Industrial vehicle safety function testing system and method

Abstract

The present application discloses a whole vehicle safety function test system and method for industrial vehicles, which relates to the field of vehicle testing technology. In different safety test scenarios, the drive motor, the drum device and the mobile test device are controlled to perform operations matching the current safety test scenario, and corresponding test data are obtained. Based on the test data, the test vehicle is analyzed to see whether it meets the safety requirements in the current safety test scenario; in particular, when the safety test scenario is a turning deceleration performance test, the turning deceleration function of the test vehicle is analyzed to see whether it complies with the safety logic. The purpose of whole vehicle safety function testing of industrial vehicles in various different usage scenarios is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle testing technology, and in particular to a whole vehicle safety function testing system and method for an industrial vehicle. Background Art

[0002] With the development of modern society, industrial vehicles have also developed rapidly. With the diversification of customers' usage conditions, the requirements for the overall performance of industrial vehicles have become higher and higher.

[0003] The existing whole machine test for industrial vehicles only stays at some conventional test items such as the vehicle's running speed, lifting height, braking performance, etc. The conventional running speed cannot reflect the customer's safety testing needs in some special and unconventional usage scenarios, such as some goods that need to be very high off the ground; some roads with many turns in the factory, when the vehicle passes the bend, the vehicle rolls over due to excessive speed, etc. For these special and unconventional usage scenarios of customers, the current whole machine testing method cannot meet them.

[0004] Therefore, there is an urgent need for a solution that can meet the needs of a variety of different usage scenarios for whole-vehicle safety function testing of industrial vehicles. Summary of the invention

[0005] Based on the above-mentioned deficiencies of the prior art, the present application provides an industrial vehicle whole vehicle safety function testing system and method to solve the problem that the existing technology cannot meet the needs of various different usage scenarios for whole vehicle safety function testing of industrial vehicles.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] The first aspect of the present application provides an industrial vehicle whole vehicle safety function testing system, the whole vehicle safety function testing system comprising:

[0008] Parking platform 1;

[0009] A force sensor 101 and a plurality of anti-rollover protection devices 102 are arranged at the rear end of the parking platform 1. In a safety test scenario, the rear wheels of the test vehicle 22 are located above the force sensor 101, and the test vehicle 22 is fixed by the anti-rollover protection devices 102;

[0010] A mobile test device 8 is arranged on both sides of the parking platform 1, and the mobile test device 8 on each side is connected to a drive motor. In a safety test scenario, the mobile test device 8 moves forward and backward as needed and performs data measurement under the drive of the drive motor. The safety test scenario at least includes a turning speed reduction performance test;

[0011] A drum device 2 is arranged at the front end of the parking platform 1, and two ends of the drum device 2 are respectively connected to a driving motor. In a safety test scenario, the wheels of the test vehicle 22 are located above the drum device 2, and the drum device 2 rotates under the drive of the driving motor and performs data measurement;

[0012] A load device disposed at the front end of the drum device 2, the load device provides the load required for the test in a safety test scenario where a load is required;

[0013] The host computer 9 is respectively connected to the drive motor, the force sensor 101, the drum device 2, and the mobile testing device 8 to control the drive motor to operate under different safety test scenarios, obtain and process the test data, and output the test results.

[0014] Preferably, the drum device 2 comprises:

[0015] A first roller pair 201 and a second roller pair 202 are arranged side by side at the front end of the parking platform 1;

[0016] One end of the first roller pair 201 away from the second roller pair 202 is connected to the third drive motor 16 through a gear, and the third drive motor 16 drives the first roller pair 201 to rotate forward and reverse;

[0017] One end of the second roller pair 202 away from the first roller pair 201 is connected to the fourth drive motor 17 through a gear, and the fourth drive motor 17 drives the second roller pair 202 to rotate forward and reverse;

[0018] The first roller pair 201 and the second roller pair 202 are both composed of a front roller and a rear roller. A rotation speed sensor 19 is disposed on one end of the front roller connecting gear, and a torque sensor 20 is disposed on one end of the rear roller connecting gear.

[0019] Preferably, the mobile testing device 8 comprises:

[0020] A first guide rail and a second guide rail respectively arranged on both sides of the parking platform 1;

[0021] The first guide rail is connected to the first driving motor 14, and a first bracket that can move along the first guide rail is arranged on the first guide rail. Two first laser rangefinders 801 are arranged on the first bracket along the direction of the first guide rail, and the distance between the two first laser rangefinders 801 is fixed;

[0022] The second guide rail is connected to the second drive motor 15. A second bracket that can move along the second guide rail is arranged on the second guide rail. Two second laser rangefinders 802 are arranged on the second bracket relatively along the direction of the second guide rail. The distance between the two second laser rangefinders 802 is fixed.

[0023] Preferably, if the test vehicle 22 is a forklift, the load device comprises:

[0024] A mass block 3 disposed on the outer side of the fork frame body 21 of the test vehicle 22;

[0025] A traction device is horizontally arranged at the front end of the drum device 2, wherein the traction rope in the traction device is connected to the mass block 3, and the rotating end of the traction device is connected to the reduction box 5;

[0026] The reduction box 5 is connected to the fifth drive motor 18. In a safety test scenario where a load is required, the fifth drive motor 18 is driven by the host computer 9 to operate, so that the reduction box 5 drives the traction device to operate and cooperate with the mass block 3 to provide the load required for the test.

[0027] Preferably, the traction device comprises:

[0028] A wire guide wheel bracket 12 is horizontally arranged at the front end of the drum device 2, and the wire guide wheel bracket 12 has a slide groove;

[0029] The wire wheel 7 is arranged on the wire wheel bracket 12 through a slide groove, and the sliding direction of the wire wheel 7 is consistent with the parking direction of the test vehicle 22;

[0030] A wire twisting wheel bracket 13 is arranged at the front end of the wire guide wheel bracket 12, and a wire twisting wheel 6 is arranged on the wire twisting wheel bracket 13, and a traction rope is arranged inside the wire twisting wheel 6;

[0031] A dynamometer 4 is disposed at one end of the traction rope passing around the lead wheel 7 , and a hook is disposed at the other end of the dynamometer 4 , which is matched and connected with a hook ring 301 disposed on the mass block 3 .

[0032] Preferably, it also includes:

[0033] A distance meter 10 disposed on the surface of the fork frame body 21 of the test vehicle 22;

[0034] and / or, an angle tester 11 disposed on the surface of the outer mast of the test vehicle 22;

[0035] And / or, a fork hole provided on the mass block 3 that matches the test vehicle 22 .

