Anti-collision device of electric forklift

Abstract

The invention discloses an anti-collision device of an electric forklift. The anti-collision device comprises an imaging unit, a position adjusting unit and a control unit. The imaging unit comprises a first imaging assembly, the position adjusting unit comprises an adjusting base, a first adjusting connecting rod and a second adjusting connecting rod, the first adjusting connecting rod and the second adjusting connecting rod are connected with the adjusting base, and the first imaging assembly is arranged on the first adjusting connecting rod. The position adjusting assembly can drive the first adjusting connecting rod and the second adjusting connecting rod to move in the vertical direction according to instructions of the control unit so as to adjust the vertical position of the first imaging assembly and the transverse position of the first imaging assembly relative to the portal frame, and therefore the requirements of different goods and different loading modes are met by adjusting the position of the first imaging assembly; timely and accurate obstacle avoidance information is provided for a driver, the obstacle avoidance capability of the electric forklift is greatly enhanced, and the accident occurrence probability is reduced.

Description

Technical Field

[0001] This application relates to the technical field of electric forklifts, and particularly to an anti-collision device for an electric forklift. Background Art

[0002] In the electrolytic aluminum industry, material transportation is an indispensable part of the production process. As the main tool for workshop material transportation, electric forklifts are widely used for their high efficiency and flexibility. In actual applications, the driving direction of electric forklifts is highly random, and at the same time, the drivers of electric forklifts face problems such as many blind spots in their vision during operation, which all increase the risk of collision accidents. To address these challenges, some electric forklifts are equipped with anti-collision devices to achieve obstacle avoidance functions by setting detection devices on the electric forklifts.

[0003] However, the current anti-collision devices are often fixedly installed on the mast of the electric forklift. Although this installation method improves the detection stability to a certain extent, when the electric forklift is loaded with goods, the goods are often too high to block the detection device, and when loading goods that are too wide, it is difficult for the detection device to effectively obtain the information at both ends of the goods. In this case, the function of the anti-collision device will be severely limited, unable to provide timely and accurate obstacle avoidance information for the driver, and it is extremely easy to occur collision accidents. Summary of the Invention

[0004] The embodiments of this application provide an anti-collision device for an electric forklift, which can solve the problem that the anti-collision device in the related art is difficult to provide effective detection and obstacle avoidance after the electric forklift is loaded with goods.

[0005] An embodiment of the present application provides an anti-collision device for an electric forklift. The electric forklift includes a forklift body, a mast, and a forklift controller. The mast and the forklift controller are both connected to the forklift body. The anti-collision device includes an imaging unit, a position adjustment unit, and a control unit. The position adjustment unit includes an adjustment base, a first adjustment link, and a second adjustment link. The adjustment base is arranged in the vertical direction and is connected to the mast. One end of the first adjustment link is slidably connected to the adjustment base. One end of the second adjustment link is slidably connected to the adjustment base, and the other end is rotatably connected to the end of the first adjustment link away from the adjustment base. The imaging unit includes a first imaging component disposed on the first adjustment link. The control unit includes a position control unit and an anti-collision control unit. The position control unit is electrically connected to the position adjustment unit. The position control unit is configured to control the first adjustment link and / or the second adjustment link to move relative to the adjustment base in response to a position control instruction from the driver to adjust the position of the first imaging component. The anti-collision control unit is electrically connected to the forklift controller and is also electrically connected to the first imaging component. The anti-collision control unit is configured to receive an image from the first imaging component and send a deceleration signal to the forklift controller based on the image.

[0006] In some of the embodiments, the position adjustment unit further includes a first driving member and a second driving member. The first driving member is drivingly connected to the first adjustment link and is electrically connected to the position control unit. The second driving member is drivingly connected to the second adjustment link and is electrically connected to the position control unit. Wherein, the position control unit is specifically configured to: control the first driving member and the second driving member to rotate synchronously in the same direction to adjust the position of the first imaging component in the vertical direction; or control the first driving member and the second driving member to rotate synchronously in opposite directions to adjust the lateral position of the first imaging component relative to the mast.

