magnetic nails, which are arranged on a lane ground and correspond to positions of the magnetic switch groups; and a controller, which is used for controlling a driving speed of the vehicle in the lane by using interaction between the magnetic switch groups and the ground magnetic nails during vehicle forward driving or backward driving. Thus, human factors can be avoided, the automation degree of the vehicle is improved, lane driving safety can be effectively improved, driving and carrying efficiency is improved, guide rails and auxiliary wheels on both sides of the vehicle are effectively protected, and personnel and goods on both sides are protected.

Description

Technical Field

[0001] This invention relates to the field of electrical engineering, and in particular to a safety control system and control method for industrial vehicle roadway operation. Background Technology

[0002] Existing narrow-aisle industrial vehicles rely on visual inspection and manual adjustment. A flared guide is installed at the aisle opening, and after entering the opening, the vehicle is aligned and moves in a straight line through mechanical contact and compression between the guide rails on both sides of the aisle and the vehicle's auxiliary wheels. Once the vehicle is visually inspected or self-assessed as fully within the aisle, the aisle mode must be manually activated. This method involves too much human intervention, has low aisle alignment efficiency, makes it difficult to align the vehicle properly, and results in a large sway angle. This leads to the need for more time and greater adjustment force, reducing the lifespan of the guide rails and auxiliary wheels.

[0003] To improve handling efficiency, vehicles in narrow aisles are now going at increasingly higher speeds. However, current technology cannot implement safety measures such as deceleration and stopping at the end of the aisle or slow creeping at the aisle entrance. This makes it impossible to ensure the safety of personnel inside and outside the aisle and the shelves on both sides while the driver can quickly and efficiently handle goods. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide an industrial vehicle lane driving safety control system and its control method, which can avoid human factors, improve the degree of vehicle automation, effectively improve driving safety in lanes, and effectively protect the safety of shelves and personnel entering and exiting. The specific solution is as follows:

[0005] An industrial vehicle roadway driving safety control system includes:

[0006] Multiple magnetic switch groups are installed side by side on the front crossbeam of the vehicle;

[0007] Multiple ground magnetic nails are arranged on the tunnel floor at positions corresponding to the magnetic switch group;

[0008] A controller is used to control the vehicle speed in the alleyway by utilizing the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or reverse movement.

[0009] Preferably, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the magnetic switch group includes: a first magnetic switch group, a second magnetic switch group, a third magnetic switch group and a fourth magnetic switch group arranged sequentially along the extension direction of the front crossbeam of the vehicle;

[0010] The first magnetic switch group and the fourth magnetic switch group are arranged symmetrically along the center line of the front crossbeam;

[0011] The second magnetic switch group and the third magnetic switch group are arranged symmetrically along the center line of the front crossbeam;

[0012] The first magnetic switch group and the fourth magnetic switch group are proximity magnetic switches;

[0013] The second magnetic switch group and the third magnetic switch group are magnetic switches with polarity and memory.

[0014] Preferably, in the industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the ground magnetic nails include:

[0015] A first magnetic nail and a second magnetic nail, with the same magnetic pole direction, are placed at both ends of the tunnel floor;

[0016] A third magnetic nail is placed in the alleyway at a predetermined distance from the first magnetic nail and has the opposite polarity direction to the first magnetic nail;

[0017] A fourth magnetic nail is placed in the alleyway at a predetermined distance from the second magnetic nail and has the opposite polarity to the second magnetic nail; the first magnetic nail, the third magnetic nail, the second magnetic nail, and the fourth magnetic nail are located on the same straight line and match the position of the second magnetic switch group or the third magnetic switch group; the polarity of the second magnetic switch group and the third magnetic switch group are both opposite to the polarity of the first magnetic nail facing the vehicle direction;

[0018] A fifth and a sixth magnetic nail are arranged diagonally along the centerline of the tunnel floor; the fifth magnetic nail is matched with the position of the first magnetic switch group or the fourth magnetic switch group; the sixth magnetic nail is matched with the position of the fourth magnetic switch group or the first magnetic switch group.

[0019] Preferably, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the second magnetic switch group or the third magnetic switch group changes from normally open to normally closed when passing the third magnetic nail after passing the first magnetic nail, until it changes from normally closed to normally open when passing the second magnetic nail; if the vehicle changes its driving direction and passes the first magnetic nail, it changes from normally closed to normally open.

[0020] After passing the second magnetic nail, the second magnetic switch group or the third magnetic switch group changes from normally open to normally closed when passing the fourth magnetic nail, until it changes from normally closed to normally open when passing the first magnetic nail; if the vehicle changes its driving direction and passes the second magnetic nail, it changes from normally closed to normally open.

[0021] Preferably, in the above-described industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the controller is further configured to determine whether the vehicle is in the roadway based on the normally closed or normally open state of the second magnetic switch group or the third magnetic switch group.

[0022] Preferably, in the above-described industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the controller is further configured to control the vehicle to automatically enter roadway mode and lock the steering wheels after the vehicle passes the first magnetic nail and the third magnetic nail in sequence, or after the vehicle passes the second magnetic nail and the fourth magnetic nail in sequence; and to control the vehicle to automatically exit roadway mode after the vehicle passes the fourth magnetic nail and the second magnetic nail in sequence, or after the vehicle passes the third magnetic nail and the first magnetic nail in sequence.

[0023] Preferably, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the controller is specifically used to control the vehicle to travel at full speed when the vehicle's forward travel direction is from the first side of the roadway entrance to the second side, as the vehicle travels from an infinite distance from the first side of the roadway entrance, and sequentially passes the second magnetic nail, the fourth magnetic nail, the sixth magnetic nail, and finally the fifth magnetic nail; when the first magnetic switch group or the fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops; when the vehicle accelerates a second or more times and it is determined that the vehicle is still in the roadway, the controller controls the vehicle to travel at a set speed.

[0024] The controller is further configured to control the vehicle to travel at full speed when the vehicle is traveling backward from the second side to the first side of the tunnel entrance, as the vehicle moves backward from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail, the third magnetic nail, the fifth magnetic nail, and finally the sixth magnetic nail. When the fourth magnetic switch group or the first magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at the set speed.

[0025] The controller is further configured to control the vehicle to travel at full speed when the vehicle is traveling from the second side of the tunnel entrance to the first side, as the vehicle travels from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail, the third magnetic nail, the fifth magnetic nail, and finally the sixth magnetic nail; when the first magnetic switch group or the fourth magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops; when the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at a set speed.