[0036] The second aspect of the present application provides a whole vehicle safety function testing method for an industrial vehicle, which is applicable to the whole vehicle safety function testing system for an industrial vehicle provided in the first aspect of the present application. The whole vehicle safety function testing method includes:

[0037] Determine multiple test parameters for the security test scenarios to be tested;

[0038] Perform initialization operation: zero position calibration to set the device for performing test on the test vehicle 22 in the industrial vehicle whole vehicle safety function test system, and the test vehicle 22 is parked on the parking platform 1 of the industrial vehicle whole vehicle safety function test system;

[0039] Execute the test operation: adjust the parameters of each relevant device in the industrial vehicle safety function test system based on the test parameters, cooperate with the operation of the test vehicle 22 in the safety test scenario, and obtain test data representing the current performance of the test vehicle 22; wherein the safety test scenario at least includes a turning speed reduction performance test and a conventional performance test;

[0040] Perform analysis operations: use the host computer 9 in the industrial vehicle whole vehicle safety function test system to process the test data to obtain the test results of the test vehicle 22 under the current safety test scenario, and the test results are used to characterize whether the test vehicle 22 meets the requirements under the current safety test scenario.

[0041] Preferably, when the safety test scenario is a no-load running turning speed reduction performance test, the performing of the initialization operation includes:

[0042] Zero position calibration sets the speed sensor 19 and torque sensor 20 on the drum device 2 in the industrial vehicle safety function test system, and parks the test vehicle 22 on the parking platform 1, so that a pair of wheels of the test vehicle 22 stops above the drum device 2, and another pair of wheels stops at the force sensor 101 on the parking platform 1, and the test vehicle 22 is fixed by the anti-rollover protection device 102;

[0043] The performing test operation comprises:

[0044] Adjust the mobile test device 8 in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device 8 is aligned with the steering wheel of the test vehicle 22, control the test vehicle 22 to run in the corresponding gear, use the speed sensor 19 to obtain the vehicle speed of the test vehicle 22 in real time, and feed it back to the host computer 9;

[0045] Control the test vehicle 22 to perform steering, so that the steering wheel is deflected, and use the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feed back to the host computer 9;

[0046] The performing analysis operation comprises:

[0047] The host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and uses the real-time steering angle and the vehicle speed for fitting to obtain a corresponding first curve graph, which is used to characterize the no-load running turning speed reduction logic.

[0048] Preferably, when the safety test scenario is a load-carrying turning speed reduction performance test and the test vehicle 22 is a forklift, the performing of the initialization operation includes:

[0049] Zero position calibration sets the speed sensor 19 and torque sensor 20 on the drum device 2 in the industrial vehicle whole vehicle safety function test system, as well as the force sensor 101 on the parking platform 1 and the dynamometer 4 on the load device in the industrial vehicle whole vehicle safety function test system, and parks the test vehicle 22 on the parking platform 1, so that a pair of wheels of the test vehicle 22 stops above the drum device 2, and another pair of wheels stops at the force sensor 101 on the parking platform 1, and the test vehicle 22 is fixed by the anti-rollover protection device 102;

[0050] The performing test operation comprises:

[0051] Assemble the mass block 3 on the outer side of the fork frame 21 of the test vehicle 22, and hang the traction rope under the mass block 3;

[0052] Control the fifth drive motor 18 in the load device to rotate, drive the reduction box 5 and the traction device in the load device to move, tighten the traction rope, until the sum of the tension measured by the dynamometer 4 and the gravity of the mass block 3 reaches the load required for the current test, and control the fifth drive motor 18 to maintain the current torque output;

[0053] Adjust the mobile test device 8 in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device 8 is aligned with the steering wheel of the test vehicle 22, control the test vehicle 22 to run in the corresponding gear, use the speed sensor 19 to obtain the vehicle speed of the test vehicle 22 in real time, and feed it back to the host computer 9;

[0054] Control the test vehicle 22 to perform steering, so that the steering wheel deflects, use the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feed it back to the host computer 9, and feed back the force value of the steering wheel detected by the force sensor 101 during the entire steering process to the host computer 9;

[0055] The performing analysis operation comprises:

[0056] The host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and uses the real-time steering angle, vehicle speed and load for fitting to obtain a corresponding second curve graph, wherein the second curve graph is used to characterize the logic of turning and decelerating when running with load, and analyzes whether the steering operation of the test vehicle 22 under the load is effective according to the acquired force value, and determines the load capacity of the test vehicle 22 based on the first analysis result.

[0057] Preferably, when the safety test scenario is a turning speed reduction performance test in a single-wheel drive state, performing the initialization operation includes:

[0058] Zero position calibration sets the speed sensor 19 and torque sensor 20 on the drum device 2 in the industrial vehicle safety function test system, and parks the test vehicle 22 on the parking platform 1, so that the first driving wheel of the test vehicle 22 stops on the first roller pair 201 of the drum device 2, the second driving wheel stops on the second roller pair 202, the rear wheel stops on the force sensor 101 on the parking platform 1, and the test vehicle 22 is fixed by the anti-rollover protection device 102;

[0059] The performing test operation comprises:

[0060] Adjust the mobile test device 8 in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device 8 is aligned with the first drive wheel and the second drive wheel, control the test vehicle 22 to run in the corresponding gear, use the speed sensor 19 to obtain the vehicle speed of the test vehicle 22 in real time, and feed it back to the host computer 9;

[0061] The third drive motor 16 and the fourth drive motor 17 on the drum device 2 are driven respectively to apply different torques in positive or reverse directions to the first drive wheel and the second drive wheel, so that there is a differential speed between the first drive wheel and the second drive wheel; wherein, applying positive torque simulates the forward working condition; applying reverse torque simulates the reverse working condition.

[0062] Control the test vehicle 22 to perform steering, so that the steering wheel of the test vehicle 22 is deflected, and use the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feed back to the host computer 9;

[0063] The performing analysis operation comprises:

[0064] The host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, analyzes the steering angle, vehicle speed and differential speed to obtain a second analysis result, and determines the turning and deceleration function of the test vehicle 22 under single-wheel drive based on the second analysis result.