[0007] In some of these embodiments, the adjustment base further includes: a first lead screw module, including a first lead screw arranged along the vertical direction and a first slider threadedly connected to the first lead screw, the first lead screw being coaxially connected to the output end of the first driving member, the first slider being rotatably connected to one end of the first adjustment link away from the second adjustment link, wherein the first driving member is used to drive the first lead screw to rotate so as to drive the first adjustment link to move relative to the adjustment base; and a second lead screw module, including a second lead screw arranged along the vertical direction and a second slider threadedly connected to the second lead screw, the axis of the second lead screw being parallel to the axis of the first lead screw, the second lead screw being coaxially connected to the output end of the second driving member, the second slider being rotatably connected to one end of the second adjustment link away from the first adjustment link, wherein the second driving member is used to drive the second lead screw to rotate so as to drive the second adjustment link to move relative to the adjustment base.

[0008] In some of these embodiments, the position adjustment unit further includes: a first encoder, arranged on the first driving member and electrically connected to the position control unit, the first encoder being used to collect the rotation angle information of the output shaft of the first driving member and feed it back to the position control unit; a second encoder, arranged on the second driving member and electrically connected to the position control unit, the second encoder being used to collect the rotation angle information of the output shaft of the second driving member and feed it back to the position control unit.

[0009] In some of these embodiments, the first imaging assembly includes: a first mounting seat, arranged at one end of the first adjustment link away from the adjustment base and rotatably connected to the second adjustment link; and a first imaging member, mounted in the first mounting seat, wherein, in the thickness direction of the gantry, the gantry has a first end face away from the forklift body, and the first imaging member is located on the side of the first end face close to the forklift body.

[0010] In some of these embodiments, the first adjustment link includes a first driving end close to the adjustment base, a first driven end away from the adjustment base, and a connecting portion, the connecting portion being arranged between the first driving end and the first driven end; in the thickness direction of the gantry, the thickness of the first driven end is less than the thickness of the connecting portion, and the side wall surface of the first driven end close to the forklift body is coplanar with the side wall surface of the connecting portion close to the forklift body, so as to leave a mounting position at the end face of the connecting portion, and the mounting position is used to accommodate and mount the first mounting seat.

[0011] In some of these embodiments, the second adjustment link has a second driven end away from the adjustment base, and the first driven end is rotatably connected to the second driven end; the first mounting seat includes a first mounting portion and a second mounting portion, the first mounting portion is coaxially connected to the first driven end and the second driven end; the second mounting portion is connected to the first mounting portion, the second mounting portion has a mounting cavity, and the first imaging member is disposed in the mounting cavity. Wherein, one end of the second mounting portion away from the first mounting portion abuts against the mounting position.

[0012] In some of these embodiments, the anti-collision device further includes an alarm unit electrically connected to the anti-collision control unit, and the alarm unit is configured to issue an alarm prompt under the control of the anti-collision control unit.

[0013] In some of these embodiments, the imaging unit further includes: a second imaging assembly disposed on the top of the gantry and electrically connected to the anti-collision control unit for acquiring an image of the upper front area of the electric forklift to determine whether there is an obstacle in the upper area of the travel route of the electric forklift; and a third imaging assembly disposed on the bottom of the gantry and electrically connected to the anti-collision control unit for acquiring an image of the lower front area of the electric forklift to determine whether there is an obstacle in the lower area of the travel route of the electric forklift.

[0014] In some of these embodiments, the anti-collision device further includes an input unit electrically connected to the position control unit and configured to allow a driver to input a position control instruction, and the position control instruction includes a target movement direction or a target position of the first imaging assembly.