[0026] The controller is further configured to control the vehicle to travel at full speed when the vehicle is traveling backward from the first side of the tunnel entrance to the second side, as the vehicle moves backward from an infinite distance from the first side of the tunnel entrance, passing the second magnetic nail, the fourth magnetic nail, the sixth magnetic nail, and finally the fifth magnetic nail. When the first magnetic switch group or the fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at a set speed.

[0027] This invention also provides a control method for the above-mentioned industrial vehicle roadway driving safety control system provided in this invention, comprising:

[0028] The vehicle speed in the tunnel is controlled by the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or backward movement.

[0029] Preferably, in the control method of the industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the vehicle speed in the roadway is controlled by the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or reverse movement, including:

[0030] When the vehicle is traveling from the first side of the tunnel entrance to the second side, after the vehicle passes the second and fourth magnetic nails in sequence, the second or third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheel; as the vehicle moves from an infinite distance from the first side of the tunnel entrance, passing the second, fourth, and sixth magnetic nails in sequence until it reaches the fifth magnetic nail, the vehicle is controlled to travel at full speed. When the first or fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. If the second or third magnetic switch group is still normally closed when the vehicle accelerates a second or more times, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the first magnetic nail, at which point the second or third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit the tunnel mode;

[0031] When the vehicle is traveling backward from the second side of the tunnel entrance to the first side, after the vehicle passes the first and third magnetic nails in sequence, the second or third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter tunnel mode and locking the steering wheels. As the vehicle reverses from an infinite distance from the second side of the tunnel entrance, passing the first, third, and fifth magnetic nails in sequence until reaching the sixth magnetic nail, the vehicle is controlled to travel at full speed. When the fourth or first magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the vehicle is controlled to travel at the set speed until it passes the second magnetic nail. At this point, the second or third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit tunnel mode.

[0032] Preferably, in the control method of the industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the vehicle speed in the roadway is controlled by the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or reverse movement, including:

[0033] When the vehicle is traveling from the second side to the first side of the tunnel entrance, after the vehicle passes the first magnetic nail and the third magnetic nail in sequence, the second magnetic switch group or the third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheel; as the vehicle moves forward from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail, the third magnetic nail, the fifth magnetic nail, and so on until the sixth magnetic nail, the vehicle is controlled to travel at full speed; when the first magnetic switch group or the fourth magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops; when the vehicle accelerates a second or more times and the second magnetic switch group or the third magnetic switch group is still normally closed, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the second magnetic nail, at which point the second magnetic switch group or the third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit the tunnel mode;

[0034] When the vehicle is traveling backward from the first side of the tunnel entrance to the second side, after the vehicle passes the second and fourth magnetic nails in sequence, the second or third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter tunnel mode and locking the steering wheels. As the vehicle reverses from an infinite distance from the first side of the tunnel entrance, passing the second, fourth, and sixth magnetic nails in sequence until reaching the fifth magnetic nail, the vehicle is controlled to travel at full speed. When the first or fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. If the second or third magnetic switch group remains normally closed when the vehicle accelerates a second or more times, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the first magnetic nail. At this point, the second or third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit tunnel mode.

[0035] As can be seen from the above technical solution, the industrial vehicle roadway driving safety control system provided by the present invention includes: multiple magnetic switch groups, which are installed side by side on the front crossbeam of the vehicle; multiple ground magnetic nails, which are arranged on the roadway floor and at positions corresponding to the magnetic switch groups; and a controller, which is used to control the vehicle speed in the roadway by utilizing the interaction between the magnetic switch groups and the ground magnetic nails during the vehicle's forward or backward movement.

[0036] The above-mentioned industrial vehicle lane driving safety control system provided by the present invention is equipped with a magnetic switch group installed on the front crossbeam of the vehicle and ground magnetic nails arranged on the lane floor. By utilizing the interaction between the magnetic switch group and the corresponding ground magnetic nails, the vehicle speed is automatically controlled in the lane during the forward or backward movement of the vehicle. This can avoid human factors, improve the degree of vehicle automation, effectively improve driving safety in the lane, improve driving and handling efficiency, effectively protect the guide rails and auxiliary wheels on both sides of the vehicle, and ensure the safety of personnel and goods on both sides.

[0037] Furthermore, this invention also provides a corresponding control method for the roadway driving safety control system of industrial vehicles, which further enhances the practicality of the above method and has corresponding advantages. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 This is a schematic diagram showing the distribution of the four magnetic switch groups provided in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the industrial vehicle roadway driving safety control system provided in an embodiment of the present invention when the vehicle is in the first state.

[0041] Figure 3 This is a schematic diagram of the structure of the industrial vehicle roadway driving safety control system provided in the embodiment of the present invention when the vehicle is in the second state. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] This invention provides a safety control system for industrial vehicle roadway operation, such as... Figures 1 to 3 As shown, it includes:

[0044] Multiple magnetic switch groups are installed side by side on the front crossbeam A of the vehicle;

[0045] Multiple ground magnetic nails are placed on the tunnel floor at positions corresponding to the magnetic switch group;

[0046] The controller is used to control the vehicle speed in the tunnel by utilizing the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or reverse movement.

[0047] In the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, a magnetic switch group installed on the front crossbeam of the vehicle and a ground magnetic nail arranged on the roadway floor are provided. By utilizing the interaction between the magnetic switch group and the corresponding ground magnetic nail, the vehicle speed in the roadway is automatically controlled during the vehicle's forward or backward movement. This can avoid human factors, improve the degree of vehicle automation, effectively improve driving safety in the roadway, increase driving and handling efficiency, effectively protect the guide rails and auxiliary wheels on both sides of the vehicle, and ensure the safety of personnel and goods on both sides.