[0065] Based on the above-mentioned embodiment of the present application, a whole vehicle safety function testing system and method for industrial vehicles is disclosed, and the whole vehicle safety function testing system includes: a parking platform; a force sensor and multiple anti-rollover protection devices arranged at the rear end of the parking platform. In a safety test scenario, the rear wheels of the test vehicle are located above the force sensor, and the test vehicle is fixed by the anti-rollover protection device; mobile test devices are arranged on both sides of the parking platform, and the mobile test device on each side is connected to a drive motor. In a safety test scenario, the mobile test device moves back and forth as needed and performs data measurement under the drive of the drive motor. The safety test scenario at least It includes a turning deceleration performance test; a drum device is arranged at the front end of the parking platform, and a driving motor is connected to both ends of the drum device. In the safety test scenario, the wheels of the test vehicle are located above the drum device, and the drum device rotates and measures data under the drive of the driving motor; a load device is arranged at the front end of the drum device, and the load device provides the load required for the test in the safety test scenario where the load is required; the host computer is respectively connected to the driving motor, the force sensor, the drum device, and the mobile test device, controls the driving motor to operate in different safety test scenarios, obtains and processes the obtained test data, and outputs the test results. In an embodiment of the present application, the driving motor, the drum device, and the mobile test device are controlled to perform operations matching the current safety test scenario in different safety test scenarios, obtain corresponding test data, and analyze whether the test vehicle meets the safety requirements in the current safety test scenario based on the test data; in particular, when the safety test scenario is a turning deceleration performance test, analyze whether the turning deceleration function of the test vehicle conforms to the safety logic. The purpose of performing vehicle safety function testing on industrial vehicles in a variety of different usage scenarios is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0067] Figure 1A front view of a whole vehicle safety function testing system for an industrial vehicle disclosed in an embodiment of the present application;

[0068] Figure 2 A top view of a whole vehicle safety function testing system for an industrial vehicle disclosed in an embodiment of the present application;

[0069] Figure 3 A side view of a whole vehicle safety function testing system for an industrial vehicle disclosed in an embodiment of the present application;

[0070] Figure 4 It is a structural schematic diagram of a mobile testing device in an industrial vehicle whole vehicle safety function testing system disclosed in an embodiment of the present application;

[0071] Figure 5 A partial structural schematic diagram of a load device in an industrial vehicle safety function test system disclosed in an embodiment of the present application;

[0072] Figure 6 A schematic diagram of a process for testing the safety function of an industrial vehicle disclosed in an embodiment of the present application;

[0073] Among them, 1 is a parking platform, 101 is a force sensor, 102 is an anti-rollover protection device, 2 is a rotating drum device, 201 is a first roller pair, 202 is a second roller pair, 3 is a mass block, 301 is a hook ring, 4 is a dynamometer, 5 is a reduction box, 6 is a winding wheel, 7 is a lead wheel, 8 is a mobile testing device, 801 is a first laser rangefinder, 802 is a second laser rangefinder, 9 is a host computer, 10 is a rangefinder, 11 is an angle tester, 12 is a lead wheel bracket, 13 is a winding wheel bracket, 14 is a first drive motor, 15 is a second drive motor, 16 is a third drive motor, 17 is a fourth drive motor, 18 is a fifth drive motor, 19 is a speed sensor, 20 is a torque sensor, 21 is a fork frame body, and 22 is a test vehicle. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0075] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0076] like Figures 1 to 5 The industrial vehicle whole vehicle safety function testing system shown includes: a parking platform 1, a force sensor 101, an anti-rollover protection device 102, a rotating drum device 2, a mobile testing device 8 and a host computer 9.

[0077] A force sensor 101 and a plurality of anti-rollover protection devices 102 are arranged at the rear end of the parking platform 1 . In a safety test scenario, the rear wheels of the test vehicle 22 are located above the force sensor 101 , and the test vehicle 22 is fixed by the anti-rollover protection device 102 .

[0078] Wherein, a plurality of anti-rollover protection devices 102 are arranged side by side or front and back, and anti-rollover protection devices 102 at different distances can be selected to fix the test vehicle 22 according to the model and requirements of the test vehicle 22 .

[0079] A mobile test device 8 is arranged on both sides of the parking platform 1, and the mobile test device 8 on each side is connected to a drive motor. In a safety test scenario, the mobile test device 8 moves back and forth as needed and performs data measurement under the drive of the drive motor. The safety test scenario at least includes a turning speed reduction performance test.

[0080] Among them, the security test scenario also includes routine testing.

[0081] A drum device 2 is arranged at the front end of the parking platform 1, and two ends of the drum device 2 are respectively connected to a driving motor. In a safety test scenario, the wheels of the test vehicle 22 are located above the drum device 2, and the drum device 2 rotates under the drive of the driving motor and performs data measurement.

[0082] Typically, the front wheels of the test vehicle 22 are positioned above the rotating drum device 2 , but this does not exclude the possibility that the rear wheels need to be parked above the rotating drum device 2 for a corresponding safety test.

[0083] The load device is arranged at the front end of the drum device 2, and provides the load required for the test in a safety test scenario where a load is required.

[0084] The host computer 9 is respectively connected to the drive motor, the force sensor 101, the drum device 2, and the mobile testing device 8 to control the drive motor to operate under different safety test scenarios, obtain and process the test data, and output the test results.

[0085] It should be noted that the host computer 9 has a screen (screen) on which relevant test data and test results can be displayed.

[0086] In one embodiment of the present application, the drum device 2 comprises:

[0087] A first roller pair 201 and a second roller pair 202 are arranged side by side at the front end of the parking platform 1 .

[0088] One end of the first roller pair 201 away from the second roller pair 202 is connected to the third drive motor 16 through a gear, and the third drive motor 16 drives the first roller pair 201 to rotate forward and reverse, which can drive the wheels on the first roller pair 201 to rotate forward and reverse;

[0089] One end of the second roller pair 202 away from the first roller pair 201 is connected to the fourth drive motor 17 through a gear, and the fourth drive motor 17 drives the second roller pair 202 to rotate forward and reverse, which can drive the wheels on the second roller pair 202 to rotate forward and reverse;

[0090] The first roller pair 201 and the second roller pair 202 are both composed of a front roller and a rear roller. A rotation speed sensor 19 is disposed on one end of the front roller connecting gear, and a torque sensor 20 is disposed on one end of the rear roller connecting gear.

[0091] It should be noted that, depending on different safety test scenarios, the positions of the wheels of the test vehicle 22 on the drum device 2 are different.

