Intelligent judgment system for line pressing and line crossing of vehicle in practical operation test of forklift driver

Abstract

The invention relates to the technical field of intelligent judgment of a forklift truck practical operation test, and discloses a forklift truck driver practical operation test vehicle line pressing and line crossing intelligent judgment system which is used for executing the forklift truck driver practical operation test vehicle line pressing and line crossing intelligent judgment method. Comprising a vehicle-mounted computing unit, an RTK-Beidou positioning system, an authentication comparison module and a vehicle-mounted camera, the vehicle-mounted computing unit performs data interaction with the RTK-Beidou positioning system and the authentication comparison module, and the authentication comparison module performs data interaction with the vehicle-mounted camera. According to the positioning technology-based intelligent judgment system for line pressing and line crossing of the forklift driver practical operation test vehicle, the technical effect of intelligently judging whether the forklift driver practical operation test vehicle has the non-standard operation behavior of line pressing and line crossing is achieved by automatically judging the position relation between the forklift and the test site.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent evaluation of forklift practical operation examinations, and in particular to an intelligent evaluation system for vehicle crossing a line during a forklift driver's practical operation examination. Background Art

[0002] The practical examination for special operation personnel includes two categories: electromechanical and pressure-bearing, involving more than ten items such as special motor vehicle operation and pressure vessel operation in the field (factory). In order to ensure the quality of the examination for special equipment operators, improve the examination efficiency, and optimize the examination process, the special equipment operator practical intelligent examination information platform and the first subsystem - the forklift driver practical intelligent examination system were developed.

[0003] The business management, evaluation standards and examination procedures of the information platform should be designed strictly in accordance with the requirements of laws and regulations such as the "Special Equipment Operator Assessment Rules" and the "Examination Outline for Special Motor Vehicle Operators within the Site (Factory)".

[0004] The practical test for forklift drivers requires strict control of the position of the test vehicle in the test site, accurate determination of the positional relationship between the test vehicle and the static site, and the wheels must not touch the edge of the lane. Summary of the invention

[0005] In order to use information technology to automatically determine the positional relationship between the forklift practical test vehicle and the static test site, and determine whether the forklift driver practical test vehicle has any irregular operation behavior such as crossing the line or crossing the line, the present invention provides the following solution, and its specific technical solution is as follows:

[0006] An intelligent evaluation method for vehicle crossing the line during a forklift driver practical test comprises the following steps:

[0007] Step 1: Use the RTK-Beidou positioning system to locate the forklift test site, calibrate the position of each test point on the forklift test site, attach attributes to each test point, generate an electronic map, and store it in the forklift test intelligent evaluation software of the vehicle computing unit;

[0008] Step 2: Use the RTK-Beidou positioning system to locate the test forklift, monitor the position of the test forklift in real time, and calculate the position of the feature points of the forklift body and wheels in real time;

[0009] Step three, set any test point on the forklift test site as a polygon on a two-dimensional plane and the wheel feature point as a point on a two-dimensional plane, and use the polygon inside and outside point judgment algorithm to automatically judge whether the forklift practical test vehicle has any behavior of crossing the line.

[0010] The implementation steps of the evaluation method are as follows:

[0011] Step S1, numbering and positioning the forklift practical test points on a two-dimensional plane map, and defining attribute coding groups and attribute decoding groups of the forklift practical test points, and calculating attribute information of the forklift practical test points accordingly;

[0012] Then, the attribute set {attribute information, number location information} of the forklift practical test point is generated, and the attribute information is attached to the information identifier of the forklift practical test point and stored in the forklift test intelligent evaluation software of the vehicle computing unit:

[0013] Step S2, using the RTK-Beidou positioning system to locate the wheel feature points on the test forklift and calculate the two-dimensional coordinates of the wheel feature points on the test forklift, and transmit the two-dimensional coordinates to the forklift test intelligent evaluation software of the vehicle-mounted computing unit;

[0014] Step S3, the forklift test intelligent evaluation software of the vehicle-mounted computing unit obtains the information identifier and attribute information of the forklift practical test point, and based on this, the forklift test intelligent evaluation software calculates the first index information of the forklift practical test point by using the attribute information, and calculates the second index information of the forklift practical test point by using the information identifier and the attribute decoding group;

