Accessory storage rack following system for truck maintenance and control method of accessory storage rack following system

Abstract

The invention provides an accessory storage rack following system for truck maintenance and a control method of the accessory storage rack following system, and relates to the technical field of truck body maintenance. The accessory storage rack is located on the lifting platform; the personnel positioning system is arranged in the operation area of the following system and is used for tracking the position of the operator so as to control the transport vehicle to move along with the operator; and the control system is in wireless connection with the transport vehicle and the accessory storage rack and is electrically connected with the personnel positioning system. According to the system, operation tasks are distributed by the control system, special equipment is replaced by the automatic driving transport vehicle for operation, maintenance operation steps are standardized, the tool support time of operators is saved, and dependence on the special equipment in a plant is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle body maintenance, and in particular to a parts storage rack following system for truck maintenance and a control method thereof. Background Art

[0002] At present, the main logistics means for the transportation of parts for truck maintenance in my country are overhead cranes, forklifts and manual trolleys. Among them, forklifts are the main transportation carriers for vehicle body maintenance, responsible for assisting the disassembly and assembly of hook buffers and brake parts, and responsible for the transportation of various parts between different maintenance stations. The transportation of parts requires the cooperation of forklift drivers and operators, with a low degree of automation, requiring a large number of people, and there is cross-operation with other maintenance equipment, which poses a safety hazard. Summary of the invention

[0003] The purpose of the present invention is to provide a following system and control method for a spare parts storage rack for truck maintenance to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0004] A parts storage rack following system for truck maintenance, comprising:

[0005] A transport vehicle, wherein the transport vehicle is provided with a lifting platform;

[0006] An accessories storage rack, the accessories storage rack is located on the lifting platform;

[0007] A personnel positioning system, which is arranged in the operation area of ​​the following system and is used to track the position of the operating personnel so as to control the transport vehicle to follow the movement of the operating personnel;

[0008] A control system is wirelessly connected to the transport vehicle and the accessory storage rack, and electrically connected to a personnel positioning system.

[0009] Optionally, the transport vehicle includes a chassis, driving wheels and a detection device for detecting the relative position of the accessory storage rack and the transport vehicle; the driving wheels are arranged below the chassis; and the lifting platform is arranged above the chassis.

[0010] Optionally, the lifting platform includes a lifting mechanism and a loading platform disposed on the lifting mechanism; the detection device is embedded in the surface of the loading platform;

[0011] The detection device includes a visual sensor, and the bottom surface of the accessory storage rack is provided with a visual mark for assisting the visual sensor in detection.

[0012] Optionally, the transport vehicle also includes a navigation system, which is arranged at the end of the transport vehicle, and the navigation system includes a laser ranging device and an information processing module; the information processing module is electrically connected to the laser ranging device and wirelessly connected to the control system.

[0013] Optionally, the accessory storage rack includes a frame, a drawer, a tool and accessory detector and a touch screen all-in-one machine;

[0014] The bottom of the frame is provided with running wheels;

[0015] The drawer is installed in the frame and is used to store maintenance accessories and tools;

[0016] The tool and accessory detector is installed on the frame and located above the drawer, and is used to detect the number and type of maintenance accessories and tools in the frame;

[0017] The integrated touch screen machine is mounted on the outer wall surface of the frame, and the tool and accessory detector is electrically connected to the integrated touch screen machine.

[0018] Optionally, the frame is further provided with a fixed electromagnet, and the drawer is provided with a magnet block matching the fixed electromagnet; the fixed electromagnet is electrically connected to the touch screen all-in-one.

[0019] Based on the same inventive concept, the present application also provides a control method for a parts storage rack following system for truck maintenance, wherein the personnel positioning system includes an image acquisition device, and the image acquisition device is used to acquire an image of a working area, and the method includes:

[0020] Obtaining an operation task, generating a transport vehicle movement instruction according to the operation task and sending the instruction to the transport vehicle, wherein the transport vehicle movement instruction is used to control the transport vehicle to move to a preset position below the accessory storage rack;

[0021] Verify whether the inspection parts and tools in the parts storage rack are complete according to the operation task and the detection information of the tool and parts detector. If so, generate a transport vehicle lifting instruction and send it to the transport vehicle. The transport vehicle lifting instruction is used to control the lifting platform of the transport vehicle to lift up the parts storage rack;

[0022] Acquire task station information according to the operation task, and plan the terminal position and moving path of the transport vehicle according to the task station information;

[0023] Based on the work area image acquired by the personnel positioning system, the position of the operator is tracked by an image tracking algorithm, and the transport vehicle is controlled to move based on the position of the operator.