[0015] Based on the anti-collision device of an electric forklift according to an embodiment of the present application, by controlling the first adjustment link and the second adjustment link in the position adjustment unit to move in the vertical direction through the position control unit, the first imaging assembly can be driven to move, so as to adjust the vertical position and the lateral position of the first imaging assembly relative to the gantry. The anti-collision control unit receives the images of the imaging unit and sends a deceleration signal to the forklift controller according to the images. Thus, by adjusting the position of the first imaging assembly to meet the requirements of different goods and different loading methods, timely and accurate obstacle avoidance information is provided for the driver, greatly enhancing the obstacle avoidance ability of the electric forklift and reducing the probability of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 Structural schematic diagram of an anti-collision device for an electric forklift according to an embodiment of the present application;

[0018] Figure 2 Schematic diagram of an electronic control block diagram of an anti-collision device according to an embodiment of the present application;

[0019] Figure 3 Structural schematic diagram of a position adjustment unit 30 according to an embodiment of the present application;

[0020] Figure 4 is Figure 1 Partial enlarged schematic diagram of A in;

[0021] Reference numerals:

[0022] 1, electric forklift; 2, anti-collision device; 11, forklift body; 12, mast; 13, fork; 20, imaging unit; 30, position adjustment unit; 40, control unit; 50, alarm unit; 21, first imaging component; 31, adjustment base; 32, first adjustment link; 33, second adjustment link; 34, first driving member; 35, second driving member; 36, first encoder; 37, second encoder; 38, first lead screw module; 39, second lead screw module; 41, position control unit; 42, anti-collision control unit; 120, first end face; 211, first mounting seat; 212, first imaging member; 321, first driving end; 322, first driven end; 323, connecting portion; 331, second driving end; 332, second driven end; 381, first lead screw; 382, first slider; 391, second lead screw; 392, second slider. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] In the electrolytic aluminum industry, electric forklifts are the main tools for transporting materials in the workshop. The efficiency and safety of material transportation are directly related to the stable operation and cost control of the entire production line. Due to the dense equipment and complex material stacking in the workshop, the driver's line of sight is often blocked, making it difficult to comprehensively grasp the surrounding environment information. In the related art, the detection equipment in the obstacle avoidance device of an electric forklift is extremely vulnerable to being blocked by high goods, and it is difficult to effectively obtain the information at both ends of the goods, resulting in a reduction in the accuracy of the obstacle avoidance device.

[0025] To solve the above problems, the present application proposes an anti-collision device for an electric forklift.

[0026] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of an anti-collision device 2 of an electric forklift 1 according to an embodiment of the present application. The electric forklift 1 includes a forklift body 11, a mast 12, a fork 13 and a forklift controller. The fork 13 is connected to the forklift body 11 through the mast 12, and the forklift controller is connected to the forklift body 11. The forklift body 11 is the main part of the electric forklift, including key components such as a cab, a chassis, wheels and a motor. The mast 12 is an important structure connecting the forklift body 11 and the fork 13, which can usually be lifted and lowered. The mast 12 can adjust the vertical height position of the fork 13 through a hydraulic system. The fork 13 is a tool for the electric forklift 1 to fork and carry goods. It is installed at the end of the mast 12 and can be lifted and lowered with the lifting and lowering of the mast 12. The forklift controller is responsible for receiving and processing the driver's instructions. In response to the driver's operation, the forklift controller controls various actions of the electric forklift 1, such as forward, backward, steering and lifting, through the cooperation of the electric drive system and the hydraulic system.