[0015] When the first index information is the same as the second index information, it is proved that the electronic map index of the forklift practical test point is correct, and the number positioning information is extracted from the attribute set {attribute information, number positioning information} of the forklift practical test point;

[0016] Step S4, the forklift test intelligent evaluation software of the vehicle-mounted computing unit implements the following evaluation process:

[0017] Convert the two vectors formed by the feature points in the two-dimensional plane and the two vertices of a certain edge of the polygon to three-dimensional space, calculate the vector product of the two vectors, obtain the coordinate relationship between the wheel feature points and the vertices of the polygon, determine the positional relationship between the feature points and the polygon, and judge whether the test forklift has crossed the line on a certain edge line of the forklift practical test point;

[0018] Then repeat the above-mentioned steps of judging whether there is any crossing of the line or not, and judge in turn whether there is any crossing of the line or not at the other edge lines of the wheel feature points on the test forklift relative to the practical test points of the forklift.

[0019] A system for judging whether a vehicle crosses the line during a practical test for a forklift driver. The system is used to execute the method for judging whether a vehicle crosses the line during a practical test for a forklift driver. The system comprises: an on-board computing unit, an RTK-Beidou positioning system, an authentication and comparison module, and an on-board camera. The on-board computing unit exchanges data with the RTK-Beidou positioning system and the authentication and comparison module, and the authentication and comparison module exchanges data with the on-board camera.

[0020] The system obtains the characteristic points of the forklift wheels through the RTK-Beidou positioning system. The forklift test intelligent evaluation software of the on-board computing unit uses the polygon internal and external point judgment algorithm to automatically judge whether the forklift in the practical test has any behavior of crossing the line.

[0021] Compared with the prior art, the present invention has the following beneficial technical effects:

[0022] The present invention obtains characteristic points on the wheels of a forklift by using RTK GPS positioning technology, and uses a polygon internal and external point judgment algorithm to achieve the technical goal of automatically judging whether the forklift has pressed the line or gone out of the line. The specific judgment process is: the test site is regarded as a polygon of a two-dimensional plane, and a point of the contact part of the forklift wheel and the test site is regarded as a point of the two-dimensional plane, and the two-dimensional plane points and lines are converted into points and lines in three-dimensional space. The coordinate relationship between the point and the vertex of the polygon is obtained by using vector product, and then the position relationship between the point and the polygon is judged;

[0023] The present invention provides an intelligent assessment system for vehicles crossing the line during a forklift driver's practical operation test based on RTK-Beidou positioning technology. The system automatically determines the positional relationship between the forklift and the test site, thereby achieving the technical effect of intelligently assessing whether the vehicle during the forklift practical operation test has any irregular operation behavior of crossing the line or not. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The architecture diagram of the on-board system for intelligent judgment of vehicle crossing the line during the practical test for forklift drivers;

[0025] Figure 2 Electronic map for forklift intelligent examination.

[0026] Figure 3 An electronic map of forklift bend tests with numbers and locations;

[0027] Figure 4 This is the overall system architecture diagram of the intelligent system for practical examination of forklift drivers. DETAILED DESCRIPTION

[0028] Embodiment 1:

[0029] An intelligent vehicle-mounted system for judging vehicle crossing the line during a forklift driver practical test, such as Figure 1 As shown, the intelligent evaluation system includes: an on-board computing unit running the forklift test intelligent evaluation software, an RTK-Beidou positioning system for obtaining the forklift position in real time, an authentication and comparison module for performing the person-document comparison function, and an on-board camera for capturing human portraits;

[0030] The vehicle-mounted computing unit exchanges data with the RTK-Beidou positioning system on the one hand, and exchanges data with the authentication and comparison module on the other hand, and the authentication and comparison module exchanges data with the vehicle-mounted camera.