[0024] Optionally, the image of the work area acquired by the personnel positioning system and tracking the position of the operator by an image tracking algorithm include:

[0025] Based on the task station information, searching for the accessory storage rack corresponding to the task in the work area image;

[0026] The touch screen integrated machine position information of the accessory storage rack is obtained through image recognition;

[0027] A transport start instruction is obtained, and based on the position information of the touch screen integrated machine, an operator who is closest to the front of the current touch screen integrated machine is determined in the work area image, and the operator is used as a tracking target of the image tracking algorithm.

[0028] Optionally, the transport vehicle is provided with a speed measuring device, and the method further comprises:

[0029] Obtaining a transport start instruction, sending an opening signal to the fixed electromagnet according to the transport start instruction, and starting the transport vehicle to start transport;

[0030] Based on the work area image, the moving distance of the operator in a preset unit time is obtained through an image tracking algorithm;

[0031] When the moving distance is less than a preset threshold, a stop instruction is generated and sent to the transport vehicle;

[0032] The speed data measured by the speed measuring device is obtained, and when the speed is zero, a closing signal is sent to the fixed electromagnet.

[0033] Optionally, a visual recognition device is provided on the frame; the visual recognition device is used to obtain a posture image of a worker in front of the frame; and the method further includes:

[0034] Obtaining a transport start instruction, sending an opening signal to the fixed electromagnet according to the transport start instruction, and starting the transport vehicle to start transport;

[0035] Based on the posture image, obtaining posture information of the operator through human posture recognition;

[0036] The posture information is compared with the preset posture information, and if they match, a stop instruction is generated and sent to the transport vehicle;

[0037] The speed data measured by the speed measuring device is obtained, and when the speed is zero, a closing signal is sent to the fixed electromagnet.

[0038] The beneficial effects of the present invention are:

[0039] The spare parts storage rack following system of the present application distributes work tasks by the control system, and the transport vehicle carrying the spare parts storage rack 200 replaces the forklift (special equipment) for operation. The built-in modular tool storage replaces the tool collection, standardizes the maintenance operation process, saves the tool collection time of the operators, and avoids the safety hazards caused by the forklift's movement in the maintenance warehouse; at the same time, it effectively saves maintenance costs by reducing the number of forklift purchases and related expenses.

[0040] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 This is a schematic diagram of the structure of a spare parts storage rack following system for truck maintenance according to an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the structure of a transport vehicle according to an embodiment of the present invention;

[0044] Figure 3 It is a side view of the transport vehicle according to an embodiment of the present invention.

[0045] Markings in the figure: 100 - transport vehicle; 101 - chassis; 102 - driving wheel; 103 - lifting mechanism; 104 - loading platform; 200 - accessories storage rack; 201 - frame; 202 - running wheel; 203 - drawer; 204 - touch screen integrated machine; 300 - maintenance accessories; 400 - tools. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0048] Example 1

[0049] See also Figure 1 The present application provides a parts storage rack following system for truck maintenance, comprising:

[0050] A transport vehicle 100, wherein the transport vehicle 100 is provided with a lifting platform;

[0051] An accessory storage rack 200, the accessory storage rack 200 is located on the lifting platform;

[0052] A personnel positioning system, which is arranged in the operation area of ​​the following system and is used to track the position of the operating personnel so as to control the transport vehicle 100 to move following the operating personnel;

[0053] A control system, wherein the control system is wirelessly connected to the transport vehicle 100 and the accessory storage rack 200, and is electrically connected to a personnel positioning system.