[0027] The anti-collision device 2 in the present application will be introduced in detail below with reference to the accompanying drawings. Refer to Figure 1 - Figure 2 , Figure 2 which is a schematic diagram of an electronic control block diagram of an anti-collision device 2 according to an embodiment of the present application, Figure 3 which is a schematic structural diagram of a position adjustment unit 30 according to an embodiment of the present application, Figure 4 is Figure 1 a partial enlarged schematic diagram of A in

[0028] In an embodiment of the present application, the imaging unit 20 includes two first imaging components 21, a second imaging component and a third imaging component. The two first imaging components 21 are arranged on both sides of the mast 12 for acquiring images of the left and right front regions of the electric forklift 1. The second imaging component is arranged on the top of the mast 12 for acquiring images of the upper front region of the electric forklift 1. The third imaging component is arranged at the bottom of the mast 12 for acquiring images of the lower front region of the electric forklift 1. Among them, the first imaging component 21 can adjust its relative position to minimize the blind area blocked by the goods as much as possible. Thus, the imaging unit 20 can collect effective images of the upper, lower, left and right regions in front of the electric forklift 1, and the control unit 40 determines whether there are obstacles in the corresponding regions on the traveling route of the electric forklift 1 according to these images. Optionally, the first imaging component 21, the second imaging component and the third imaging component can adopt infrared camera components, which can provide stable and clear images under various environmental conditions, especially in low-light or completely dark environments.

[0029] In the embodiment of the present application, the position adjustment unit 30 can adjust the position of the first imaging component 21, and the control unit 40 can acquire the images captured by the imaging unit 20 and analyze whether there are obstacles in the traveling direction of the electric forklift 1 based on the images. If there are obstacles, the control unit 40 controls the alarm unit 50 to give an alarm and sends a deceleration signal to the forklift controller, and the forklift controller controls the electric forklift 1 to decelerate to avoid collision. Further, the control unit 40 includes a position control unit 41 and an anti-collision control unit 42. Among them, the position control unit 41 is electrically connected to the position adjustment unit 30 and is used to control the position control unit 41 to adjust the position of the first imaging component 21, while the anti-collision control unit 42 is electrically connected to the imaging unit 20 and the forklift controller. The anti-collision control unit 42 can acquire the images captured by the imaging unit 20, analyze whether there are obstacles in the images, and then judge whether to send a deceleration signal to the forklift controller based on the obstacle information.

[0030] In order to acquire effective images at both ends of the goods, the imaging unit 20 includes two first imaging components 21, and the two first imaging components 21 are respectively connected to both sides of the gantry 12. Correspondingly, the embodiment of the present application includes two position adjustment units 30, and each position adjustment unit 30 is respectively used to control the position of one first imaging component 21.

[0031] To avoid interference between the first imaging component 21 and the goods during loading, in the embodiment of the present application, in the thickness direction of the gantry 12, the first imaging component 21 does not face the fork 13 extending out of the gantry 12. The first imaging component 21 includes a first mounting seat 211 and a first imaging element 212. The first mounting seat 211 is provided at one end of the first adjustment link 32 away from the adjustment base 31 and is rotatably connected to the second adjustment link 33. The first imaging element 212 is installed in the first mounting seat 211. Among them, in the thickness direction of the gantry 12, the gantry 12 has a first end face 120 away from the forklift body 11, and the first imaging element 212 is located on the side of the first end face 120 close to the forklift body 11. Optionally, the first imaging element 212 is an infrared camera.

[0032] Further, refer to Figure 3 and Figure 4, the first adjustment link 32 includes a first driving end 321, a first driven end 322, and a connecting portion 323. The first driving end 321 is disposed at one end of the first adjustment link 32 close to the adjustment base 31, the first driven end 322 is disposed at the end of the first adjustment link 32 away from the adjustment base 31, and the connecting portion 323 is disposed between the first driving end 321 and the first driven end 322. In the thickness direction of the gantry 12, the thickness of the first driven end 322 is less than the thickness of the connecting portion 323, and the side wall surface of the first driven end 322 close to the forklift body 11 is coplanar with the side wall surface of the connecting portion 323 close to the forklift body 11, so as to leave an installation position at the end surface of the connecting portion 323. The installation position is used to accommodate and install the first mounting seat 211. Thus, the first driven end 322 gives way in the thickness direction of the gantry 12, leaving sufficient installation space for the first mounting seat 211, which can prevent the first mounting seat 211 and the first imaging member 212 from crossing the first end surface 120, and reduce the possibility of interference between the first imaging assembly 21 and the goods on the fork 13.