[0048] It should be noted that, in this invention, as Figure 2 and Figure 3As shown, the industrial vehicle roadway driving safety control system also includes: four auxiliary wheels (wheel 01, wheel 02, wheel 03, and wheel 04), two rails (guide rail 10 and guide rail 20), a steering wheel, an integrated handle, a motor controller, a steering motor, a travel motor, a large gear disk, a small gear disk, and a key switch. Two auxiliary wheels are arranged on each side of the vehicle, and guide rails 10 and 20 are arranged on both sides of the roadway. Guide rail 10 and wheels 01 and 03 are arranged on the same side, and guide rail 20 and wheels 02 and 04 are arranged on the same side. Wheels 01 and 03 mechanically contact and press against guide rail 10 to ensure the vehicle does not leave guide rail 10, and wheels 02 and 04 mechanically contact and press against guide rail 20 to ensure the vehicle does not leave guide rail 20. Guide rails 10 and 20 ensure that the vehicle always stays within the roadway and travels in a straight line within the guide rails.

[0049] The vehicle's steering motor rotates, driving a small gear to rotate, which in turn drives a large gear to rotate, which in turn drives the travel motor and the vehicle itself, thus achieving steering. When entering tunnel mode, the steering motor locks, preventing the vehicle from steering. The integrated handle contains an acceleration analog signal and a direction switch to control the vehicle's forward / reverse movement and acceleration signals. Outside the tunnel, the vehicle can always travel at full speed or its maximum speed; the speed is controlled by the accelerator, and no speed limiter is implemented.

[0050] In specific implementation, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, such as Figure 1 As shown, the magnetic switch group may include: a first magnetic switch group SW1 / SW2, a second magnetic switch group SW5 / SW6, a third magnetic switch group SW7 / SW8 and a fourth magnetic switch group SW3 / SW4 arranged sequentially along the extension direction of the front crossbeam A of the vehicle.

[0051] The first magnetic switch group SW1 / SW2 and the fourth magnetic switch group SW3 / SW4 are arranged symmetrically along the center line of the front crossbeam A;

[0052] The second magnetic switch group SW5 / SW6 and the third magnetic switch group SW7 / SW8 are arranged symmetrically along the center line of the front crossbeam A;

[0053] The first magnetic switch group SW1 / SW2 and the fourth magnetic switch group SW3 / SW4 are proximity magnetic switches;

[0054] The second magnetic switch group SW5 / SW6 and the third magnetic switch group SW7 / SW8 are polarized magnetic switches with memory function.

[0055] It should be noted that SW1 / SW2 / SW3 / SW4 / SW5 / SW6 / SW7 / SW8 are all passive magnetic switches, requiring no power supply and having a long lifespan. To ensure stable and reliable vehicle operation, this invention employs a redundant paired arrangement of switches, meaning each magnetic switch group contains two magnetic switches. These two switches must operate simultaneously for the switch to be effective. If the signals from these two switches are inconsistent and persist for a certain period, a relevant judgment will be made, the instrument panel will display an indication, and the vehicle will be stopped for inspection and maintenance, resuming slow-speed driving.

[0056] The operating principle of switches SW5 / SW6 / SW7 / SW8 is as follows: when the switch is a magnetic switch with a polarized S pole, the switch signal does not change when passing the S pole of a ground magnetic nail. Only when passing the N pole of a ground magnetic nail will the switch change from normally open to normally closed. Once the switch is normally closed, it remains in a normally closed state regardless of whether there is an N pole magnetic nail on the ground or not, until it senses the S pole of a ground magnetic nail a second time, at which point the switch changes from normally closed to normally open again. Therefore, it can be determined that if the switch is normally open, the vehicle is outside the lane; if the switch is normally closed, the vehicle is inside the lane.

[0057] In specific implementation, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, such as Figure 2 and Figure 3 As shown, ground magnetic nails may include:

[0058] A first magnetic nail S1 and a second magnetic nail S2 are arranged at both ends of the tunnel floor with the same magnetic pole direction;

[0059] A third magnetic nail N1 is placed in the alleyway at a set distance from the first magnetic nail S1 and has the opposite polarity to the first magnetic nail S1;

[0060] A fourth magnetic nail N2 is placed in the alleyway at a set distance from the second magnetic nail S2 and has the opposite polarity to the second magnetic nail S2;

[0061] The fifth magnetic nail N3 and the sixth magnetic nail N4 are arranged diagonally along the centerline of the tunnel floor.

[0062] Specifically, the first magnetic nail S1, the third magnetic nail N1, the second magnetic nail S2, and the fourth magnetic nail N2 are located on the same straight line and match the positions of the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8. The polarities of the second magnetic switch group SW5 / SW6 and the third magnetic switch group SW7 / SW8 are opposite to the polarity of the first magnetic nail S1 facing the vehicle direction. The fifth magnetic nail N3 matches the position of the first magnetic switch group SW1 / SW2 or the fourth magnetic switch group SW3 / SW4; the sixth magnetic nail N4 matches the position of the fourth magnetic switch group SW3 / SW4 or the first magnetic switch group SW1 / SW2.

[0063] It should be noted that, Figure 2 and Figure 3 The first magnetic nail S1, the second magnetic nail S2, the third magnetic nail N1, and the fourth magnetic nail N2 are located on the same straight line. When the vehicle is... Figure 2 The first state (i.e., traveling in a certain direction) or Figure 3 In the second state (i.e., changing the driving direction and making a U-turn), the positions of the four magnetic nails, namely the first magnetic nail S1, the second magnetic nail S2, the third magnetic nail N1, and the fourth magnetic nail N2, can be adjusted according to the actual situation, whether they are matched with the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8.

[0064] Preferably, the S-pole of the first magnetic nail S1 and the second magnetic nail S2 is on top, and the N-pole of the third magnetic nail N1 and the fourth magnetic nail N2 is on top. In this case, the second magnetic switch SW5 / SW6 or the third magnetic switch group SW7 / SW8 can be a magnetic switch with the S-pole. The fifth magnetic nail N3 and the sixth magnetic nail N4 are ordinary switches and their polarity is not subject to special requirements. Furthermore, to protect the magnetic nails from being crushed by the wheels, all six magnetic nails are located outside the drive wheel, not on the center line of the tunnel or directly above the drive wheel.

[0065] In specific implementation, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, such as Figure 2 As shown, starting from outside the alleyway entrance, when a vehicle reverses from the second side of the alleyway entrance to the first side (from left to right), or, as... Figure 3 As shown, starting from outside the tunnel entrance, when the vehicle moves from the second side of the tunnel entrance to the first side (from left to right), the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed when passing the first magnetic nail S1 and then the third magnetic nail N1, until it changes from normally closed to normally open when passing the second magnetic nail S2.