[0092] Among them, if the safety test scenario is the no-load turning speed reduction performance test and the loaded turning speed reduction performance test, the two front wheels of the test vehicle 22 can be placed on the first roller pair 201 or the second roller pair 202, or one can be placed on the first roller pair 201 and the other on the second roller pair 202; when performing the no-load turning speed reduction performance test and the loaded turning speed reduction performance test, the third drive motor 16 corresponding to the first roller pair 201 and the fourth drive motor 17 corresponding to the second roller pair 202 operate in unison.

[0093] If the safety test scenario is a turning deceleration performance test in a single-wheel drive state, one of the two front wheels of the test vehicle 22 is located on the first roller pair 201 , and the other is located on the second roller pair 202 .

[0094] In one embodiment of the present application, the mobile testing device 8 disposed on both sides of the parking platform 1 includes:

[0095] A first guide rail and a second guide rail respectively arranged on both sides of the parking platform 1;

[0096] The first guide rail is connected to the first driving motor 14, and a first bracket that can move forward and backward along the first guide rail is arranged on the first guide rail. Two first laser rangefinders 801 are arranged on the first bracket in a direction opposite to each other along the first guide rail, and the distance between the two first laser rangefinders 801 is fixed;

[0097] The second guide rail is connected to the second drive motor 15. The second guide rail is provided with a second bracket that can move forward and backward along the second guide rail. The second bracket is provided with two second laser rangefinders 802 opposite to each other along the direction of the second guide rail. The distance between the two second laser rangefinders 802 is fixed.

[0098] Specifically, in a safety test scenario, for the laser testers on one side (the first laser rangefinder 801 and the second laser rangefinder 802 ), the two laser testers can measure the distance of the steering wheels respectively.

[0099] Taking the two first laser testers 801 as an example, in the turning speed reduction performance test, the two first laser testers 801 can respectively measure the distance of the steering wheels of the test vehicle 22 .

[0100] That is to say, mobile testing devices with the same structure are respectively arranged on both sides of the parking platform 1, and the mobile testing device on each side comprises a guide rail, on which a bracket which can move forward and backward along the guide rail is arranged, and on the bracket two laser rangefinders are arranged opposite to each other along the direction of the guide rail, and the distance between the two laser rangefinders is fixed.

[0101] It should be noted that in the mobile test device 8 disclosed in the embodiment of the present application, laser testers are respectively arranged on both sides of the parking platform 1, i.e., two left and right laser testers, whose function is to measure the difference between left and right turns of the tire. Assuming that when the vehicle turns left, the turning angle of the left steering wheel will be larger than that of the right side, at this time, it is difficult for the laser rangefinder on the left side to measure the surface of the steering wheel. At this time, the laser rangefinder on the other side is used to make up for this shortcoming, so that the test data can be collected normally, and at the same time, the accuracy of the test data is provided.

[0102] In one embodiment of the present application, if the test vehicle 22 is a forklift, the load device includes:

[0103] A mass block 3 disposed on the outer side of the fork frame body 21 of the test vehicle 22;

[0104] It should be noted that the mass block 3 is also provided with a fork hole matching the test vehicle 22 .

[0105] A traction device is horizontally arranged at the front end of the drum device 2, wherein the traction rope in the traction device is connected to the mass block 3, and the rotating end of the traction device is connected to the reduction box 5;

[0106] The reduction box 5 is connected to the fifth drive motor 18. In a safety test scenario where a load is required, the fifth drive motor 18 is driven by the host computer 9 to operate, so that the reduction box 5 drives the traction device to operate and cooperate with the mass block 3 to provide the load required for the test.

[0107] Wherein, the traction device comprises:

[0108] A wire guide wheel bracket 12 is horizontally arranged at the front end of the drum device 2, and the wire guide wheel bracket 12 has a slide groove;

[0109] The wire wheel 7 is arranged on the wire wheel bracket 12 through a slide groove, and the sliding direction of the wire wheel 7 is consistent with the parking direction of the test vehicle 22;

[0110] A wire twisting wheel bracket 13 is arranged at the front end of the wire guide wheel bracket 12, and a wire twisting wheel 6 is arranged on the wire twisting wheel bracket 13, and a traction rope is arranged inside the wire twisting wheel 6;

[0111] A dynamometer 4 is disposed at one end of the traction rope passing around the lead wheel 7 , and a hook is disposed at the other end of the dynamometer 4 , which is matched and connected with a hook ring 301 disposed on the mass block 3 .

[0112] It should be noted that a plurality of hook rings 301 are provided below the mass block 3 , and the hooks on the dynamometer 4 can be hung on the hook rings 301 at different positions below the mass block 3 according to load requirements.

[0113] Preferably, the traction rope can be a steel wire rope.

[0114] Specifically, the fifth drive motor 18 operates under the drive of the upper computer 9, driving the reduction box 5 to transmit, thereby driving the stranding wheel 6 to rotate. The steel wire rope in the stranding wheel 6 is then guided by the lead wheel 7, so that it can be freely extended and retracted according to the requirements of the safety test scenario, and cooperate with the mass block 3 to provide the load required for the test.

[0115] In an embodiment of the present application, if the test vehicle 22 is a forklift, it further includes: a distance meter 10 disposed on the surface of the fork frame body 21 of the test vehicle 22 .

[0116] Specifically, the rangefinder 10 can be adsorbed on the surface of the fork frame 21 through a magnetic base and connected to the host computer 9. The host computer 9 can monitor the distance from the fork frame 21 to the ground in real time through the rangefinder 10, and calculate the lifting height and lifting speed of the gantry of the test vehicle 22 according to the distance and the distance change.

[0117] In an embodiment of the present application, if the test vehicle 22 is a forklift, it further includes: an angle tester 11 disposed on the surface of the outer mast of the test vehicle 22 .

[0118] Specifically, the angle tester 11 can be adsorbed on the surface of the outer gantry through a magnetic base and connected to the host computer 9. The host computer 9 can monitor the inclination angle of the gantry of the test vehicle 22 in real time through the angle tester 11, and calculate the inclination speed through the change of the inclination angle during the test.

[0119] It should be noted that the first drive motor 14 , the second drive motor 15 , the third drive motor 16 , the fourth drive motor 17 , and the fifth drive motor 18 in the above embodiment can all be controlled by the host computer 9 to achieve forward and reverse rotation.

[0120] It should be noted that the test vehicle 22 is not limited to a forklift, but may be other vehicles that can hold a mass block or have a gantry. It may also be other industrial vehicles or automobiles, and is not limited to front-wheel drive vehicles, but may be rear-wheel drive vehicles with front-wheel steering. As long as the driving wheels of the vehicle are parked in the drum device and the steering angle of the steering wheel is monitored, relevant turning speed reduction and other safety performance tests can be completed.