[0033] In an embodiment of the present application, the second adjustment link 33 has a second driven end 332 away from the adjustment base 31. The first driven end 322 is rotatably connected to the second driven end 332. The first mounting seat 211 includes a first mounting portion and a second mounting portion. The first mounting portion is coaxially connected to the first driven end 322 and the second driven end 332. The second mounting portion is connected to the first mounting portion. The second mounting portion has an installation cavity, and the first imaging member 212 is disposed in the installation cavity. Wherein, the end of the second mounting portion away from the first mounting portion abuts against the installation position. Thus, the first adjustment link 32 and the second adjustment link 33 are rotatably connected, and the first mounting seat 211 is fixedly disposed on the first adjustment link 32 and can adjust its position along with the movement of the first adjustment link 32.

[0034] The following details how to adjust the position of the first imaging assembly 21.

[0035] Continue to refer to Figure 1 - Figure 4, in the embodiment of the present application, the first imaging component 21 is connected to the gantry 12. The position adjustment unit 30 includes an adjustment base 31, a first adjustment link 32, and a second adjustment link 33. The adjustment base 31 is connected to the gantry 12 in the vertical direction. One end of the first adjustment link 32 is slidably connected to the adjustment base 31. One end of the second adjustment link 33 is slidably connected to the adjustment base 31, and the other end is rotatably connected to the end of the first adjustment link 32 away from the adjustment base 31. The first imaging component 21 is disposed on the first adjustment link 32. Thus, the adjustment base 31, the first adjustment link 32, and the second adjustment link 33 are connected to each other and can support each other, which can provide effective support for the first imaging component 21 and ensure the stability of imaging. Further, driving the first adjustment link 32 to move relative to the adjustment base 31, and / or driving the second adjustment link 33 to move relative to the adjustment base 31 can drive the first imaging component 21 to move along with the first adjustment link 32, thereby adjusting the position of the first imaging component 21.

[0036] Further, it can be seen that in order to prevent the adjustment base 31 from affecting the lifting of the forklift forks 13, in the embodiment of the present application, both the top and the bottom of the adjustment base 31 have extension parts for connecting to the gantry 12, and the main body part between the top and the bottom is arranged parallel and spaced apart from the gantry 12.

[0037] Taking the end of the first adjustment link 32 close to the adjustment base 31 as the first driving end 321 and the end away from the first driving end 321 as the first driven end 322. Similarly, the end of the second adjustment link 33 close to the adjustment base 31 is the second driving end 331, and the end away from the second driving end 331 is used as the second driven end 332. It can be understood that in the embodiment of the present application, when the lengths of the first adjustment link 32 and the second adjustment link 33 are fixed, the vertical distance between the first driving end 321 and the second driving end 331 determines the horizontal position of the first imaging component 21, and the vertical height of the first driving end 321 and the second driving end 331 determines the vertical height of the first imaging component 21. Based on this principle, the position of the first imaging component 21 can be adjusted by controlling the vertical positions of the first driving end 321 and the second driving end 331.

[0038] In the embodiment of the present application, the position adjustment unit 30 further includes a first driving member 34 for driving the first adjustment link 32 and a second driving member 35 for driving the second adjustment link 33. Both the first driving member 34 and the second driving member 35 are electrically connected to the position control unit 41. The position control unit 41 realizes the position adjustment of the first imaging component 21 by controlling the steering and rotation speed of the first driving member 34 and / or the second driving member 35.