[0066] like Figure 2 As shown, starting from outside the alleyway entrance, when a vehicle reverses from the second side of the alleyway entrance to the first side (from left to right), or, as... Figure 3 As shown, starting from outside the tunnel entrance, when the vehicle moves from the second side to the first side (from left to right) of the tunnel entrance, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed after passing the first magnetic nail S1 and then the third magnetic nail N1; after changing the direction of the vehicle's travel, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally closed to normally open when passing the first magnetic nail S1 from right to left.

[0067] In addition, such as Figure 2 As shown, starting from outside the alleyway entrance, when vehicles move from the first side of the alleyway entrance to the second side (from right to left), or, as... Figure 3As shown, starting from outside the tunnel entrance, when the vehicle reverses from the first side to the second side (from right to left) of the tunnel entrance, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed when passing the second magnetic nail S2 and then the fourth magnetic nail N2, until it changes from normally closed to normally open when passing the first magnetic nail S1.

[0068] like Figure 2 As shown, starting from outside the alleyway entrance, when vehicles move from the first side of the alleyway entrance to the second side (from right to left), or, as... Figure 3 As shown, starting from outside the tunnel entrance, when the vehicle reverses from the first side to the second side (from right to left) of the tunnel entrance, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed after passing the second magnetic nail S2 and then the fourth magnetic nail N2; after changing the vehicle's direction of travel, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally closed to normally open when passing the second magnetic nail S2 from left to right.

[0069] Furthermore, in a specific implementation, in the above-described industrial vehicle roadway driving safety control system provided in this embodiment of the invention, the controller can also be used to determine whether a vehicle is in the roadway based on the normally closed or normally open state of the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8. This enables the vehicle to automatically identify whether it is inside or outside the roadway.

[0070] Furthermore, in specific implementations, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, such as... Figure 2 and Figure 3 As shown, the controller can also be used when the vehicle passes the first magnetic nail S1 and the third magnetic nail N1 in sequence (i.e., Figure 2 The vehicle travels in a reverse direction from left to right or Figure 3 After the vehicle travels in a forward direction from left to right, or after the vehicle passes the second magnetic nail S2 and the fourth magnetic nail N2 in sequence (i.e., Figure 2 The vehicle travels in the direction of right to left or Figure 3 After the vehicle travels in a reverse direction from right to left, the controller automatically enters the tunnel mode and locks the steering wheels. If the tunnel mode is not activated, it indicates that the switches of the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 are not closed, which may mean that the vehicle is not aligned correctly and needs to exit the tunnel again to ensure that the vehicle is aligned correctly. Additionally, the controller can also be used when the vehicle passes the fourth magnetic nail N2 and the second magnetic nail S2 (i.e.,... Figure 2 The vehicle travels in a reverse direction from left to right or Figure 3 After the vehicle travels in a forward direction from left to right, or after the vehicle passes the third magnetic nail N1 and the first magnetic nail S1 in sequence (i.e., Figure 2The vehicle travels in the direction of right to left or Figure 3 After the vehicle travels in a reverse direction from right to left, the vehicle automatically exits the alleyway mode.

[0071] This allows the vehicle to automatically identify whether it is inside or outside the tunnel and automatically activate the tunnel mode without manual switching, improving safety, tunnel alignment efficiency, reducing vehicle sway angle, shortening tunnel correction time, and extending the life of tracks and auxiliary wheels.

[0072] It should be pointed out that, with Figure 2 For example, the first magnetic switch group SW1 / SW2 is mainly used for deceleration and stopping the vehicle when it is moving forward. Together with the second magnetic switch group SW5 / SW6, it is used to identify whether the vehicle is in the aisle. When used in conjunction, it ensures that after the vehicle has decelerated and stopped while moving forward, it can slowly creep between the fifth magnetic nail N3 and the first magnetic nail S1 when it moves forward again. The fourth magnetic switch group SW3 / SW4 is mainly used for deceleration and stopping the vehicle when it is moving backward. Together with the third magnetic switch group SW7 / SW8, it is used to identify whether the vehicle is in the aisle. When used in conjunction, it ensures that after the vehicle has decelerated and stopped while moving backward, it can slowly creep between the sixth magnetic nail N4 and the second magnetic nail S2 when it moves backward again. That is, when the vehicle is moving forward, the deceleration and stopping boundary is immediately after passing the fifth magnetic nail N3; when the vehicle is moving backward, the deceleration and stopping boundary is immediately after passing the sixth magnetic nail N4.

[0073] by Figure 3 For example, the fourth magnetic switch group SW3 / SW4 is mainly used for deceleration and stopping when the vehicle is reversing. At the same time, together with the third magnetic switch group SW7 / SW8, it is used to identify whether the vehicle is in the alley. When used together, it ensures that after the vehicle has decelerated and stopped when reversing, it can slowly creep between the fifth magnetic nail N3 and the first magnetic nail S1 when reversing again. The first magnetic switch group SW1 / SW2 is mainly used for deceleration and stopping when the vehicle is moving forward. At the same time, together with the second magnetic switch group SW5 / SW6, it is used to identify whether the vehicle is in the alley. When used together, it ensures that after the vehicle has decelerated and stopped when reversing, it can slowly creep between the sixth magnetic nail N4 and the second magnetic nail S2 when reversing again.

[0074] Therefore, in specific implementation, in the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the controller can be specifically used when the vehicle's forward driving direction is from the first side of the roadway entrance to the second side (i.e., Figure 2When the vehicle moves forward from right to left, it travels at full speed from the first side (right side) of the tunnel entrance, passing the second magnetic nail S2, the fourth magnetic nail N2, the sixth magnetic nail N4, and finally the fifth magnetic nail N3. When the first magnetic switch group SW1 / SW2 or the fourth magnetic switch group SW3 / SW4 passes the fifth magnetic nail N3 and a change in the switch pulse signal (a rising edge pulse signal) is detected, the vehicle is decelerated until it stops. When the vehicle accelerates a second or more times, if it is determined that the vehicle is still in the tunnel, the vehicle is controlled to travel at the set speed.