[0054] The transport vehicle 100 is controlled by a control system and is used to automatically move the entire accessory storage rack 200 to a designated location, replacing the forklift and the forklift driver to transport the accessories. The personnel positioning system includes monitoring equipment arranged in the maintenance warehouse, which locates and tracks the relevant operating personnel through monitoring images covering the entire factory area, so that the transport vehicle 100 moves with the operating personnel.

[0055] See also Figure 2 As an optional embodiment, the transport vehicle 100 includes a chassis 101, a driving wheel 102 and a detection device for detecting the relative position of the accessory storage rack 200 and the transport vehicle 100; the driving wheel 102 is arranged below the chassis 101, and the chassis 101 is a square structure. The driving wheel 102 can enable the transport vehicle 100 to translate in any direction and rotate in place; the lifting platform is arranged above the chassis 101, and the lifting platform can be lifted up and down so as to lift or lower the accessory storage rack 200.

[0056] As an optional implementation, the lifting platform includes a lifting mechanism 103 and a loading platform 104 disposed on the lifting mechanism 103; the detection device is embedded in the surface of the loading platform 104;

[0057] The lifting mechanism 103 can be specifically composed of four electric push rods and has a self-locking function. The chassis 101 and the loading platform 104 are connected by a flexible corrugated telescopic skin. Figure 3 The skin surrounds the outer periphery of the lifting mechanism 103 to isolate the lifting mechanism 103 from the external environment, thereby preventing pollutants such as dust generated by the maintenance station from entering the lifting mechanism 103 and extending the service life of the lifting mechanism 103.

[0058] The detection device includes a visual sensor, and the bottom surface of the accessory storage rack 200 is provided with a visual mark for assisting the visual sensor in detection.

[0059] The detection device is used to detect whether the accessory storage rack 200 is in place. When the transport vehicle 100 moves to the bottom of the accessory storage rack 200 and the visual sensor detects that the position of the accessory storage rack 200 meets the requirements, the transport vehicle 100 can be raised or lowered. The visual sensor can be a camera device. When the visual mark appears in a specific position or characteristic range of the camera's field of view, it means that the position of the accessory storage rack 200 meets the operation requirements.

[0060] As an optional embodiment, the transport vehicle 100 further includes a navigation system, which is disposed at the end of the transport vehicle 100. The navigation system includes a laser distance measuring device and an information processing module; the information processing module is electrically connected to the laser distance measuring device and wirelessly connected to the control system. The laser distance measuring device can detect nearby obstacles to avoid collisions with other equipment or staff, and can adjust its posture according to the detected obstacles to change the direction of movement; the information processing module communicates with the control system, receives instructions sent by the control system, and controls the vehicle body to move according to the planned path.

[0061] As an optional implementation, the accessory storage rack 200 includes a frame 201, a drawer 203, a tool and accessory detector and a touch screen integrated machine 204;

[0062] The bottom of the frame 201 is provided with a running wheel 202, which can be pushed manually to adjust the position;

[0063] The drawer 203 is installed in the frame 201 and is used to store maintenance accessories 300 and tools 400;

[0064] The tool and accessory detector is installed on the frame 201 and located above the drawer 203, and is used to detect the number and type of maintenance accessories 300 and tools 400 in the frame 201;

[0065] The integrated touch screen machine 204 is installed on the outer wall surface of the frame 201 , and the tool and accessory detector is electrically connected to the integrated touch screen machine 204 .

[0066] The touch screen integrated machine 204 is a multifunctional device that integrates technologies such as a touch screen, industrial control equipment, and a computer. An operator can input a transport start instruction through the touch screen integrated machine 204 to start the transport operation.

[0067] The tool and accessories detector scans the images of the maintenance accessories 300 and tools 400 in the detection frame 201, and sends the image data to the touch screen all-in-one machine 204. The number and type of accessories and tools 400 are identified through a pre-trained recognition model. The touch screen all-in-one machine 204 can record and display the information of the loaded maintenance accessories 300 and tools 400, and also send the information to the control system. The control system verifies whether the maintenance accessories 300 and tools 400 in the accessory storage rack 200 are complete according to this task. If not, a prompt message is generated and sent to the touch screen all-in-one machine 204 to prompt the operator.