[0039] Specifically, the position control unit 41 can control the operations of the first driving member 34 and the second driving member 35 simultaneously. For example, when the position control unit 41 controls the first driving member 34 and the second driving member 35 to rotate synchronously in the same direction, the vertical position of the first imaging assembly 21 can be adjusted; when the position control unit 41 controls the first driving member 34 and the second driving member 35 to rotate synchronously in opposite directions, the horizontal position of the first imaging assembly 21 relative to the gantry 12 can be adjusted.

[0040] Of course, the position control unit 41 can also control the operation of the first driving member 34 alone, or control the operation of the second driving member 35 alone, to adjust the position of the first imaging assembly 21. For example, when the position control unit 41 controls the first driving member 34 to rotate while the second driving member 35 remains stationary, the position of the first imaging assembly 21 can be adjusted. It can be understood that when driven alone, the position adjustment range of the first imaging assembly 21 will be relatively small, and the vertical position of the first imaging assembly 21 and the horizontal position relative to the gantry 12 will change simultaneously. Therefore, this control method can be adopted when the adjustment amplitude is small and the precision requirement is low.

[0041] It should be noted that in a preferred embodiment of the present application, the first imaging member 212 of the first imaging assembly 21 is configured to be able to automatically adjust the imaging angle. Refer to Figure 4 , it can be seen that in the first imaging assembly 21, the first mounting seat 211 is always fixedly connected to the first driven end of the first adjustment link 32. Therefore, the angle of the first imaging member 212 disposed in the first mounting seat 211 relative to the horizontal / vertical direction will change with the movement of the first adjustment link 32. In order to stably acquire images of both ends of the goods, the first imaging member 212 in the embodiment of the present application can automatically adjust the imaging angle. As a feasible implementation manner, the position control unit 41 can determine the included angle between the first adjustment link 32 and the horizontal direction according to the vertical distance between the first driving end and the second driving end, and adjust the imaging angle of the first imaging member 212 according to this included angle.

[0042] Furthermore, the anti-collision device 2 further includes a display output unit and an input unit. The display output unit is electrically connected to the anti-collision control unit 42, and the input unit is electrically connected to the position control unit 41. Among them, the display output unit can output the acquired images, and the input unit is used for the driver to input position control instructions. The position control unit 41 can control the first driving member 34 and the second driving member 35 according to the position control instructions to adjust the position of the first imaging assembly 21.

[0043] Optionally, the position control instruction may be the target movement direction of the first imaging component 21, and the position control unit 41 can drive the first driving member 34 and the second driving member 35 based on the movement direction. In a specific implementation, the position control unit 41 synchronously drives the first driving member 34 and the second driving member 35 in the same direction, and can adjust the vertical position of the first imaging component 21, that is, drive the first imaging component 21 to move vertically. The position control unit 41 synchronously drives the first driving member 34 and the second driving member 35 in the opposite direction, and can adjust the horizontal position of the first imaging component 21 relative to the gantry 12, that is, drive the first imaging component 21 to move horizontally.

[0044] Further, the position control instruction may also be the target position of the first imaging component 21, and the position control unit 41 can drive the first driving member 34 and the second driving member 35 based on the target position of the first imaging component 21. Specifically, the position adjustment unit 30 further includes a first encoder 36 and a second encoder 37. The first encoder 36 is disposed on the first driving member 34 and is electrically connected to the position control unit 41. The first encoder 36 is used to collect the rotation angle information of the output shaft of the first driving member 34 and feedback it to the position control unit 41. The second encoder 37 is disposed on the second driving member 35 and is electrically connected to the position control unit 41. The second encoder 37 collects the rotation angle information of the output shaft of the second driving member 35 and feedback it to the position control unit 41. In the embodiment of the present application, the position control unit 41 can determine the real-time vertical position of the first driving end according to the rotation angle information of the output shaft of the first driving member 34, and determine the real-time vertical position of the second driving end according to the rotation angle information of the output shaft of the second driving member 35. After obtaining the position control instruction and determining the target position of the first imaging component 21, the position control unit 41 can determine the target vertical positions of the first driving end and the second driving end according to the target position of the first imaging component 21. The position control unit 41 controls the first driving member 34 to act based on the real-time vertical position and the target vertical position of the first driving end, and controls the second driving member 35 to act based on the real-time vertical position and the target vertical position of the second driving end.