[0031] Embodiment 2:

[0032] Based on a method for judging the vehicle crossing the line in a forklift driver practical test, the specific implementation steps are as follows:

[0033] Step S1, use the RTK-Beidou positioning system to locate the forklift test site, calibrate the position of each test point on the forklift test site, attach attributes to each test point, and generate an electronic map, such as Figure 2 As shown, it is stored in the forklift test intelligent evaluation software of the vehicle-mounted computing unit;

[0034] Taking the forklift curve test as an example, the specific implementation plan is described. The specific implementation steps are as follows:

[0035] (1) Number and locate the two-dimensional right-angle turn dimension drawing of the road used for the forklift curve test, such as Figure 3 As shown, the number and positioning information are V a (x a ,y a ), V b (x b ,y b ), V c (x c ,y c ), V d (x d ,y d ), V e (x e ,y e ), V f (x f ,y f );

[0036] (2) Set the information identifier of the forklift curve test point to ID2, the attribute code group {C 2-1 , C 2-2}, attribute decoding group {E 2-1 , E 2-2}; Among them, C 2-1 ∈Z q * , C 2-2 ∈Z q * , E 2-1 =C 2-1 ×G,E 2-2 =C 2-2 ×G, G is a point of order q on the elliptic curve E over the finite field Fp (p is a large prime number);

[0037] Based on this, the attribute information of the forklift curve test point A2=C is calculated2-1 +H(E 2-1 ||E 2-2 ||ID2)C 2-2 ; Where H represents a collision-resistant single-term hash function; || represents a string concatenation operation;

[0038] Generate the attribute set of the forklift curve test point {A2, V a (x a ,y a ), V b (x b ,y b ), V c (x c ,y c ), V d (x d ,y d ), V e (x e ,y e ), V f (x f ,y f )};

[0039] Attach the attribute information A2 to the information identifier ID2 of the forklift bend test point and store it in the forklift test intelligent evaluation software of the vehicle computing unit:

[0040] Step S2, using the RTK-Beidou positioning system to locate the test forklift, monitor the position of the test forklift in real time, and calculate the position of the feature points of the forklift body and wheels in real time;

[0041] Taking the forklift driver's practical test on a curve as an example, the specific implementation plan is described. The specific implementation steps are as follows:

[0042] (1) Set the position of one of the characteristic points where the wheel of the test forklift contacts the forklift curved test road as V i , using RTK-Beidou positioning system to test the wheel feature point V on the forklift i Position and calculate the wheel feature point V on the test forklift i The two-dimensional coordinates (x i ,y i );

[0043] Then the RTK-Beidou positioning system will be wheel feature point V i The two-dimensional coordinates (x i ,y i ) is transmitted to the forklift test intelligent evaluation software of the vehicle computing unit;

[0044] (2) The forklift test intelligent evaluation software of the vehicle-mounted computing unit obtains the information identifier ID2 and attribute information A2 of the forklift curve test point, and based on this, the forklift test intelligent evaluation software uses the attribute information A2 to calculate the first index information I of the forklift curve test point electronic map 2-1 =A2G, on the other hand, using information identifier ID2 and attribute decoding group {E 2-1 , E 2-2} Calculate the second index information I of the electronic map of the forklift curve test point 2-2 =E 2-1 +H(E 2-1 ||E 2-2 ||ID2)E 2-2 ;

[0045] When the first index information I 2-1 and the second index information I 2-2 If the same, it proves that the electronic map index of the forklift curve test point is correct, then from the attribute set of the forklift curve test point {A2, V a (x a ,y a ), V b (x b ,y b ), V c (x c ,y c ), V d (x d ,y d ), V e (x e ,y e ), V f (x f ,y f )} to extract the number and location information of the forklift curve test point on the electronic map;

[0046] (3) To judge the wheel feature point V on the forklift i Relative to the edge line V of the forklift curve test point a V b Taking whether there is a line crossing or not as an example, the forklift test intelligent evaluation software of the vehicle-mounted computing unit implements the following evaluation process:

[0047] Process 1: Convert the vector V in the two-dimensional plane i V a and V i V b Convert to three-dimensional space and get three-dimensional vector V i ′V a ′ and V i ′V b ′, its coordinates are:

[0048] ''

[0049] V i V a =((x a -x i ), (y a -y i ), 0);

[0050] ''

[0051] V i V b =((x b -x i ), (y b -y i ), 0);

[0052] Step 2: Calculate the three-dimensional vector V i ′V a ′ and V i ′V b ′The vector product R ab =α ab R ab1 +β ab R ab2 +γ ab R ab3 ; Among them, R ab is the vector product; α ab , β ab and γ ab is the vector R ab The three components of