[0068] As an optional implementation, the frame 201 is further provided with a fixed electromagnet, and the drawer 203 is provided with a magnet block matching the fixed electromagnet; the fixed electromagnet is electrically connected to the touch screen integrated machine 204. In order to prevent the drawer 203 from sliding out during transportation, it is necessary to lock the drawer 203 to restrict its movement. Therefore, this embodiment uses an electromagnet to fix the drawer 203 in the frame 201 by adsorbing the magnet block. When the accessory storage rack 200 stops moving and is stable, the electromagnet is powered off, and the drawer 203 can be opened normally.

[0069] Example 2

[0070] The present application also provides a control method for the above-mentioned truck maintenance accessory storage rack following system, the personnel positioning system includes an image acquisition device, the image acquisition device is used to acquire an image of the working area, and the method includes steps S100, S200, S300 and S400:

[0071] S100, obtaining an operation task, generating a moving instruction of the transport vehicle 100 according to the operation task and sending the moving instruction to the transport vehicle 100, wherein the moving instruction of the transport vehicle 100 is used to control the transport vehicle 100 to move to a preset position below the accessory storage rack 200;

[0072] The control system obtains the starting and ending positions according to the work task, and controls the transport vehicle 100 to move to the starting position, find the accessory storage rack 200 to be transported and enter its bottom. During this process, the operator can push the accessory storage rack 200 to adjust its position so that the accessory storage rack 200 is roughly aligned with the transport vehicle 100, and the transport vehicle 100 then performs fine posture adjustment through detection devices and visual markers.

[0073] S200, verifying whether the inspection accessories 300 and the tools 400 in the accessory storage rack 200 are complete according to the operation task and the detection information of the tool and accessory detector, and if so, generating a lifting instruction of the transport vehicle 100 and sending it to the transport vehicle 100, wherein the lifting instruction of the transport vehicle 100 is used to control the lifting platform of the transport vehicle 100 to lift the accessory storage rack 200;

[0074] The tool and accessory detector scans the images of the maintenance accessories 300 and tools 400 in the detection frame 201, sends the image data to the touch screen integrated machine 204, identifies the number and type of accessories and tools 400 through the pre-trained recognition model, and can record and display the information of the loaded maintenance accessories 300 and tools 400 on the touch screen integrated machine 204, and also sends the information to the control system. The control system verifies whether the maintenance accessories 300 and tools 400 in the accessory storage rack 200 are complete according to this task. If not, a prompt message is generated and sent to the touch screen integrated machine 204 to prompt the operator. If complete, the lifting platform of the transport vehicle 100 is controlled to rise to a preset height, and the accessory storage rack 200 is lifted.

[0075] S300, obtaining task station information according to the operation task, and planning the terminal position and moving path of the transport vehicle 100 according to the task station information;

[0076] The workstation information includes the starting workstation and the end workstation. In certain transportation tasks, the accessory storage rack 200 may need to stop at multiple workstations on the way to receive tools; therefore, the task workstation information also includes intermediate task workstations, and the moving path is planned based on the starting workstation, the end workstation and the intermediate task workstations.

[0077] S400 , based on the work area image acquired by the personnel positioning system, the position of the operator is tracked by an image tracking algorithm, and the transport vehicle 100 is controlled to move based on the position of the operator.

[0078] In this method, a specific operator controls the start of the transport operation, and the operator is also used as the follower of the transport vehicle 100. Therefore, this step is specifically as follows:

[0079] Based on the task station information, the accessory storage rack 200 corresponding to the task is searched in the work area image; the work area image is collected by the monitoring equipment in the maintenance warehouse; there may be multiple accessory storage racks 200 in the entire maintenance warehouse at the same time, so it is necessary to first find the corresponding work station of this task, and then find the accessory storage rack 200 on the work station;

[0080] Obtaining the position information of the touch screen integrated machine 204 of the accessory storage rack 200 through image recognition;

[0081] Get the transport start instruction. The transport start instruction is input by the operator standing in front of the touch screen all-in-one machine 204 and clicking on the screen. At this time, the operator is closest to the touch screen all-in-one machine 204. Therefore, based on the position information of the touch screen all-in-one machine 204, the operator who is closest to the front of the current touch screen all-in-one machine 204 is determined in the work area image, and the operator is used as the tracking target of the image tracking algorithm.

