Detection and obstacle avoidance device used before and after operation of electric forklift

Abstract

The invention discloses a device for detecting and avoiding obstacles before and after operation of an electric forklift, and belongs to the technical field of electric forklifts. A detection and obstacle avoidance device used before and after operation of an electric forklift comprises a forklift portal frame, a machine top shaft is arranged at the top of the forklift portal frame and connected with the forklift portal frame through bolts, and a laser radar is arranged in the machine top shaft. In order to solve the problems that an obstacle avoidance device used by a forklift judges and avoids obstacles according to the size of the forklift, once the forklift carries goods and the size of the goods is larger than that of the forklift structure, the judgment of the obstacle avoidance device cannot be suitable for the goods, and collision is prone to occurring. The measurement remote sensing unit can measure the height and the width of goods above the metal fork rod, then data are integrated and uploaded to the data end for processing, finally, the laser radar on the top can adjust judgment of the obstacle range in time according to the measurement data of the goods, and therefore it is guaranteed that collision does not occur in the goods transportation process.

Description

Technical Field

[0001] The invention relates to the technical field of electric forklifts, and in particular to a device for detecting and avoiding obstacles before and after the operation of an electric forklift. Background Art

[0002] The Chinese patent with announcement number CN211283617U discloses an AGV forklift obstacle avoidance detection system. Each obstacle avoidance detection component is set on each side of the forklift body as needed to detect the obstacles distributed on each side of the forklift body, realize all-round obstacle avoidance, avoid relying on the naked eye to avoid obstacles, have a high degree of automation, a comprehensive detection range, and high safety, so it can safely and efficiently achieve obstacle avoidance.

[0003] In the above patent, the obstacle avoidance device used by the forklift determines and avoids obstacles based on the size of the forklift itself. Once the forklift carries cargo and the cargo size is larger than the forklift structure, the judgment of the obstacle avoidance device cannot be applied to the cargo, and collisions are likely to occur. Summary of the invention

[0004] The purpose of the present invention is to provide an obstacle avoidance device for detecting and avoiding obstacles before and after the operation of an electric forklift. The measuring remote sensing unit can measure the height and width of the goods above the metal fork rod, and then integrate the data and upload it to the data end for processing. Finally, the laser radar on the top can adjust the judgment of the obstacle range in time according to the measurement data of the goods, thereby ensuring that there will be no bumps during the transportation of the goods, and solving the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an obstacle avoidance device for detecting before and after the operation of an electric forklift, comprising a forklift gantry, a top shaft is arranged on the top of the forklift gantry, and the top shaft is connected to the forklift gantry by bolts, wherein a laser radar is arranged inside the top shaft, an electric control track is arranged on the surface of one side of the forklift gantry, and a measurement remote sensing unit is arranged inside the electric control track, a hydraulic track is arranged on the surface of the other side of the forklift gantry, and the hydraulic track is connected to the forklift gantry by bolts, and metal fork rods are arranged at both ends of the outer side of the forklift gantry, and the forklift gantry is installed and used with the forklift body, and the hydraulic track inside the gantry is used to control the metal fork rod to be synchronously lifted and lowered along the forklift gantry;

[0006] The laser radar on the top can adjust the obstacle range judgment in time based on the measurement data of the goods, so as to ensure that there will be no bumps during the transportation of goods;

[0007] The measuring remote sensing units on both sides of the forklift gantry can measure the height and width of the cargo above the metal fork, and then integrate the data and upload it to the data terminal for processing.

[0008] Furthermore, a hydraulic lifting frame is arranged between the hydraulic rails, and the hydraulic lifting frame is slidably connected to the hydraulic rails, wherein the hydraulic lifting frame is connected to the metal fork rod by bolts.

[0009] Furthermore, an early warning device is provided on the top of the machine top axis, which is electrically connected to the laser radar. The early warning device has three different alarm modes: far, medium and near. It can cooperate with the laser radar to remind the driver of obstacles ahead.

[0010] Furthermore, the outer surface of the top shaft is provided with lights, which are distributed on both sides of the laser radar, and a locking shaft is provided on the other side of the top shaft.

[0011] Furthermore, a protective shell cover is provided on the outer surface of the laser radar, and the protective shell cover is connected to the laser radar through a card slot. An inner rotating groove is provided inside the laser radar, and a wiring groove is provided on the outer surface of the laser radar.

[0012] Furthermore, an axial ring is arranged inside the inner rotating groove, and the axial ring is rotationally connected to the laser radar through the inner rotating groove, wherein a plurality of laser modules are arranged on the outer surface of the axial ring, and the laser modules are electrically connected to the laser radar.

[0013] Furthermore, the measuring remote sensing unit includes a rotating support shaft and a remote sensing probe. An electric-controlled slide is provided at the bottom of the rotating support shaft. The rotating support shaft is slidably connected to the electric-controlled track through the electric-controlled slide. The measuring remote sensing unit is installed on both sides of the forklift gantry. During detection, it only needs to slide up and down along the forklift gantry without extending outward, which will not affect the main width of the forklift.