[0045] In an embodiment of the present application, the lengths of the first adjustment link and the second adjustment link are both L. A simplified model is established according to the position adjustment unit 30 and the first imaging component 21. The target coordinates (X, Y) of the first imaging component 21 are determined according to the target position of the first imaging component 21. The target coordinates of the first driving end are denoted as (0, A2), and the target coordinates of the second driving end are denoted as (0, A2). Then, according to the geometric relationship, it can be determined that:

[0046]

[0047] Further, the real-time coordinates (0, A1) of the first driving end and the real-time coordinates (0, B1) of the second driving end are determined according to their real-time vertical positions. The position control unit 41 can determine the moving distance and moving direction of the first driving end based on the real-time coordinates (0, A1) and the target coordinates (0, A2) of the first driving end, and can also determine the moving distance and moving direction of the second driving end based on the real-time coordinates (0, A2) and the target coordinates (0, A3) of the second driving end. Thus, the position adjustment of the first imaging assembly 21 can be accurately achieved. At this time, the first driving member 34 and the second driving member 35 may be driven synchronously in the same direction, or may be driven in any one of the synchronous opposite direction, asynchronous same direction, or asynchronous opposite direction.

[0048] In the embodiment of the present application, in order to ensure the positioning accuracy, the position adjustment unit 30 adopts a lead screw module drive. The lead screw module has good stability and strong load capacity, and can stably operate while bearing the loads of the first adjustment link 32 and the second adjustment link 33, reducing the errors caused by vibration or impact. Please continue to refer to Figure 3 - Figure 4 Specifically, in an embodiment of the present application, the position adjustment unit 30 includes a first driving member 34, a second driving member 35, a first lead screw module 38, and a second lead screw module 39. The first lead screw module 38 is vertically arranged in the adjustment base 31. The first lead screw module 38 includes a vertically arranged first lead screw 381 and a first slider 382 sleeved on the first lead screw 381. One end of the first adjustment link 32 far from the first imaging assembly 21 is rotatably connected to the first slider 382, that is, the first driving end is rotatably connected to the first slider 382. The output end of the first driving member 34 is coaxially connected to the first lead screw 381. The first driving member 34 can drive the first lead screw 381 to rotate, so that the first slider 382 and the first driving end move vertically along the first lead screw 381, thereby driving the first adjustment link 32 to move relative to the adjustment base 31. Similarly, the second lead screw module 39 is vertically arranged in the adjustment base 31. The second lead screw module 39 includes a vertically arranged second lead screw 391 and a second slider 392 sleeved on the second lead screw 391. One end of the second adjustment link 33 far from the first imaging assembly 21 is rotatably connected to the second slider 392, that is, the second driven end is rotatably connected to the second slider 392. The output end of the second driving member 35 is coaxially connected to the second lead screw 391. The second driving member 35 can drive the second lead screw 391 to rotate, so that the second slider 392 and the second driving end move vertically along the second lead screw 391, thereby driving the second adjustment link 33 to move relative to the adjustment base 31.