[0053] And α ab =0, β ab =0,γ ab =(x a -x i )(y b -y i )-(x b -x i )(y a -y i );

[0054] Further according to γ ab The algorithm calculates γ bc , γ cd , γ de , γ ef , γ fa ;

[0055] Process 3: Calculate the symbolic function sign(γ ab ) values, as follows:

[0056] If sign(γ ab )=0、min(x a , x b )≤x i ≤min(x a , x b ) and min(y a ,y b )≤y i ≤min(y a ,y b ), then the wheel feature point V on the test forklift i The edge line V at the forklift curve test point a V b On this basis, it was determined that the test forklift had crossed the line;

[0057] When sign(γ)≠0, if there exists y a <y i <y b or b <y i <y a , then we start to calculate the symbol function sign(γ bc )、sign(γ cd )、sign(γ de )、sign(γ ef )、sign(γ fa ) value;

[0058] If sign(γ bc )+sign(γ cd )+sign(γ de )+sign(γ ef )+sign(γ fa )=0, then the wheel feature point V on the test forklift i The polygon V formed by the forklift bend test points a V b V c V d V e V f The outside of the test truck is judged to have crossed the line;

[0059] If sign(γ bc )+sign(γ cd )+sign(γ de )+sign(γ ef )+sign(γ fa )≠0, then the wheel feature point V on the test forklift i The polygon V formed by the forklift bend test points a Vb V c V d V e V f The inside of the forklift truck was judged to have neither crossed the line nor pressed the line.

[0060] (4) According to the method for judging the pressure line and crossing the line in step (3) above, the wheel feature points V on the test forklift are judged in turn. i Is there any line-crossing behavior relative to other edge lines of the forklift curve test point?

[0061] Embodiment 3:

[0062] An intelligent evaluation system for vehicle crossing the line in a forklift driver practical test. The system can operate independently, and the test data of trainees is stored in the vehicle-mounted computing unit. On the other hand, it can also be uploaded to the WEB server or cloud server of the test management control center through a wireless interface for storage. Figure 4 As shown;

[0063] In terms of software design specifications, it strictly abides by the latest international standards, national standards and industry standards, and can be connected and communicated with other related systems; it supports standard application development platforms, and the system software and hardware platforms have good expansion and scalability capabilities, and can be easily connected to external devices / systems.

[0064] Embodiment 4:

[0065] An intelligent evaluation system for vehicles crossing the line during a practical test for forklift drivers. The system may also include: an emergency brake module, an emergency shutdown module, a danger signal receiving module, and a crisis manual control transmission module installed on the test vehicle. In the event of an emergency such as crossing the line or misoperation, automatic or manual emergency control of the vehicle's movements can be achieved to reduce risks.

[0066] Embodiment 5:

[0067] RTK-Beidou Positioning System:

[0068] On the one hand, the deployment solution of RTK mobile station + CORS account can be used. This solution is simple and flexible, and the output rate of forklift position signal is 10 times / second;

[0069] On the other hand, the RTK mobile station + RTK base station deployment solution can also be used. This solution requires the addition of a base station and communication hardware between the base station and the mobile station, which complicates the system structure. However, the system deployment stage can be optimized and the system operation is more stable and reliable after the deployment of this solution.

[0070] Embodiment 6:

[0071] An intelligent judging system for vehicle crossing the line during a practical test for forklift drivers, which can realize synchronous fusion storage of electronic map tracks, examinee information, vehicle signals and in-vehicle photos, ensuring that the test process can be reviewed, traced and supervised.

Claims

1. An intelligent method for judging vehicle crossing the line in a forklift driver practical test, characterized in that: The following steps are involved: Step 1: Use the RTK-Beidou positioning system to locate the forklift test site, calibrate the position of each test point on the forklift test site, attach attributes to each test point, generate an electronic map, and store it in the forklift test intelligent evaluation software of the vehicle computing unit; Step 2: Use the RTK-Beidou positioning system to locate the test forklift, monitor the position of the test forklift in real time, and calculate the position of the feature points of the forklift body and wheels in real time; Step three, set any test point on the forklift test site as a polygon on a two-dimensional plane and the wheel feature point as a point on a two-dimensional plane, and use the polygon inside and outside point judgment algorithm to automatically judge whether the forklift practical test vehicle has any behavior of crossing the line.

