Intelligent safety control system of electric loader

Abstract

The invention discloses an intelligent safety control system of an electric loader, and belongs to the technical field of safety management of electric loaders. Comprising a sensing module used for collecting vehicle environment information, the sensing module is in communication connection with a decision-making module and sends the collected vehicle environment information to the decision-making module, and the decision-making module is used for processing the vehicle environment information collected by the sensing module and generating a corresponding control instruction; the decision-making module is in communication connection with an execution module, and the execution module is used for executing the control instruction generated by the decision-making module. The radar unit and the camera shooting unit can comprehensively collect environment information around a vehicle and send the environment information to the decision module, and the decision module sends an early warning instruction to the alarm unit and / or a braking instruction to the electric driving unit according to the received information. And the safety of the vehicle in the working process can be effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of safety management of electric loaders, in particular to an intelligent safety control system for electric loaders. Background Art

[0002] Electric vehicles have developed rapidly. Electric engineering machinery has gradually emerged in the field of new energy. Electric loaders are typical representatives of electric engineering machinery. With the development in recent years, electric loader technology has been gradually iterated. Electric loaders have gradually developed from realizing basic functions to automation and intelligence. At the same time, the safety of electric engineering machinery is currently receiving more and more attention. Under this general background, the present invention conducts intelligent development of loader safety warning and anti-collision functions to improve the safety and reliability of electric loaders.

[0003] The operational safety of current electric loaders is basically determined by the driver's operating intention, and the safety of the entire vehicle remains at the level of traditional fuel loaders. At present, the braking system of electric loaders adopts a single-circuit braking system. During the operation of the vehicle, if an obstacle or emergency occurs, the electric loader can only brake and stop after the driver steps on the brake. The driver's subjective factors have a greater impact on the safety of vehicle operations. At the same time, since electric vehicles have a faster torque response than oil vehicles, coupled with the driver's reaction time, the operational safety of electric loaders is further restricted. At present, during the operation of electric loaders, the driver is completely responsible for observing the surrounding operating environment and manually judging whether the operation is safe. Due to the influence of blind spots and subjective factors, it is easy to cause safety accidents. Summary of the invention

[0004] 1. Technical problem to be solved by the invention

[0005] The purpose of the present invention is to solve the problem that the existing electric loader has incomplete environmental data collection, and it is difficult to detect dangerous factors in time and issue warnings or actively brake.

[0006] 2. Technical solution

[0007] In order to achieve the above object, the technical solution provided by the present invention is:

[0008] An intelligent safety control system for an electric loader of the present invention comprises a perception module for collecting vehicle environmental information, wherein the perception module is communicatively connected to a decision module and sends the collected vehicle environmental information to the decision module, wherein the decision module is used to process the vehicle environmental information collected by the perception module and generate corresponding control instructions; wherein the decision module is communicatively connected to an execution module, wherein the execution module is used to execute the control instructions generated by the decision module.

[0009] Preferably, the perception module includes a radar unit, a camera unit and a sensor unit; the radar unit is configured to be located at the rear, left and right sides of the vehicle, and the radar unit is connected to a radar controller for detecting the distance between objects and personnel and the vehicle and sending it to a decision module; the camera unit is configured to be located at the rear, left and right sides of the vehicle, and the camera unit is connected to a camera controller for monitoring the environmental information around the vehicle in real time and determining whether there is someone and sending the determination result data to the decision module; the sensor unit is communicatively connected to the brake unit of the execution module and obtains the brake air pressure value of the dual-circuit brake system in the brake unit and sends it to the decision module.

[0010] Preferably, the decision module is a VCU, and the VCU is used to process the environmental information of the vehicle collected by the perception module and generate corresponding control instructions to send to the execution module.

[0011] Preferably, the execution module includes a braking unit, an electric drive unit and an alarm unit. The braking unit is a dual braking circuit, including a brake pedal air brake valve circuit and an electric proportional air brake solenoid valve circuit. The brake pedal air brake valve circuit is used for the driver to control the braking, and the electric proportional air brake solenoid valve circuit is connected to the electric drive unit for performing automatic braking; the electric drive unit is used to receive the braking command of the VCU and control the electric proportional air brake solenoid valve circuit to achieve braking; the alarm unit is an audible and visual alarm device, including a warning light and a buzzer. The alarm unit receives the warning command of the VCU and starts working, and adjusts the warning frequency according to the warning command.

[0012] Preferably, the workflow of the VCU includes:

[0013] Detect whether the vehicle's operating status is normal, monitor the data collected by the radar in real time and determine whether there are people or obstacles entering the preset warning area; when it is found that someone or an obstacle enters the preset warning area, send a warning instruction to the alarm unit and / or issue a braking instruction to the electric drive unit.

[0014] Preferably, when the brake unit is working, the air pressure analog signal detected by the VCU monitoring sensor unit is converted into an air pressure value and a brake opening, and regenerative braking of the vehicle is performed according to the vehicle state information at the current moment and the size of the brake opening.