[0082] In order to facilitate the accessory storage rack 200 to carry out tool support at the intermediate task station, the method further includes:

[0083] Obtain a transport start instruction, and send an opening signal to the fixed electromagnet according to the transport start instruction to energize the electromagnet, fix the drawer 203 in the frame 201, and start the transport vehicle 100 to start transport;

[0084] Based on the work area image, the moving distance of the operator in a preset unit time is obtained through an image tracking algorithm;

[0085] When the moving distance is less than a preset threshold, a parking instruction is generated and sent to the transport vehicle 100; that is, when the operator stops at a certain intermediate task station, the transport vehicle 100 also gradually slows down and stops steadily, entering a parking state;

[0086] The speed data measured by the speed measuring device is obtained, and when the speed is zero, a closing signal is sent to the fixed electromagnet; at this time, the drawer 203 can be opened, and the tool 400 is taken out at the intermediate task station. After completion, the operator clicks on the touch screen integrated machine 204 to release the parking state, and the touch screen integrated machine 204 follows the operator again.

[0087] In order to enable the transport vehicle 100 to stop in time in certain unexpected situations, a visual recognition device is also provided on the frame 201; the visual recognition device is used to obtain a posture image of the operator in front of the frame 201; the method further includes:

[0088] Obtaining a transport start instruction, sending an opening signal to the fixed electromagnet according to the transport start instruction, and starting the transport vehicle 100 to start transport;

[0089] Based on the posture image, obtaining posture information of the operator through human posture recognition;

[0090] The posture information is compared with the preset posture information. If they match, a parking instruction is generated and sent to the transport vehicle 100; that is, an action for instructing the transport vehicle 100 to stop is preset, such as raising one hand high; when it is necessary to stop midway, the operator makes a one-hand high-raising action in front, and after the visual recognition device collects the posture image, it analyzes that the human posture in the image is consistent with the preset posture information, and then controls the transport vehicle 100 to stop;

[0091] The speed data measured by the speed measuring device is obtained, and when the speed is zero, a closing signal is sent to the fixed electromagnet.

[0092] In addition to allowing the accessory storage rack 200 to follow the operator, an automatic transportation mode can also be set to allow the transportation vehicle 100 to automatically travel along the planned path.

[0093] The spare parts storage rack following system of the present application dispatches work tasks through the network, and the transport vehicle 100 equipped with the spare parts storage rack 200 replaces the forklift (special equipment) for operation. The tools are collected through the modularly designed storage rack, which standardizes the maintenance work process, saves the tool collection time of the operators, reduces the dependence on special equipment in the factory, and saves the purchase, maintenance, driving and annual inspection costs of forklifts.

[0094] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A parts storage rack following system for truck maintenance, characterized in that: include: A transport vehicle (100), wherein the transport vehicle (100) is provided with a lifting platform; An accessory storage rack (200), the accessory storage rack (200) being located on the lifting platform; A personnel positioning system, the personnel positioning system being arranged in the operation area of ​​the following system and being used to track the position of the operating personnel so as to control the transport vehicle (100) to move following the operating personnel; A control system, wherein the control system is wirelessly connected to the transport vehicle (100) and the accessory storage rack (200), and is electrically connected to a personnel positioning system.

2. The accessory storage rack following system for truck maintenance according to claim 1, characterized in that: The transport vehicle (100) comprises a chassis (101), a driving wheel (102) and a detection device for detecting the relative position of the accessory storage rack (200) and the transport vehicle (100); the driving wheel (102) is arranged below the chassis (101); and the lifting platform is arranged above the chassis (101).

3. The accessory storage rack following system for truck maintenance according to claim 2 is characterized in that: The lifting platform comprises a lifting mechanism (103) and a loading platform (104) arranged on the lifting mechanism (103); the detection device is embedded in the surface of the loading platform (104); The detection device comprises a visual sensor, and the bottom surface of the accessory storage rack (200) is provided with a visual mark for assisting the visual sensor in detection.