2. According to claim 1, a method for judging the vehicle crossing the line in the practical test of forklift drivers, characterized in that: The implementation steps of the evaluation method are as follows: Step S1, numbering and positioning the forklift practical test points on a two-dimensional plane map, and defining attribute coding groups and attribute decoding groups of the forklift practical test points, and calculating attribute information of the forklift practical test points accordingly; Then, the attribute set {attribute information, number location information} of the forklift practical test point is generated, and the attribute information is attached to the information identifier of the forklift practical test point and stored in the forklift test intelligent evaluation software of the vehicle computing unit: Step S2, using the RTK-Beidou positioning system to locate the wheel feature points on the test forklift and calculate the two-dimensional coordinates of the wheel feature points on the test forklift, and transmit the two-dimensional coordinates to the forklift test intelligent evaluation software of the vehicle-mounted computing unit; Step S3, the forklift test intelligent evaluation software of the vehicle-mounted computing unit obtains the information identifier and attribute information of the forklift practical test point, and based on this, the forklift test intelligent evaluation software calculates the first index information of the forklift practical test point by using the attribute information, and calculates the second index information of the forklift practical test point by using the information identifier and the attribute decoding group; When the first index information is the same as the second index information, it is proved that the electronic map index of the forklift practical test point is correct, and the number positioning information is extracted from the attribute set {attribute information, number positioning information} of the forklift practical test point; Step S4, the forklift test intelligent evaluation software of the vehicle-mounted computing unit implements the following evaluation process: Convert the two vectors formed by the feature points in the two-dimensional plane and the two vertices of a certain edge of the polygon to three-dimensional space, calculate the vector product of the two vectors, obtain the coordinate relationship between the wheel feature points and the vertices of the polygon, determine the positional relationship between the feature points and the polygon, and judge whether the test forklift has crossed the line on a certain edge line of the forklift practical test point; Then repeat the above-mentioned steps of judging whether there is any crossing of the line or not, and judge in turn whether there is any crossing of the line or not at the other edge lines of the wheel feature points on the test forklift relative to the practical test points of the forklift.

3. An intelligent judging system for vehicles crossing the line during a forklift driver's practical test, the judging system being used to execute the intelligent judging method for vehicles crossing the line during a forklift driver's practical test according to claim 1 or 2, characterized in that: include: The vehicle-mounted computing unit, RTK-Beidou positioning system, authentication and comparison module and vehicle-mounted camera, the vehicle-mounted computing unit exchanges data with the RTK-Beidou positioning system and the authentication and comparison module, and the authentication and comparison module exchanges data with the vehicle-mounted camera; The system obtains the characteristic points of the forklift wheels through the RTK-Beidou positioning system. The forklift test intelligent evaluation software of the on-board computing unit uses the polygon internal and external point judgment algorithm to automatically judge whether the forklift has any behavior of crossing the line or not in the practical test.

4. The intelligent judging system for vehicle crossing the line in the practical test of forklift drivers according to claim 3 is characterized in that: The evaluation system operates independently, and the student test data is stored in the vehicle-mounted computing unit, and also supports uploading to the WEB server or cloud server storage of the test management control center through a wireless interface.

5. The intelligent judging system for vehicle crossing the line in the practical test of forklift drivers according to claim 3 is characterized in that: The evaluation system also includes: an emergency brake module, an emergency flameout module, a danger signal receiving module, and a crisis situation manual control transmission module installed on the test vehicle. The system realizes automatic or manual emergency control of vehicle actions.

6. The intelligent judging system for vehicle crossing the line in the practical test of forklift drivers according to claim 3 is characterized in that: The RTK-Beidou positioning system uses a deployment solution that combines an RTK mobile station with a CORS account.

7. The intelligent judging system for vehicle crossing the line in the practical test of forklift drivers according to claim 3 is characterized in that: The RTK-Beidou positioning system utilizes a deployment scheme combining an RTK mobile station and an RTK base station.

8. The intelligent judging system for vehicle crossing the line in the practical test of forklift drivers according to claim 3 is characterized in that: The evaluation system synchronously integrates and stores the electronic map, the examinee's information, the vehicle signal and the in-vehicle photos.

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