[0015] Preferably, the VCU is divided into a danger zone, a warning zone and a safe zone according to the distance from the vehicle, and the VCU automatically adjusts the area range of the danger zone and the warning zone according to the data of the radar unit and the camera unit. When the camera unit detects the presence of a moving person, the VCU adjusts and expands the area range of the danger zone and the warning zone.

[0016] 3. Beneficial effects

[0017] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0018] An intelligent safety control system for an electric loader of the present invention includes a perception module for collecting vehicle environmental information, the perception module is communicatively connected to a decision module and sends the collected vehicle environmental information to the decision module, the decision module is used to process the vehicle environmental information collected by the perception module and generate corresponding control instructions; the decision module is communicatively connected to an execution module, the execution module is used to execute the control instructions generated by the decision module. The environmental information around the vehicle can be comprehensively collected through a radar unit and a camera unit and sent to the decision module, and the decision module sends a warning instruction to the alarm unit and / or a braking instruction to the electric drive unit according to the received information. The safety of the vehicle during operation can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an intelligent safety control system for an electric loader of the present invention;

[0020] Figure 2 is a schematic diagram of shooting angles of the camera unit of this embodiment;

[0021] Figure 3 Schematic diagram of the system workflow of this embodiment.

[0022] Explanation of the symbols in the schematic diagram:

[0023] 100, perception module; 110, radar unit; 120, camera unit; 130, sensor unit;

[0024] 200, decision module;

[0025] 300, execution module; 310, brake unit; 320, electric drive unit; 330, alarm unit. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0029] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0030] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] Example 1

[0033] See attached Figure 1-Figure 3, an electric loader intelligent safety control system of this embodiment includes a perception module 100 for collecting vehicle environmental information, the perception module 100 is communicatively connected with a decision module 200 and sends the collected vehicle environmental information to the decision module 200, the decision module 200 is used to process the vehicle environmental information collected by the perception module 100 and generate corresponding control instructions; the decision module 200 is communicatively connected with an execution module 300, the execution module 300 is used to execute the control instructions generated by the decision module 200; the system of this embodiment can comprehensively collect the environmental information around the vehicle through the radar unit 110 and the camera unit 120 and send it to the decision module 200, and the decision module 200 sends a warning instruction to the alarm unit 330 and / or a brake instruction to the electric drive unit 320 according to the received information. It can effectively improve the safety of the vehicle during work.

[0034] The perception module 100 includes a radar unit 110, a camera unit 120 and a sensor unit 130; the radar unit 110 is configured to be located at the rear, left and right sides of the vehicle, and the radar unit 110 is connected to a radar controller for detecting the distance between objects and personnel and the vehicle and sending it to the decision module 200; the camera unit 120 is configured to be located at the rear, left and right sides of the vehicle, and the camera unit 120 is connected to a camera controller for real-time monitoring of environmental information around the vehicle and determining whether there is someone and sending the determination result data to the decision module 200; the sensor unit 130 is communicatively connected to the brake unit 310 of the execution module 300 and obtains the brake air pressure value of the dual-circuit brake system in the brake unit 310 and sends it to the decision module 200.

[0035] The detection range of the camera of the camera unit 120 of this embodiment for people is affected by two factors. One is the height from the installation point of the camera to the ground parallel to the chassis of the electric loader, and the other is the angle between the camera lens direction and the side of the electric loader. Figure 2 As shown in the figure, the height from the camera installation point to the ground parallel to the chassis of the electric loader is H, and the angle between the camera lens and the side of the loader is ɑ. Then the distance from the person detected by the camera to the electric loader is L2 = H*tanɑ. In general, the height H from the camera installation point to the ground parallel to the chassis of the electric loader is fixed. The detection distance of the camera to the person can be adjusted by adjusting the angle between the camera lens and the side of the loader. Figure 2 As shown, tanβ>tanɑ, so the detection distance of the camera is L1>L2. It should be noted here that on a horizontal ground, when the camera lens is parallel to the horizontal ground for detection, the maximum distance the camera can detect a person is 10 meters.

[0036] The decision module 200 is a VCU, which is used to process the environmental information of the vehicle collected by the perception module 100 and generate corresponding control instructions to send to the execution module 300.

[0037] The execution module 300 includes a brake unit 310, an electric drive unit 320 and an alarm unit 330. The brake unit 310 is a dual brake circuit, including a brake pedal air brake valve circuit and an electric proportional air brake solenoid valve circuit. The brake pedal air brake valve circuit is used for the driver to control the brake, and the electric proportional air brake solenoid valve circuit is connected to the electric drive unit 320 for performing automatic braking; the electric drive unit 320 is used to receive the brake command of the VCU and control the electric proportional air brake solenoid valve circuit to achieve braking; the alarm unit 330 is an audible and visual alarm device, including a warning light and a buzzer. The alarm unit 330 receives the warning command of the VCU and starts working, and adjusts the warning frequency according to the warning command.