[0075] The controller can also be used when the vehicle's reverse direction is from the second side to the first side of the alleyway entrance (i.e., Figure 2 When the vehicle is reversing from left to right, it moves at full speed as it moves from the second side (left side) of the tunnel entrance to an infinite distance away, passing the first magnetic nail S1, the third magnetic nail N1, the fifth magnetic nail N3, and finally the sixth magnetic nail N4. When the fourth magnetic switch group SW3 / SW4 or the first magnetic switch group SW1 / SW2 passes the sixth magnetic nail N4 and a change in the switch pulse signal is detected, the vehicle is decelerated until it stops. When the vehicle accelerates a second or more times, if it is determined that the vehicle is still in the tunnel, the vehicle is controlled to travel at the set speed.

[0076] by Figure 2 For example, when the first magnetic switch group SW1 / SW2 passes the fifth magnetic nail N3, there is a change in the switch pulse signal. When the vehicle moves forward past the fifth magnetic nail N3, the vehicle decelerates until it stops. If the vehicle accelerates a second or more times, it is found that the vehicle is still in the alleyway, so the vehicle always travels at a slow speed (e.g., 2.5 km / h). When the fourth magnetic switch group SW3 / SW4 passes the sixth magnetic nail N4, there is a change in the switch pulse signal. When the vehicle reverses past the sixth magnetic nail N4, the vehicle decelerates until it stops. If the vehicle accelerates a second or more times, it is found that the vehicle is still in the alleyway, so the vehicle always travels at a slow speed (e.g., 2.5 km / h). However, when the vehicle reverses past the fifth magnetic nail N3, it travels at full speed without decelerating or stopping, and when it moves forward past the sixth magnetic nail N4, it travels at full speed without decelerating or stopping.

[0077] It is understandable that, such as Figure 2As shown, when the vehicle moves forward, the process from infinitely far outside the alleyway entrance to the fifth magnetic nail N3 is at full speed. After passing the fifth magnetic nail N3, the vehicle will decelerate and stop. However, since the speed before passing the fifth magnetic nail N3 may not be at full speed, after decelerating and stopping, the vehicle will stop between the fifth magnetic nail N3 and the first magnetic nail S1. When accelerating again, the maximum speed can only reach 2.5 km / h until the vehicle exits the first magnetic nail S1 and returns to full speed. Similarly, when the vehicle moves backward, the process from infinitely far outside the alleyway entrance to the sixth magnetic nail N4 is at full speed. After passing the sixth magnetic nail N4, the vehicle will decelerate and stop. However, since the speed before passing the sixth magnetic nail N4 may not be at full speed, after decelerating and stopping, the vehicle will stop between the sixth magnetic nail N4 and the second magnetic nail S2. When accelerating again, the maximum speed can only reach 2.5 km / h until the vehicle exits the second magnetic nail S2 and returns to full speed. When the vehicle is moving at full speed in the tunnel, when it passes the fifth magnetic nail N3 or the sixth magnetic nail N4, the motor needs to provide sufficient regenerative braking to ensure that the vehicle does not leave the first magnetic nail S1 or the second magnetic nail S2, that is, to ensure that the vehicle does not leave the tunnel in the direction of travel, so as to ensure safety.

[0078] Furthermore, the controller can also be used specifically when the vehicle's forward travel direction is from the second side to the first side of the alleyway entrance (i.e., Figure 3 When the vehicle moves forward from left to right, it travels at full speed as it passes the first magnetic nail S1, the third magnetic nail N1, the fifth magnetic nail N3, and finally the sixth magnetic nail N4. When the first magnetic switch group SW1 / SW2 or the fourth magnetic switch group SW3 / SW4 passes the sixth magnetic nail N4 and a change in the switch pulse signal is detected, the vehicle is slowed down until it stops. When the vehicle accelerates a second or more times, if it is determined that the vehicle is still in the alley, the vehicle is controlled to travel at the set speed.

[0079] The controller can also be used when the vehicle's reverse direction is from the first side of the alleyway entrance to the second side (i.e., Figure 3 When the vehicle is reversing from right to left, it moves at full speed as it moves from the first side (right side) of the tunnel entrance to an infinite distance away, passing the second magnetic nail S2, the fourth magnetic nail N2, the sixth magnetic nail N4, and finally the fifth magnetic nail N3. When the first magnetic switch group SW1 / SW2 or the fourth magnetic switch group SW3 / SW4 passes the fifth magnetic nail N3 and a change in the switch pulse signal is detected, the vehicle is decelerated until it stops. When the vehicle accelerates a second or more times, if it is determined that the vehicle is still in the tunnel, the vehicle is controlled to travel at the set speed.

[0080] by Figure 3For example, when the first magnetic switch group SW1 / SW2 passes the sixth magnetic nail N4, there is a change in the switch pulse signal. When the vehicle moves forward past the sixth magnetic nail N4, the vehicle decelerates until it stops. If the vehicle accelerates a second or more times, it is found that the vehicle is still in the alleyway, so the vehicle always travels at a slow speed (e.g., 2.5 km / h). When the fourth magnetic switch group SW3 / SW4 passes the fifth magnetic nail N3, there is a change in the switch pulse signal. When the vehicle reverses past the fifth magnetic nail N5, the vehicle decelerates until it stops. If the vehicle accelerates a second or more times, it is found that the vehicle is still in the alleyway, so the vehicle always travels at a slow speed (e.g., 2.5 km / h). However, when the vehicle reverses past the sixth magnetic nail N4, it travels at full speed without decelerating or stopping, and when it moves forward past the fifth magnetic nail N3, it travels at full speed without decelerating or stopping.

[0081] This design enables functions such as deceleration and stopping at the end of the aisle and slow creeping at the aisle entrance. While ensuring rapid and efficient material handling within the aisle, it also achieves automatic deceleration and stopping at the end of the aisle and slow creeping at the aisle entrance, ensuring vehicle safety when exiting the aisle, improving driving and handling efficiency, and further protecting the racks and personnel. Preferably, the speed can be set within the range of 0.5 km / h to 2.5 km / h.

[0082] Preferably, in order to ensure that vehicles can decelerate and stop in time when passing the fifth magnetic nail N3 or the sixth magnetic nail N4 at their maximum speed in the tunnel, and to ensure that the vehicles have enough time to overcome inertia and decelerate without running out of the tunnel entrance, the arrangement distance between the first magnetic nail S1 and the fifth magnetic nail N3 and the arrangement distance between the second magnetic nail S2 and the sixth magnetic nail N4 can generally be 4.5 meters to 6.5 meters.