[0121] In the embodiment of the present application, the driving motor, the drum device and the mobile test device are controlled to perform operations matching the current safety test scenario in different safety test scenarios, and corresponding test data are obtained. Based on the test data, whether the test vehicle 22 meets the safety requirements in the current safety test scenario is analyzed; in particular, when the safety test scenario is a turning deceleration performance test, whether the turning deceleration function of the test vehicle 22 complies with the safety logic is analyzed. The purpose of performing vehicle safety function testing on industrial vehicles in a variety of different usage scenarios is achieved.

[0122] Based on the industrial vehicle whole vehicle safety function testing system disclosed in the above embodiment of the present application, the present application also discloses an industrial vehicle whole vehicle safety function testing method applicable to the above industrial vehicle whole vehicle safety function testing system, such as Figure 6 As shown, it mainly includes the following steps:

[0123] S1: Determine multiple test parameters under the security test scenario to be tested;

[0124] In S1, the test parameters include at least: the vehicle speed of the test vehicle 22, the weight and load center distance of the load, the height and speed of the mast lifting, the angle and speed of the mast tilting, the eccentric load, the steering wheel angle, etc.

[0125] It should be noted that the above-mentioned test parameters are values ​​determined before testing the test vehicle 22. Depending on their properties, they can be used as initial parameters of corresponding devices in the industrial vehicle whole vehicle safety function test system, or parameters that need to be achieved by corresponding devices in the industrial vehicle whole vehicle safety function test system during the test process.

[0126] In specific implementations, different safety test scenarios can be determined by arranging and combining multiple test parameters, and different safety performance test verifications can be carried out.

[0127] S2: Perform initialization operation.

[0128] The specific process of performing S2 is: zero-position calibration setting of a device for performing a test on a test vehicle 22 in the industrial vehicle whole vehicle safety function test system, wherein the test vehicle 22 is parked on a parking platform 1 of the industrial vehicle whole vehicle safety function test system;

[0129] S3: Execute the test operation.

[0130] The specific execution process of S3 is: adjusting the parameters of each related device in the industrial vehicle whole vehicle safety function test system based on the test parameters, cooperating with the operation of the test vehicle 22 in the safety test scenario, to obtain test data characterizing the current performance of the test vehicle 22; wherein, the safety test scenario includes at least a turning deceleration performance test and a conventional performance test.

[0131] S4: Execute analysis operation.

[0132] The specific execution process of S4 is: using the host computer 9 in the industrial vehicle whole vehicle safety function test system to process the test data, and obtain the test results of the test vehicle 22 under the current safety test scenario, and the test results are used to characterize whether the test vehicle 22 meets the requirements under the current safety test scenario.

[0133] In an embodiment of the present application, when the safety test scenario is a no-load running turning speed reduction performance test, performing the initialization operation S2 includes:

[0134] S21: Zero position calibration: The speed sensor 19 and the torque sensor 20 on the drum device 2 in the industrial vehicle safety function test system are set, and the test vehicle 22 is parked on the parking platform 1, so that a pair of wheels of the test vehicle 22 are parked above the drum device 2, and the other pair of wheels are parked on the force sensor 101 on the parking platform 1, and the test vehicle 22 is fixed by the anti-rollover protection device 102;

[0135] It should be noted that the paired wheels here are usually coaxial wheels. In the embodiment of the present application, the wheels parked above the drum device 2 are a pair of front wheels, and the wheels parked on the force sensor 101 of the parking platform 1 are a pair of rear wheels.

[0136] The S3 that performs the test operations include:

[0137] S31: adjusting the mobile test device 8 in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device 8 is aligned with the steering wheel of the test vehicle 22, controlling the test vehicle 22 to run in a corresponding gear, using the speed sensor 19 to obtain the vehicle speed of the test vehicle 22 in real time, and feeding it back to the host computer 9;

[0138] Specifically, no matter whether the steering wheel of the test vehicle 22 stops only on the first roller pair 201 or the second roller pair 202 , the first laser rangefinder 801 and the second laser rangefinder 802 located on both sides are aligned with the steering wheel of the test vehicle 22 .

[0139] It should be noted that the position of the rangefinder can be adjusted for different models of test vehicles, so as to carry out safety performance tests on a variety of vehicles.

[0140] Controlling the test vehicle 22 to run in the corresponding gear position specifically includes: putting the test vehicle 22 in the corresponding gear position, stepping on the accelerator pedal to accelerate, and making the test vehicle reach the vehicle speed to be tested.

[0141] S32: Control the test vehicle 22 to perform steering, so that the steering wheel of the test vehicle 22 is deflected, and use the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feed back to the host computer 9;

[0142] Specifically, taking the front wheel of the test vehicle 22 stopped on the first roller pair 201 as an example, the steering wheel of the test vehicle 22 is turned to deflect the steering wheel of the test vehicle 22, and the straight-line distance to the steering wheel is measured by two first laser rangefinders 801 and fed back to the host computer 9.

[0143] S4 performs analysis operations including:

[0144] S41: The host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and uses the real-time steering angle and the vehicle speed for fitting to obtain a corresponding first curve graph, which is used to characterize the no-load running turning speed reduction logic.

[0145] Specifically, the first curve graph includes the steering angle and vehicle speed obtained in real time during the no-load running turning speed reduction performance test.

[0146] In the embodiment of the present application, a no-load running turning and deceleration performance test is performed under the provision of corresponding test parameters. The upper computer 9 can fit a first curve graph composed of the steering angle and the vehicle speed through the detected vehicle speed and the change in the steering angle of the steering wheel, and verify whether the turning and deceleration logic of the test vehicle 22 meets the design requirements during the entire turning process through the measured data, that is, to achieve the purpose of verifying the safety performance of the vehicle's turning and deceleration function.

[0147] Due to the loaded state, the load-bearing and stress-bearing conditions of the front and rear wheels of the vehicle will be greatly different, the running speed of the vehicle will be greatly different, the steering control force will also change to a certain extent during steering, and when the load exceeds a certain mass, the rear steering wheel will be off the ground during steering. The steering function in this state cannot play a steering role and poses a threat to the personal safety of the operator. Therefore, the present application also discloses a test of the speed reduction performance of turning when running with load.