[0038] See attached Figure 3 As shown, the workflow of the VCU includes

[0039] Detect whether the vehicle's operating status is normal, monitor the data collected by the radar in real time and determine whether there are people or obstacles entering the preset warning area; when it is found that someone or an obstacle enters the preset warning area, send a warning instruction to the alarm unit 330 and / or issue a braking instruction to the electric drive unit 320.

[0040] When the brake unit 310 is working, the air pressure analog signal detected by the VCU monitoring sensor unit 130 is converted into an air pressure value and a brake opening, and regenerative braking of the vehicle is performed according to the current vehicle state information and the size of the brake opening.

[0041] The brake air pressure sensor of the sensor unit 130 transmits the air pressure analog signal to the VCU through a hard line. The VCU converts the air pressure analog signal into an air pressure value by looking up a table, and then converts the air pressure value into a brake opening. The VCU finally performs regenerative braking of the vehicle based on the current vehicle status information and the size of the brake opening. The conversion formula for the VCU to convert the air pressure value into the brake opening is as follows:

[0042] Brake opening = (current brake pressure value - minimum brake pressure) / (maximum brake pressure - minimum brake pressure) * 100%.

[0043] The VCU is divided into a danger zone, a warning zone and a safe zone according to the distance from the vehicle, and the VCU automatically adjusts the area range of the danger zone and the warning zone according to the data of the radar unit 110 and the camera unit 120. When the camera unit 120 detects the presence of a moving person, the VCU adjusts and expands the area range of the danger zone and the warning zone.

[0044] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An intelligent safety control system for an electric loader, characterized in that: The invention comprises a perception module (100) for collecting vehicle environmental information, wherein the perception module (100) is communicatively connected to a decision module (200) and sends the collected vehicle environmental information to the decision module (200), wherein the decision module (200) is used to process the vehicle environmental information collected by the perception module (100) and generate corresponding control instructions; and the decision module (200) is communicatively connected to an execution module (300), wherein the execution module (300) is used to execute the control instructions generated by the decision module (200).

2. The intelligent safety control system for an electric loader according to claim 1 is characterized in that: The perception module (100) comprises a radar unit (110), a camera unit (120) and a sensor unit (130); the radar unit (110) is configured to be located at the rear, left and right sides of the vehicle, and the radar unit (110) is connected to a radar controller for detecting the distance of objects and people from the vehicle and sending the distance to the decision module (200); the camera unit (120) is configured to be located at the rear, left and right sides of the vehicle, and the camera unit (120) is connected to a camera controller for real-time monitoring of environmental information around the vehicle and determining whether there are people and sending the determination result data to the decision module (200); the sensor unit (130) is connected to a brake unit (310) of the execution module (300) for communication and obtains the brake air pressure value of the dual-circuit brake system in the brake unit (310) and sends the brake air pressure value to the decision module (200).

3. The intelligent safety control system for an electric loader according to claim 2 is characterized in that: The decision module (200) is a VCU, and the VCU is used to process the environmental information of the vehicle collected by the perception module (100) and generate corresponding control instructions to send to the execution module (300).

4. The intelligent safety control system for an electric loader according to claim 3 is characterized in that: The execution module (300) comprises a brake unit (310), an electric drive unit (320) and an alarm unit (330); the brake unit (310) is a dual brake circuit, comprising a brake pedal air brake valve circuit and an electric proportional air brake solenoid valve circuit; the brake pedal air brake valve circuit is used for the driver to control the brake, and the electric proportional air brake solenoid valve circuit is connected to the electric drive unit (320) for performing automatic braking; the electric drive unit (320) is used to receive a brake command from the VCU and control the electric proportional air brake solenoid valve circuit to achieve braking; the alarm unit (330) is an audible and visual alarm device, comprising a warning light and a buzzer; the alarm unit (330) receives a warning command from the VCU and starts working, and adjusts the warning frequency according to the warning command.

5. The intelligent safety control system for an electric loader according to claim 4 is characterized in that: The VCU workflow includes Detect whether the vehicle is running normally, monitor the data collected by the radar in real time and determine whether there are people or obstacles entering the preset warning area; When a person or an obstacle is found to enter the preset warning area, a warning instruction is sent to the alarm unit (330) and / or a braking instruction is sent to the electric drive unit (320).

6. The intelligent safety control system for an electric loader according to claim 5, characterized in that: When the brake unit (310) is working, the air pressure analog signal detected by the VCU monitoring sensor unit (130) is converted into an air pressure value and a brake opening, and regenerative braking of the vehicle is performed according to the vehicle state information at the current moment and the size of the brake opening.

7. The intelligent safety control system for an electric loader according to claim 5, characterized in that: The VCU is divided into a danger zone, a warning zone and a safety zone according to the distance from the vehicle, and the VCU automatically adjusts the area range of the danger zone and the warning zone according to the data of the radar unit (110) and the camera unit (120). When the camera unit (120) detects the presence of a moving person, the VCU adjusts and expands the area range of the danger zone and the warning zone.

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