[0083] The distance between the first magnetic nail S1 and the third magnetic nail N1, and the distance between the second magnetic nail S2 and the fourth magnetic nail N2, are generally no less than the length of a vehicle body. Thus, when the vehicle passes between the first magnetic nail S1 and the third magnetic nail N1 or between the second magnetic nail S2 and the fourth magnetic nail N2, if the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 are both closed, the vehicle will definitely be straight when entering the tunnel. Otherwise, the vehicle will be swaying and will need to exit the tunnel again and re-enter.

[0084] To ensure vehicle operation safety, the distance between the third magnetic nail N1 and the fourth magnetic nail N2 must match the distance between the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 on the chassis. This distance must ensure that when the vehicle passes the third magnetic nail N1 or the fourth magnetic nail N2, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 can be normally closed, ensuring that at least one pair of auxiliary wheels are inside the tunnel, and that the auxiliary wheels can still reliably compress when entering the tunnel. The distance between the first magnetic nail S1 and the second magnetic nail S2 must ensure that when the vehicle passes the first magnetic nail S1 or the second magnetic nail S2, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 can be normally open, and that at least one pair of auxiliary wheels are outside the tunnel (when exiting the tunnel).

[0085] It should be emphasized that if the vehicle is powered off and restarted between the fifth magnetic nail N3 and the sixth magnetic nail N4, the switching signals of the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 can still be identified as normally closed signals after power failure. This means that the vehicle is in the tunnel, and it can still decelerate and stop, maintain the distance between the first magnetic nail S1 and the fifth magnetic nail N3, and the distance between the second magnetic nail S2 and the sixth magnetic nail N4, and drive at a slow speed of 2.5 km / h.

[0086] If the vehicle is powered off and restarted between the fifth magnetic nail N3 and the first magnetic nail S1 or between the sixth magnetic nail N4 and the second magnetic nail S2, the switch signals of the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 can still be identified as normally closed signals, indicating that the vehicle is in the tunnel. However, since the vehicle itself is relatively long, it only needs to travel about 1.5 meters to exit the tunnel. The vehicle speed from zero to the tunnel entrance is not very high, so safety can be avoided through manual braking or other operating methods.

[0087] Based on the same inventive concept, this invention also provides a control method for an industrial vehicle roadway traffic safety control system. Since the principle of this method in solving the problem is similar to that of the aforementioned industrial vehicle roadway traffic safety control system, the implementation of this method can refer to the implementation of the industrial vehicle roadway traffic safety control system, and the repeated parts will not be described again.

[0088] In specific implementation, the control method of the industrial vehicle roadway driving safety control system provided in the embodiments of the present invention may include: controlling the vehicle speed in the roadway by utilizing the interaction between the magnetic switch group and the ground magnetic nail during the vehicle's forward or backward movement.

[0089] In the control method of the above-mentioned industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, human factors can be avoided, the degree of vehicle automation can be improved, and driving safety in the roadway can be effectively improved, driving and handling efficiency can be improved, the guide rail and auxiliary wheels on both sides of the vehicle can be effectively protected, and the safety of personnel and goods on both sides can be guaranteed.

[0090] In specific implementation, in the control method of the industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the vehicle speed in the roadway is controlled by the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or reverse movement. Figure 2 As shown, it can specifically include:

[0091] When the vehicle travels from the first side of the tunnel entrance to the second side, after the vehicle passes the second magnetic nail S2 and the fourth magnetic nail N2 in sequence, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheels; as the vehicle travels from an infinite distance from the first side of the tunnel entrance, passing the second magnetic nail S2, the fourth magnetic nail N2, the sixth magnetic nail N4, and finally the fifth magnetic nail N3, the vehicle is controlled to travel at full speed, and the first magnetic switch group SW1 / SW2... When the fourth magnetic switch group SW3 / SW4 passes the fifth magnetic nail N3 and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. If the vehicle accelerates a second or more times and the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 is still normally closed, it is determined that the vehicle is still in the tunnel. The vehicle is controlled to travel at the set speed until the vehicle passes the first magnetic nail S1. At this time, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally closed to normally open, and the vehicle is controlled to automatically exit the tunnel mode.

[0092] When the vehicle is reversing from the second side of the tunnel entrance to the first side, after the vehicle passes the first magnetic nail S1 and the third magnetic nail N3 in sequence, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheel; as the vehicle reverses from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail S1, the third magnetic nail N1, the fifth magnetic nail N3, and so on until the sixth magnetic nail N4, the vehicle is controlled to travel at full speed, and at the fourth magnetic switch group SW3 / SW4 or the first magnetic switch group SW7 / SW8 changes from normally open to normally closed. When switch groups SW1 / SW2 pass the sixth magnetic nail N4 and detect a change in the switch pulse signal, the vehicle is controlled to decelerate until it stops. When the vehicle accelerates a second or more times, if it is determined that the vehicle is still in the tunnel, and the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 is still normally closed, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the second magnetic nail S2. At this time, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally closed to normally open, and the vehicle is controlled to automatically exit the tunnel mode.

[0093] Specifically, with Figure 2 For example, when a vehicle reverses from the outside of the tunnel into the tunnel, the signal of the second magnetic switch group SW5 / SW6 remains unchanged when it passes the first magnetic nail S1. When it passes the third magnetic nail N1, the switch of the second magnetic switch group SW5 / SW6 becomes normally closed. After passing the third magnetic nail N1, the switch of the second magnetic switch group SW5 / SW6 remains normally closed. Therefore, when the vehicle passes the third magnetic nail N1, the vehicle automatically activates the tunnel mode and the steering wheels lock. If the tunnel mode does not activate when passing the third magnetic nail N1, it means that the switch of the second magnetic switch group SW5 / SW6 is not closed. In this case, the vehicle may not be straightened and needs to exit the tunnel again to ensure that the vehicle is straightened.

[0094] Then, as the vehicle continues to reverse, it can always reverse at full speed before passing the sixth magnetic nail N4, with the speed controlled only by the accelerator. After the vehicle passes the sixth magnetic nail N4, the fourth magnetic switch group SW3 / SW4 simultaneously detects a switch pulse signal, and the vehicle decelerates and stops. If the vehicle detects that the signal of the second magnetic switch group SW5 / SW6 is still closed, it means that the vehicle is still in the tunnel. When the vehicle reverses again, it runs at a low speed of 2.5 km / h until it passes the second magnetic nail S2. At this time, the second magnetic switch group SW5 / SW6 simultaneously detects that the switch has become normally open, which means that the vehicle has exited the tunnel. The vehicle automatically exits the tunnel mode and can run at full speed.