[0014] Furthermore, the remote sensing probe is rotatably connected to the rotating support shaft, and an infrared sensor module is arranged on the outer surface of the remote sensing probe, and the measuring angle of the infrared sensor module is controlled by the rotation of the remote sensing probe.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] In the present invention, the measuring remote sensing unit can measure the height and width of the goods above the metal fork rod, and then integrate the data and upload it to the data end for processing. At the same time, the measuring remote sensing unit is installed on both sides of the forklift gantry. During detection, it only needs to slide up and down along the forklift gantry without extending outward, which will not affect the main width of the forklift. Finally, the laser radar on the top can timely adjust the judgment of the obstacle range in combination with the measurement data of the goods, thereby ensuring that there will be no bumps during the transportation of the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall front view of the present invention;

[0018] Figure 2 It is an overall side view of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the laser radar of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the measurement remote sensing unit of the present invention;

[0021] Figure 5 It is a vertical measurement schematic diagram of the present invention;

[0022] Figure 6 It is a schematic diagram of level measurement of the present invention.

[0023] In the figure: 1. Forklift gantry; 2. Top shaft; 3. Measurement remote sensing unit; 4. Metal fork rod; 5. Laser radar; 101. Electric control track; 102. Hydraulic track; 103. Hydraulic lifting frame; 201. Light; 202. Early warning device; 203. Locking shaft; 301. Electric control slide; 302. Rotating support shaft; 303. Remote sensing probe; 304. Infrared sensor module; 501. Protective shell cover; 502. Inner rotation groove; 503. Shaft ring; 504. Laser module; 505. Wiring groove. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In order to solve the problem that the obstacle avoidance device used by the forklift is based on the size of the forklift itself to determine and avoid obstacles, once the forklift is carrying goods, and the size of the goods is larger than the forklift structure, the obstacle avoidance device cannot be used to determine the goods, and it is easy to cause collisions; please refer to Figure 1-4 , this embodiment provides the following technical solutions:

[0026] A device for detecting and avoiding obstacles before and after an electric forklift is in operation, comprising a forklift gantry 1, a top shaft 2 is arranged on the top of the forklift gantry 1, the top shaft 2 is connected to the forklift gantry 1 by bolts, wherein a laser radar 5 is arranged inside the top shaft 2, an electric control track 101 is arranged on the surface of one side of the forklift gantry 1, a measurement remote sensing unit 3 is arranged inside the electric control track 101, a hydraulic track 102 is arranged on the surface of the other side of the forklift gantry 1, the hydraulic track 102 is connected to the forklift gantry 1 by bolts, metal fork rods 4 are arranged at both ends of the outer side of the forklift gantry 1, the forklift gantry 1 is installed and used with a forklift body, and the hydraulic track 102 inside the gantry is used to control the metal fork rod 4 to be synchronously lifted and lowered along the forklift gantry 1;

[0027] The laser radar 5 on the top can adjust the obstacle range judgment in time based on the measurement data of the goods, so as to ensure that there will be no bumps during the transportation of goods;

[0028] The measuring remote sensing units 3 on both sides of the forklift gantry 1 can measure the height and width of the cargo above the metal fork rod, and then integrate the data and upload it to the data terminal for processing;

[0029] A hydraulic lifting frame 103 is provided between the hydraulic rails 102, and the hydraulic lifting frame 103 is slidably connected to the hydraulic rails 102, wherein the hydraulic lifting frame 103 is connected to the metal fork rod 4 by bolts;

[0030] An early warning device 202 is provided on the top of the top shaft 2, and the early warning device 202 is electrically connected to the laser radar 5. A lighting lamp 201 is provided on the outer surface of the top shaft 2, and the lighting lamp 201 is distributed on both sides of the laser radar 5. A locking shaft 203 is provided on the other side of the top shaft 2. The early warning device 202 has three different alarm modes: far, medium and near. It can cooperate with the laser radar 5 to remind the driver of the obstacle ahead.

[0031] The outer surface of the top shaft 2 is provided with a lighting lamp 201, which is distributed on both sides of the laser radar 5. A locking shaft 203 is provided on the other side of the top shaft 2. The outer surface of the laser radar 5 is provided with a protective shell 501, which is connected to the laser radar 5 through a card slot. The interior of the laser radar 5 is provided with an inner rotation groove 502, and the outer surface of the laser radar 5 is provided with a wiring groove 505;

[0032] The outer surface of the laser radar 5 is provided with a protective shell 501, which is connected to the laser radar 5 through a card slot, and the interior of the laser radar 5 is provided with an inner rotation groove 502, and the outer surface of the laser radar 5 is provided with a wiring groove 505, and the interior of the inner rotation groove 502 is provided with a shaft ring 503, and the shaft ring 503 is rotatably connected to the laser radar 5 through the inner rotation groove 502, wherein the outer surface of the shaft ring 503 is provided with a plurality of laser modules 504, and the laser modules 504 are electrically connected to the laser radar 5;

[0033] The measuring remote sensing unit 3 includes a rotating support shaft 302 and a remote sensing probe 303. The measuring remote sensing unit 3 is installed on both sides of the forklift gantry 1. During detection, it only needs to slide up and down along the forklift gantry 1 without extending outward, which will not affect the main width of the forklift. An electric control slide 301 is provided at the bottom of the rotating support shaft 302. The rotating support shaft 302 is slidably connected to the electric control track 101 through the electric control slide 301. The remote sensing probe 303 is rotatably connected to the rotating support shaft 302. An infrared sensor module 304 is provided on the outer surface of the remote sensing probe 303. The measuring angle of the infrared sensor module 304 is controlled by the rotation of the remote sensing probe 303.