4. The accessory storage rack following system for truck maintenance according to claim 1, characterized in that: The transport vehicle (100) further comprises a navigation system, which is arranged at the end of the transport vehicle (100), and comprises a laser distance measuring device and an information processing module; the information processing module is electrically connected to the laser distance measuring device and wirelessly connected to the control system.

5. The accessory storage rack following system for truck maintenance according to claim 1, characterized in that: The accessory storage rack (200) comprises a frame (201), a drawer (203), a tool and accessory detector and a touch screen integrated machine (204); The bottom of the frame (201) is provided with running wheels (202); The drawer (203) is installed in the frame (201) and is used to store maintenance accessories (300) and tools (400); The tool and accessory detector is installed on the frame (201) and is located above the drawer (203), and is used to detect the number and type of maintenance accessories (300) and tools (400) in the frame (201); The integrated touch screen machine (204) is mounted on the outer wall surface of the frame (201), and the tool and accessory detector is electrically connected to the integrated touch screen machine (204).

6. The accessory storage rack following system for truck maintenance according to claim 5, characterized in that: The frame (201) is also provided with a fixed electromagnet, and the drawer (203) is provided with a magnet block matching the fixed electromagnet; the fixed electromagnet is electrically connected to the touch screen all-in-one machine (204).

7. The control method of the accessory storage rack following system for truck maintenance according to claim 6, characterized in that: The personnel positioning system includes an image acquisition device, and the image acquisition device is used to acquire an image of a work area. The method includes: Acquiring an operation task, generating a transport vehicle movement instruction according to the operation task and sending the instruction to the transport vehicle (100), wherein the transport vehicle movement instruction is used to control the transport vehicle (100) to move to a preset position below the accessory storage rack (200); Verify whether the inspection accessories (300) and tools (400) in the accessories storage rack (200) are complete according to the operation task and the detection information of the tool and accessories detector; if so, generate a transport vehicle lifting instruction and send it to the transport vehicle (100); the transport vehicle lifting instruction is used to control the lifting platform of the transport vehicle (100) to lift the accessories storage rack (200); Acquiring task station information according to the operation task, and planning the terminal position and moving path of the transport vehicle (100) according to the task station information; Based on the work area image acquired by the personnel positioning system, the position of the operator is tracked by an image tracking algorithm, and the transport vehicle (100) is controlled to move based on the position of the operator.

8. The control method of the accessory storage rack following system for truck maintenance according to claim 7, characterized in that: The image of the work area obtained by the personnel positioning system and the position of the operator are tracked by an image tracking algorithm, including: Based on the task station information, searching for the accessory storage rack (200) corresponding to the task in the work area image; Obtaining position information of a touch screen integrated machine (204) of an accessory storage rack (200) through image recognition; A transport start instruction is obtained, and based on the position information of the touch screen integrated machine (204), the operator closest to the front of the current touch screen integrated machine (204) is determined in the work area image, and the operator is used as a tracking target of the image tracking algorithm.

9. The control method of the accessory storage rack following system for truck maintenance according to claim 7, characterized in that: The transport vehicle (100) is provided with a speed measuring device, and the method further comprises: Obtaining a transport start instruction, sending an opening signal to the fixed electromagnet according to the transport start instruction, and starting the transport vehicle (100) to start transport; Based on the work area image, the moving distance of the operator in a preset unit time is obtained through an image tracking algorithm; When the moving distance is less than a preset threshold, a stop instruction is generated and sent to the transport vehicle (100); The speed data measured by the speed measuring device is obtained, and when the speed is zero, a closing signal is sent to the fixed electromagnet.

10. The control method of the accessory storage rack following system for truck maintenance according to claim 9, characterized in that: The frame (201) is provided with a visual recognition device; the visual recognition device is used to obtain a posture image of a worker in front of the frame (201); the method further comprises: Obtaining a transport start instruction, sending an opening signal to the fixed electromagnet according to the transport start instruction, and starting the transport vehicle (100) to start transport; Based on the posture image, obtaining posture information of the operator through human posture recognition; The posture information is compared with the preset posture information, and if they match, a parking instruction is generated and sent to the transport vehicle (100); The speed data measured by the speed measuring device is obtained, and when the speed is zero, a closing signal is sent to the fixed electromagnet.

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