[0095] Still with Figure 2For example, when a vehicle enters the tunnel from the outside, the signal of the second magnetic switch group SW5 / SW6 remains unchanged when it passes the second magnetic nail S2. When it passes the fourth magnetic nail N2, the switches of the second magnetic switch group SW5 / SW6 become normally closed. After passing the fourth magnetic nail N2, the switches of the second magnetic switch group SW5 / SW6 remain normally closed. Therefore, when the vehicle passes the fourth magnetic nail N2, the vehicle automatically activates the tunnel mode and the steering wheels lock. If the tunnel mode does not activate when passing the fourth magnetic nail N2, it means that the switches of the second magnetic switch group SW5 / SW6 are not closed. In this case, the vehicle may not be aligned properly and needs to exit the tunnel again to ensure that the vehicle is aligned.

[0096] Then, as the vehicle continues to move forward, it can always move at full speed before passing the fifth magnetic nail N3, with the speed controlled only by the accelerator. After the vehicle passes the fifth magnetic nail N3, the first magnetic switch group SW1 / SW2 simultaneously detects a switch pulse signal, and the vehicle decelerates and stops. If the vehicle detects that the signal of the second magnetic switch group SW5 / SW6 is still closed, it means that the vehicle is still in the tunnel. When the vehicle moves forward again, it operates at a low speed of 2.5 km / h until the vehicle passes the first magnetic nail S1. At this time, the second magnetic switch group SW5 / SW6 simultaneously detects that the switch has become normally open, which means that the vehicle has exited the tunnel. The vehicle automatically exits the tunnel mode and can run at full speed.

[0097] Furthermore, in specific implementation, in the control method of the industrial vehicle roadway driving safety control system provided in the embodiments of the present invention, the vehicle speed in the roadway is controlled by the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or reverse movement, such as... Figure 3 As shown, it can also specifically include:

[0098] When the vehicle travels from the second side of the tunnel entrance to the first side, as the vehicle passes the first magnetic nail S1 and the third magnetic nail N1 in sequence, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed, controlling the vehicle to automatically enter tunnel mode and locking the steering wheels. As the vehicle travels from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail S1, the third magnetic nail N1, the fifth magnetic nail N3, and finally the sixth magnetic nail N4, the vehicle is controlled to travel at full speed. The first magnetic switch group SW1 / SW2... When the fourth magnetic switch group SW3 / SW4 passes the sixth magnetic nail N4 and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. When the vehicle accelerates a second or more times, if the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 is still normally closed, it is determined that the vehicle is still in the tunnel. The vehicle is controlled to travel at the set speed until the vehicle passes the second magnetic nail S2. Then, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally closed to normally open, and the vehicle is controlled to automatically exit the tunnel mode.

[0099] When the vehicle is reversing from the first side of the tunnel entrance to the second side, after the vehicle passes the second magnetic nail S2 and the fourth magnetic nail N2 in sequence, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheel; as the vehicle reverses from an infinite distance from the first side of the tunnel entrance, passing the second magnetic nail S2, the fourth magnetic nail N2, the sixth magnetic nail N4, and so on until the fifth magnetic nail N3, the vehicle is controlled to travel at full speed, and the first magnetic switch group SW1 / SW2... When the fourth magnetic switch group SW3 / SW4 passes the fifth magnetic nail N3 and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. If the vehicle accelerates a second or more times and the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 is still normally closed, it is determined that the vehicle is still in the tunnel. The vehicle is controlled to travel at the set speed until the vehicle passes the first magnetic nail S1. At this time, the second magnetic switch group SW5 / SW6 or the third magnetic switch group SW7 / SW8 changes from normally closed to normally open, and the vehicle is controlled to automatically exit the tunnel mode.

[0100] It should be noted that, Figure 3 The second state of the vehicle and Figure 2 The first state of the vehicle is symmetrically distributed. In order to ensure that the vehicle can achieve the function and safety of the first state when turning around, the working principle of the second state of the vehicle is similar to that of the first state.

[0101] For more detailed information on the above steps, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0102] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the methods disclosed in the embodiments, since they correspond to the systems disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the system section description.

[0103] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0104] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0105] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0106] The above provides a detailed description of the industrial vehicle roadway driving safety control system and its control method provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A roadway driving safety control system for industrial vehicles, characterized in that, include: Multiple magnetic switch groups are mounted side-by-side on the front crossbeam of a vehicle. Each magnetic switch group includes a first, second, third, and fourth magnetic switch group arranged sequentially along the extension direction of the front crossbeam. The first and fourth magnetic switch groups are symmetrically arranged along the centerline of the front crossbeam. The second and third magnetic switch groups are also symmetrically arranged along the centerline of the front crossbeam. The first and fourth magnetic switch groups are proximity-type magnetic switches. The second and third magnetic switch groups are polarized magnetic switches with memory function. All four magnetic switch groups are passive magnetic switches. Each of the four magnetic switch groups is redundantly paired. Multiple ground magnetic nails are arranged on the tunnel floor at positions corresponding to the magnetic switch group. The ground magnetic nails include: a first magnetic nail and a second magnetic nail arranged at both ends of the tunnel floor with the same magnetic pole direction; a third magnetic nail arranged within the tunnel at a predetermined distance from the first magnetic nail with a polarity opposite to that of the first magnetic nail; a fourth magnetic nail arranged within the tunnel at a predetermined distance from the second magnetic nail with a polarity opposite to that of the second magnetic nail; the first, third, second, and fourth magnetic nails are located on the same straight line and match the position of the second or third magnetic switch group; the polarities of the second and third magnetic switch groups are both opposite to the polarity of the first magnetic nail facing the vehicle; a fifth and a sixth magnetic nail are arranged diagonally along the centerline of the tunnel floor; the fifth magnetic nail matches the position of the first or fourth magnetic switch group; the sixth magnetic nail matches the position of the fourth or first magnetic switch group; the first, second, third, fourth, fifth, and sixth magnetic nails are all located outside the drive wheel. After passing the first magnetic nail, the second magnetic switch group or the third magnetic switch group changes from normally open to normally closed when passing the third magnetic nail, until it changes from normally closed to normally open when passing the second magnetic nail; if the vehicle changes its direction of travel and passes the first magnetic nail, it changes from normally closed to normally open. After passing the second magnetic nail, the second magnetic switch group or the third magnetic switch group changes from normally open to normally closed when passing the fourth magnetic nail, until it changes from normally closed to normally open when passing the first magnetic nail; if the vehicle changes its direction of travel and passes the second magnetic nail, it changes from normally closed to normally open. The controller is used to control the vehicle speed in the alleyway by utilizing the interaction between the magnetic switch group and the ground magnetic nail during the vehicle's forward or reverse movement; it is also used to determine whether the vehicle is in the alleyway based on the normally closed or normally open state of the second magnetic switch group or the third magnetic switch group.