[0148] In an embodiment of the present application, when the safety test scenario is a load-carrying turning speed reduction performance test and the test vehicle 22 is a forklift, performing the initialization operation S2 includes:

[0149] S22: Zero position calibration: setting the speed sensor 19 and the torque sensor 20 on the drum device 2 in the industrial vehicle whole vehicle safety function test system, as well as the force sensor 101 on the parking platform 1 and the dynamometer 4 on the load device in the industrial vehicle whole vehicle safety function test system, and parking the test vehicle 22 on the parking platform 1, so that a pair of wheels of the test vehicle 22 stops above the drum device 2, and the other pair of wheels stops on the force sensor 101 on the parking platform 1, and the test vehicle 22 is fixed by the anti-rollover protection device 102;

[0150] It should be noted that the parking position of the pair of wheels of the test vehicle 22 in S22 is the same as that in S21.

[0151] The S3 that performs the test operations include:

[0152] S33: Assemble the mass block 3 on the outer side of the fork frame body 21 of the test vehicle 22, and hang the traction rope under the mass block 3;

[0153] Specifically, the traction rope may be hung on a corresponding hook below the mass block 3, and the corresponding load center distance may be obtained.

[0154] S34: Control the fifth drive motor 18 in the load device to rotate, drive the reduction box 5 and the traction device in the load device to move, tighten the traction rope, until the sum of the tension measured by the dynamometer 4 and the gravity of the mass block 3 reaches the load required for the current test, and control the fifth drive motor 18 to maintain the current torque output;

[0155] Specifically, the fifth drive motor 18 rotates to drive the reduction box 5 and the winding wheel 6, so that the traction rope is tightened. When the sum of the tension measured by the dynamometer 4 and the gravity of the mass block 3 reaches the load required for the current test, the fifth drive motor 18 stops rotating, and the fifth drive motor 18 is controlled to maintain the current torque output, so that the tension of the traction rope is in a stable state.

[0156] Preferably, while the traction rope is being tightened, the force sensor 101 monitors the force value of the parking platform 1, so that the host computer 9 outputs the result of whether the vehicle satisfies the steering operation under the current load based on the force value. If the force value is within the preset steering force value range, the steering operation is satisfied under the current load.

[0157] S35: adjusting the mobile test device 8 in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device 8 is aligned with the steering wheel of the test vehicle 22, controlling the test vehicle 22 to run in a corresponding gear, using the speed sensor 19 to obtain the vehicle speed of the test vehicle 22 in real time, and feeding it back to the host computer 9;

[0158] It should be noted that the execution principle of S35 is the same as that of S31.

[0159] S36: Control the test vehicle 22 to perform steering, so that the steering wheel is deflected, use the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feed it back to the host computer 9, and feed back the force value of the steering wheel during the entire steering process detected by the force sensor 101 to the host computer 9;

[0160] Specifically, taking the front wheel of the test vehicle 22 stopped on the first roller pair 201 as an example, the steering wheel of the test vehicle 22 is turned to deflect the steering wheel of the test vehicle 22, and the straight-line distance to the steering wheel is measured by two first laser rangefinders 801 and fed back to the host computer 9.

[0161] At the same time, the force value of the steering wheel on the parking platform 1 during the entire steering process detected by the force sensor 101 is fed back to the host computer 9.

[0162] S4 performs analysis operations including:

[0163] S42: The host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and performs fitting using the real-time steering angle, vehicle speed and load (including load center distance) to obtain a corresponding second curve graph, wherein the second curve graph is used to characterize the logic of turning and decelerating when running with load, and to analyze whether the steering operation of the test vehicle 22 under the load is effective according to the acquired force value, and determine the load capacity of the test vehicle 22 based on the first analysis result.

[0164] In the embodiment of the present application, a turning and deceleration performance test of loaded operation is performed under the corresponding test parameters. The upper computer 9 fits the vehicle speed, steering angle of the steering wheel and the load (including the load center distance) of the test vehicle through the vehicle speed monitored by the sensor, the steering angle of the steering wheel and the load of the fork. The second curve diagram between the vehicle speed, steering angle of the steering wheel and the load of the fork is fitted, and the actual measured data is used to verify whether the turning and deceleration logic of the test vehicle 22 meets the design requirements during the entire loaded turning process, that is, to achieve the purpose of verifying the safety performance of the vehicle turning and deceleration function. At the same time, the upper computer 9 can analyze whether there is an invalid steering situation in the steering operation of the steering wheel of the test vehicle 22 under the current load through the force sensor 101 detected during the entire turning process. Whether the vehicle load capacity of the test vehicle meets the vehicle load requirements under the corresponding operating conditions can be inferred.

[0165] It should be noted that each type of requirement has a corresponding data range.

[0166] In an embodiment of the present application, when the safety test scenario is a turning speed reduction performance test in a single-wheel drive state, performing the initialization operation S2 includes:

[0167] S23: Zero-position calibration: The speed sensor 19 and the torque sensor 20 on the drum device 2 in the industrial vehicle safety function test system are set, and the test vehicle 22 is parked on the parking platform 1, so that the first driving wheel of the test vehicle 22 stops on the first roller pair 201 of the drum device 2, the second driving wheel stops on the second roller pair 202, and the rear wheel stops on the force sensor 101 on the parking platform 1, and the test vehicle 22 is fixed by the anti-rollover protection device 102;

[0168] Executing the test operation S3 includes:

[0169] S37: adjusting the mobile test device 8 in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device 8 is aligned with the first drive wheel and the second drive wheel, controlling the test vehicle 22 to run in the corresponding gear, using the speed sensor 19 to obtain the vehicle speed of the test vehicle 22 in real time, and feeding it back to the host computer 9;

[0170] It should be noted that the execution principle of S37 is the same as that of S31.

[0171] S38: driving the third drive motor 16 and the fourth drive motor 17 on the drum device 2 respectively to apply different torques to the first drive wheel and the second drive wheel, so that there is a speed difference between the first drive wheel and the second drive wheel;

[0172] S39: Control the test vehicle 22 to perform steering, so that the steering wheel of the test vehicle 22 is deflected, and use the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feed back to the host computer 9;

[0173] It should be noted that the execution principle of S39 is the same as that of S32.

[0174] S4 performs analysis operations including:

[0175] S43: The host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, analyzes the steering angle, vehicle speed and differential speed to obtain a second analysis result, and determines the turning and deceleration function of the test vehicle 22 under single-wheel drive based on the second analysis result.