[0034] Embodiment 1:

[0035] See also Figure 5 , this embodiment provides the following technical solutions:

[0036] After the cargo is lifted by the metal fork rod 4, the metal fork rod 4 is raised to a specified safe height driven by the hydraulic lifting frame 103, and then the measuring remote sensing unit 3 on one side of the forklift gantry 1 moves from top to bottom, collecting the highest and lowest points of the cargo in the process, and obtaining the length A when the measuring remote sensing unit 3 moves to the lowest point area, and obtains the length B by collecting the outermost point of the highest point area of ​​the cargo through the infrared sensor module 304. At this time, the cargo length C can be calculated by the lengths A and B. For irregular cargo, the measuring remote sensing unit 3 on the other side can move from bottom to top, and measure the length and height information of the cargo on the other side in the same way, and then integrate the data and upload it to the data end for processing.

[0037] Embodiment 2:

[0038] See also Figure 6 , this embodiment provides the following technical solutions:

[0039] After the cargo is lifted by the metal fork rod 4, the metal fork rod 4 is raised to a specified safe height driven by the hydraulic lifting frame 103, and then the measuring remote sensing units 3 on both sides of the forklift gantry 1 can be moved to the highest point or lowest point area of ​​the cargo, and measure the length A from the cargo to the measuring remote sensing unit 3, and then the infrared sensor module 304 collects the outermost point of the highest point or lowest point area of ​​the cargo to obtain the length B, and the length A and B are calculated to obtain the cargo length C. When it comes to irregular cargo, it is necessary to measure the highest point and lowest point areas at the same time, and then integrate the data and upload it to the data end for processing.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used 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 "include", "comprise" 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.

[0041] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An obstacle avoidance device for detecting and avoiding obstacles before and after an electric forklift is operated, characterized in that: The invention comprises a forklift gantry (1), wherein a machine top shaft (2) is arranged on the top of the forklift gantry (1), and the machine top shaft (2) is connected to the forklift gantry (1) by bolts, wherein a laser radar (5) is arranged inside the machine top shaft (2), an electric control track (101) is arranged on the surface of one side of the forklift gantry (1), and a measurement remote sensing unit (3) is arranged inside the electric control track (101), and a hydraulic track (102) is arranged on the surface of the other side of the forklift gantry (1), and the hydraulic track (102) is connected to the forklift gantry (1) by bolts, and metal fork rods (4) are arranged at both ends of the outer side of the forklift gantry (1).

2. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 1, characterized in that: A hydraulic lifting frame (103) is arranged between the hydraulic rails (102), and the hydraulic lifting frame (103) is slidably connected to the hydraulic rails (102), wherein the hydraulic lifting frame (103) is connected to the metal fork rod (4) by bolts.

3. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 1, characterized in that: An early warning device (202) is provided at the top of the machine top shaft (2), and the early warning device (202) is electrically connected to the laser radar (5).

4. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 1, characterized in that: The outer surface of the top shaft (2) is provided with a lighting lamp (201), the lighting lamp (201) is distributed on both sides of the laser radar (5), and the other side of the top shaft (2) is provided with a locking shaft (203).

5. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 1, characterized in that: The outer surface of the laser radar (5) is provided with a protective shell cover (501), the protective shell cover (501) is connected to the laser radar (5) via a card slot, the interior of the laser radar (5) is provided with an inner rotation groove (502), and the outer surface of the laser radar (5) is provided with a wiring groove (505).

6. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 5, characterized in that: An axial ring (503) is arranged inside the inner rotating groove (502), and the axial ring (503) is rotationally connected to the laser radar (5) through the inner rotating groove (502), wherein a plurality of laser modules (504) are arranged on the outer surface of the axial ring (503), and the laser modules (504) are electrically connected to the laser radar (5).

7. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 1, characterized in that: The measuring remote sensing unit (3) comprises a rotating support shaft (302) and a remote sensing probe (303); an electric control slide seat (301) is arranged at the bottom of the rotating support shaft (302); and the rotating support shaft (302) is slidably connected to an electric control track (101) via the electric control slide seat (301).

8. The device for detecting and avoiding obstacles before and after the operation of an electric forklift according to claim 7, characterized in that: The remote sensing probe (303) is rotatably connected to the rotating support shaft (302), and an infrared sensor module (304) is provided on the outer surface of the remote sensing probe (303).

Images