2. The industrial vehicle roadway driving safety control system according to claim 1, characterized in that, The controller is further configured to automatically enter the lane mode and lock the steering wheels when the vehicle passes the first magnetic nail and the third magnetic nail in sequence, or when the vehicle passes the second magnetic nail and the fourth magnetic nail in sequence; and to automatically exit the lane mode when the vehicle passes the fourth magnetic nail and the second magnetic nail in sequence, or when the vehicle passes the third magnetic nail and the first magnetic nail in sequence.

3. The industrial vehicle roadway driving safety control system according to claim 2, characterized in that, The controller is specifically used to control the vehicle to travel at full speed when the vehicle is traveling from the first side to the second side of the tunnel entrance. As the vehicle travels from an infinite distance from the first side of the tunnel entrance, passing the second magnetic nail, the fourth magnetic nail, the sixth magnetic nail, and finally the fifth magnetic nail, the controller controls the vehicle to travel at full speed. When the first magnetic switch group or the fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at the set speed. The controller is further configured to control the vehicle to travel at full speed when the vehicle is traveling backward from the second side to the first side of the tunnel entrance, as the vehicle moves backward from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail, the third magnetic nail, the fifth magnetic nail, and finally the sixth magnetic nail. When the fourth magnetic switch group or the first magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at the set speed. The controller is further configured to control the vehicle to travel at full speed when the vehicle is traveling from the second side of the tunnel entrance to the first side, as the vehicle travels from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail, the third magnetic nail, the fifth magnetic nail, and finally the sixth magnetic nail; when the first magnetic switch group or the fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops; when the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at a set speed. The controller is further configured to control the vehicle to travel at full speed when the vehicle is traveling backward from the first side of the tunnel entrance to the second side, as the vehicle moves backward from an infinite distance from the first side of the tunnel entrance, passing the second magnetic nail, the fourth magnetic nail, the sixth magnetic nail, and finally the fifth magnetic nail. When the first magnetic switch group or the fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the controller controls the vehicle to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the controller controls the vehicle to travel at a set speed.

4. A control method for an industrial vehicle roadway driving safety control system as described in any one of claims 1 to 3, characterized in that, include: The vehicle speed in the tunnel is controlled by the interaction between the magnetic switch group and the ground magnetic nails during the vehicle's forward or backward movement.

5. The control method of the industrial vehicle roadway driving safety control system according to claim 4, characterized in that, The vehicle speed within the tunnel is controlled by the interaction between the magnetic switch assembly and the ground magnetic nails during forward or reverse movement, including: When the vehicle is traveling from the first side of the tunnel entrance to the second side, after the vehicle passes the second and fourth magnetic nails in sequence, the second or third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheel; as the vehicle moves from an infinite distance from the first side of the tunnel entrance, passing the second, fourth, and sixth magnetic nails in sequence until it reaches the fifth magnetic nail, the vehicle is controlled to travel at full speed. When the first or fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. If the second or third magnetic switch group is still normally closed when the vehicle accelerates a second or more times, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the first magnetic nail, at which point the second or third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit the tunnel mode; When the vehicle is traveling backward from the second side of the tunnel entrance to the first side, after the vehicle passes the first and third magnetic nails in sequence, the second or third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter tunnel mode and locking the steering wheels. As the vehicle reverses from an infinite distance from the second side of the tunnel entrance, passing the first, third, and fifth magnetic nails in sequence until reaching the sixth magnetic nail, the vehicle is controlled to travel at full speed. When the fourth or first magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. When the vehicle accelerates a second or more times and it is determined that the vehicle is still in the tunnel, the vehicle is controlled to travel at the set speed until it passes the second magnetic nail. At this point, the second or third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit tunnel mode.

6. The control method for the industrial vehicle roadway driving safety control system according to claim 5, characterized in that, The vehicle speed within the tunnel is controlled by the interaction between the magnetic switch assembly and the ground magnetic nails during forward or reverse movement, including: When the vehicle is traveling from the second side to the first side of the tunnel entrance, after the vehicle passes the first magnetic nail and the third magnetic nail in sequence, the second magnetic switch group or the third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter the tunnel mode and locking the steering wheel; as the vehicle moves forward from an infinite distance from the second side of the tunnel entrance, passing the first magnetic nail, the third magnetic nail, the fifth magnetic nail, and so on until the sixth magnetic nail, the vehicle is controlled to travel at full speed; when the first magnetic switch group or the fourth magnetic switch group passes the sixth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops; when the vehicle accelerates a second or more times and the second magnetic switch group or the third magnetic switch group is still normally closed, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the second magnetic nail, at which point the second magnetic switch group or the third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit the tunnel mode; When the vehicle is traveling backward from the first side of the tunnel entrance to the second side, after the vehicle passes the second and fourth magnetic nails in sequence, the second or third magnetic switch group changes from normally open to normally closed, controlling the vehicle to automatically enter tunnel mode and locking the steering wheels. As the vehicle reverses from an infinite distance from the first side of the tunnel entrance, passing the second, fourth, and sixth magnetic nails in sequence until reaching the fifth magnetic nail, the vehicle is controlled to travel at full speed. When the first or fourth magnetic switch group passes the fifth magnetic nail and a change in the switch pulse signal is detected, the vehicle is controlled to decelerate until it stops. If the second or third magnetic switch group remains normally closed when the vehicle accelerates a second or more times, it is determined that the vehicle is still in the tunnel, and the vehicle is controlled to travel at the set speed until the vehicle passes the first magnetic nail. At this point, the second or third magnetic switch group changes from normally closed to normally open, controlling the vehicle to automatically exit tunnel mode.

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