[0176] Specifically, the host computer 9 determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and can analyze whether the turning speed reduction function is established under single-wheel drive, or verify whether the turning speed reduction function cannot exist under single-wheel drive.

[0177] In the embodiment of the present application, a turning deceleration performance test is performed under single-wheel drive state with corresponding test parameters provided, so as to realize a single-wheel running turning deceleration performance test and analyze whether the turning deceleration function is established under single-wheel drive.

[0178] It should be noted that, in one embodiment of the present application, the turning speed reduction performance test under single-wheel drive state can refer to the above-mentioned loaded turning speed reduction performance test to perform the loaded turning speed reduction performance test under single-wheel drive state.

[0179] In summary, the industrial vehicle whole vehicle safety function testing system and method disclosed in the embodiments of the present application are not limited to completing conventional performance tests. The embodiments of the present application are mainly aimed at the turning and deceleration function test, specifically verifying the turning and deceleration logic, and when turning under load, verifying whether there is invalid steering in the steering operation of the vehicle's steering wheel, and then inferring whether the vehicle's load capacity meets the vehicle's load-bearing requirements under the operating conditions, and verifying whether the steering and deceleration logic is normal when simulating single drive wheel drive.

[0180] In addition, it is also possible to test different models of vehicles based solely on the industrial vehicle safety function test system, and to arrange and combine multiple test data (variables) to carry out different safety performance test verifications, further reducing testing costs.

[0181] It should be noted that the above-mentioned embodiment of the present application discloses a system and method for testing the safety function of an industrial vehicle, in which the five drive motors involved can be driven forward and reversely under control respectively; the vehicle to be tested is not limited to industrial vehicles or automobiles, nor is it limited to front-wheel drive vehicles, but can also be rear-wheel drive and front-wheel steering. When conducting corresponding safety tests, it is only necessary to park the driving wheels of the vehicle in the drum device and monitor the steering angle of the steering wheel to complete relevant safety performance tests such as turning and deceleration.

[0182] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0183] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An industrial vehicle safety function test system, characterized in that: The vehicle safety function test system comprises: Parking platform (1); A force sensor (101) and a plurality of anti-rollover protection devices (102) are arranged at the rear end of the parking platform (1); in a safety test scenario, the rear wheels of the test vehicle (22) are located above the force sensor (101), and the test vehicle (22) is fixed by the anti-rollover protection devices (102); Mobile test devices (8) are arranged on both sides of the parking platform (1), and the mobile test devices (8) on each side are connected to a drive motor. In a safety test scenario, the mobile test device (8) moves as required and performs data measurement under the drive of the drive motor. The safety test scenario at least includes a turning speed reduction performance test; A drum device (2) is arranged at the front end of the parking platform (1), and two ends of the drum device (2) are respectively connected to a drive motor. In a safety test scenario, the wheels of the test vehicle (22) are located above the drum device (2), and the drum device (2) rotates under the drive of the drive motor and performs data measurement; A load device disposed at the front end of the drum device (2), the load device providing a load required for the test in a safety test scenario where a load is required; The host computer (9) is respectively connected to the drive motor, the force sensor (101), the drum device (2), and the mobile test device (8), controls the drive motor to operate under different safety test scenarios, obtains and processes the obtained test data, and outputs the test results.

2. The vehicle safety function testing system according to claim 1, characterized in that: The drum device (2) comprises: A first pair of rollers (201) and a second pair of rollers (202) arranged side by side at the front end of the parking platform (1); One end of the first roller pair (201) away from the second roller pair (202) is connected to a third drive motor (16) via a gear, and the third drive motor (16) drives the first roller pair (201) to rotate forward and reverse; One end of the second roller pair (202) away from the first roller pair (201) is connected to a fourth drive motor (17) via a gear, and the fourth drive motor (17) drives the second roller pair (202) to rotate forward and reverse; The first roller pair (201) and the second roller pair (202) are both composed of a front roller and a rear roller, a rotation speed sensor (19) is provided on one end of the front roller connecting gear, and a torque sensor (20) is provided on one end of the rear roller connecting gear.

3. The vehicle safety function testing system according to claim 1, characterized in that: The mobile testing devices (8) on both sides include: A first guide rail and a second guide rail respectively arranged on both sides of the parking platform (1); The first guide rail is connected to a first drive motor (14); a first bracket that can move along the first guide rail is provided on the first guide rail; two first laser rangefinders (801) are relatively provided on the first bracket along the direction of the first guide rail; and the distance between the two first laser rangefinders (801) is fixed; The second guide rail is connected to a second drive motor (15); a second bracket that can move along the second guide rail is arranged on the second guide rail; two second laser rangefinders (802) are arranged on the second bracket in a direction opposite to each other along the second guide rail; and the distance between the two second laser rangefinders (802) is fixed.

4. The vehicle safety function testing system according to claim 1, characterized in that: If the test vehicle (22) is a forklift, the load device comprises: A mass block (3) disposed outside a fork frame body (21) of the test vehicle (22); A traction device horizontally arranged at the front end of the rotating drum device (2), wherein a traction rope in the traction device is connected to the mass block (3), and a rotating end of the traction device is connected to a reduction box (5); The reduction box (5) is connected to a fifth drive motor (18). In a safety test scenario where a load is required, the fifth drive motor (18) is driven by the host computer (9) to operate, so that the reduction box (5) drives the traction device to operate, and cooperates with the mass block (3) to provide the load required for the test.

5. The vehicle safety function testing system according to claim 4, characterized in that: The traction device comprises: A wire guide wheel bracket (12) horizontally arranged at the front end of the rotating drum device (2), wherein the wire guide wheel bracket (12) has a slide groove; The wire wheel (7) is arranged on the wire wheel bracket (12) via a sliding groove, and the sliding direction of the wire wheel (7) is consistent with the parking direction of the test vehicle (22); A wire twisting wheel bracket (13) is arranged at the front end of the wire guide wheel bracket (12), a wire twisting wheel (6) is arranged on the wire twisting wheel bracket (13), and a traction rope is arranged inside the wire twisting wheel (6); A dynamometer (4) is provided at one end of the traction rope passing around the lead wheel (7), and a hook is provided at the other end of the dynamometer (4) for being matched and connected with a hook ring (301) provided on the mass block (3).

6. The vehicle safety function testing system according to claim 4, characterized in that: Also includes: A distance meter (10) disposed on the surface of a fork frame body (21) of the test vehicle (22); and / or, an angle tester (11) disposed on the surface of an outer mast of the test vehicle (22); and / or, a fork hole provided on the mass block (3) so as to match the test vehicle (22).

7. A method for testing the safety function of an industrial vehicle, characterized in that: The whole vehicle safety function testing system for an industrial vehicle according to any one of claims 1 to 6, wherein the whole vehicle safety function testing method comprises: Determine multiple test parameters for the security test scenarios to be tested; Performing an initialization operation: zero-position calibration and setting a device for performing a test on a test vehicle (22) in the industrial vehicle safety test system, wherein the test vehicle (22) is parked on a parking platform (1) of the industrial vehicle safety test system; Executing a test operation: adjusting the parameters of various related devices in the industrial vehicle safety test system based on the test parameters, coordinating the operation of the test vehicle (22) under the safety test scenario, and obtaining test data representing the current performance of the test vehicle (22); wherein the safety test scenario at least includes a turning speed reduction performance test and a conventional performance test; Performing an analysis operation: using a host computer (9) in the industrial vehicle safety test system to process the test data, obtaining a test result of the test vehicle (22) in a current safety test scenario, wherein the test result is used to characterize whether the test vehicle (22) meets the requirements of the current safety test scenario.

8. The vehicle safety function testing method according to claim 7, characterized in that: When the safety test scenario is a no-load running turning speed reduction performance test, the performing of the initialization operation includes: Zero-position calibration is performed to set the rotation speed sensor (19) and the torque sensor (20) on the drum device (2) in the industrial vehicle safety test system, and the test vehicle (22) is parked on the parking platform (1), so that a pair of wheels of the test vehicle (22) are parked above the drum device (2) and another pair of wheels are parked on the force sensor (101) on the parking platform (1), and the test vehicle (22) is fixed by an anti-rollover protection device (102); The performing test operation comprises: Adjusting the mobile test device (8) in the industrial vehicle safety test system so that the laser rangefinder in the mobile test device (8) is aligned with the steering wheel of the test vehicle (22), controlling the test vehicle (22) to run in a corresponding gear, using the speed sensor (19) to obtain the vehicle speed of the test vehicle (22) in real time, and feeding it back to the host computer (9); Controlling the test vehicle (22) to perform steering so that the steering wheel is deflected, using the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feeding back the information to the host computer (9); The performing analysis operation comprises: The host computer (9) determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and performs fitting using the real-time steering angle and the vehicle speed to obtain a corresponding first curve graph, wherein the first curve graph is used to characterize the no-load running turning speed reduction logic.

9. The vehicle safety function testing method according to claim 7, characterized in that: When the safety test scenario is a load-carrying turning speed reduction performance test and the test vehicle (22) is a forklift, the performing of the initialization operation includes: Zero-position calibration is performed to set the rotation speed sensor (19) and the torque sensor (20) on the drum device (2) in the industrial vehicle safety test system, the force sensor (101) on the parking platform (1), and the dynamometer (4) on the load device in the industrial vehicle safety test system, and the test vehicle (22) is parked on the parking platform (1) so that a pair of wheels of the test vehicle (22) are parked above the drum device (2) and another pair of wheels are parked on the force sensor (101) on the parking platform (1), and the test vehicle (22) is fixed by an anti-rollover protection device (102); The performing test operation comprises: Mounting a mass block (3) on the outside of a fork frame body (21) of the test vehicle (22), and hanging a traction rope below the mass block (3); Controlling the fifth drive motor (18) in the load device to rotate, driving the reduction box (5) and the traction device in the load device to move, so that the traction rope is tightened until the sum of the tension measured by the dynamometer (4) and the gravity of the mass block (3) reaches the load required for the current test, and controlling the fifth drive motor (18) to maintain the current torque output; Adjusting the mobile test device (8) in the industrial vehicle safety test system so that the laser rangefinder in the mobile test device (8) is aligned with the steering wheel of the test vehicle (22), controlling the test vehicle (22) to run in a corresponding gear, using the speed sensor (19) to obtain the vehicle speed of the test vehicle (22) in real time, and feeding it back to the host computer (9); Controlling the test vehicle (22) to perform steering so that the steering wheel is deflected, using the laser rangefinder to measure the straight-line distance to the steering wheel in real time and feeding it back to the host computer (9), and feeding back the force value of the steering wheel during the entire steering process detected by the force sensor (101) to the host computer (9); The performing analysis operation comprises: The host computer (9) determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, and performs fitting using the real-time steering angle, vehicle speed and load to obtain a corresponding second curve graph, wherein the second curve graph is used to characterize the turning and deceleration logic of loaded operation, and to analyze whether the steering operation of the test vehicle (22) under the load is effective based on the acquired force value, and to determine the load capacity of the test vehicle (22) based on the first analysis result.

10. The vehicle safety function testing method according to claim 7, characterized in that: When the safety test scenario is a turning speed reduction performance test in a single-wheel drive state, the performing of the initialization operation includes: Zero-position calibration is performed to set the rotation speed sensor (19) and the torque sensor (20) on the drum device (2) in the industrial vehicle safety function test system, and the test vehicle (22) is parked on the parking platform (1), so that the first drive wheel of the test vehicle (22) stops on the first roller pair (201) of the drum device (2), the second drive wheel stops on the second roller pair (202), the rear wheel stops on the force sensor (101) on the parking platform (1), and the test vehicle (22) is fixed by an anti-rollover protection device (102); The performing test operation comprises: Adjusting the mobile test device (8) in the industrial vehicle safety function test system so that the laser rangefinder in the mobile test device (8) is aligned with the first drive wheel and the second drive wheel, controlling the test vehicle (22) to run in a corresponding gear, using the speed sensor (19) to obtain the vehicle speed of the test vehicle (22) in real time, and feeding it back to the host computer (9); respectively driving a third drive motor (16) and a fourth drive motor (17) on the drum device (2) to apply different torques in a positive or reverse direction to the first drive wheel and the second drive wheel, so that a speed difference exists between the first drive wheel and the second drive wheel; Controlling the test vehicle (22) to perform steering, causing the steering wheel of the test vehicle (22) to deflect, using the laser rangefinder to measure the straight-line distance to the steering wheel in real time, and feeding back the measured distance to the host computer (9); The performing analysis operation comprises: The host computer (9) determines the real-time steering angle of the steering wheel based on the spacing of the laser rangefinder and the straight-line distance, analyzes the steering angle, vehicle speed and differential speed to obtain a second analysis result, and determines the turning deceleration function of the test vehicle (22) under single-wheel drive based on the second analysis result.

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