[0049] In a preferred embodiment of the present application, in order to further increase the position adjustment range of the first imaging assembly 21, the first adjustment link 32 and the second adjustment link 33 are configured as telescopic structures. The first adjustment link 32 includes a first pipe body, a second pipe body, and a third driving member. The first pipe body is connected to the adjustment base 31. The second pipe body is connected to the first pipe body in a telescopic manner, and the end thereof away from the first pipe body is rotatably connected to the first imaging assembly 21. The third driving member is connected to the second pipe body and is used to drive the second pipe body to telescope relative to the first pipe body. Optionally, the third driving member adopts a hydraulic push rod. The second pipe body is slidably connected to the first pipe body. The electric push rod is at least partially disposed in the first pipe body, and its output end is connected to the second pipe body. The hydraulic push rod can drive the second pipe body to telescope relative to the first pipe body to adjust the length of the first adjustment link 32. Similarly, the second adjustment link 33 includes a third pipe body, a fourth pipe body, and a fourth driving member. The third pipe body is connected to the adjustment base 31. The fourth pipe body is connected to the third pipe body in a telescopic manner, and the end thereof away from the third pipe body is rotatably connected to the first imaging assembly 21. The fourth driving member is connected to the fourth pipe body and is used to drive the fourth pipe body to telescope relative to the third pipe body. Optionally, the fourth driving member adopts an electric push rod. The fourth pipe body is slidably connected to the third pipe body. The hydraulic push rod is at least partially disposed in the third pipe body, and its output end is connected to the fourth pipe body. The hydraulic push rod can drive the second pipe body to telescope relative to the first pipe body to adjust the length of the second adjustment link 33.

[0050] Preferably, in order to facilitate the control of the position of the first imaging assembly 21, the third driving member and the fourth driving member are driven synchronously and the overall lengths of the first adjustment link 32 and the second adjustment link 33 are always kept consistent.

[0051] In an embodiment of the present application, the alarm unit is electrically connected to the anti-collision control unit, and the alarm unit issues an alarm prompt under the control of the anti-collision control unit. Optionally, the alarm unit adopts an audible and visual alarm.

[0052] In the drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be understood as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0053] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. An anti-collision device (2) for an electric forklift (1), characterized in that: The electric forklift (1) comprises a forklift body (11), a mast (12), a forklift controller and the anti-collision device (2), wherein the mast (12) and the forklift controller are both connected to the forklift body (11), and is characterized in that the anti-collision device (2) comprises: A position adjustment unit (30) comprises an adjustment base (31), a first adjustment link (32) and a second adjustment link (33); the adjustment base (31) is arranged in a vertical direction and connected to the door frame (12); one end of the first adjustment link (32) is slidably connected to the adjustment base (31); one end of the second adjustment link (33) is slidably connected to the adjustment base (31), and the other end is rotatably connected to an end of the first adjustment link (32) away from the adjustment base (31); An imaging unit (20) comprises a first imaging assembly (21) arranged on the first adjustment link (32); and A control unit (40) comprises a position control unit (41) and an anti-collision control unit (42), wherein the position control unit (41) is electrically connected to the position adjustment unit (30), and the position control unit (41) is used to control the first adjustment link (32) and / or the second adjustment link (33) to move relative to the adjustment base (31) in response to a position control instruction of a driver, so as to adjust the position of the first imaging component (21); the anti-collision control unit (42) is electrically connected to the forklift controller and the first imaging component (21), and the anti-collision control unit (42) is used to receive an image of the first imaging component (21) and send a deceleration signal to the forklift controller according to the image.

2. The anti-collision device (2) according to claim 1, characterized in that: The position adjustment unit (30) further comprises a first driving member (34) and a second driving member (35); the first driving member (34) is drivingly connected to the first adjustment link (32) and is electrically connected to the position control unit (41); the second driving member (35) is drivingly connected to the second adjustment link (33) and is electrically connected to the position control unit (41); Wherein, the position control unit (41) is specifically used for: The first driving member (34) and the second driving member (35) are controlled to rotate synchronously in the same direction to adjust the position of the first imaging component (21) in the vertical direction; or the first driving member (34) and the second driving member (35) are controlled to rotate synchronously in different directions to adjust the lateral position of the first imaging component (21) relative to the door frame (12).

3. The anti-collision device (2) according to claim 2, characterized in that: The adjustment base also includes: a first screw rod module (38), comprising a first screw rod (381) arranged along the vertical direction and a first slider (382) threadedly connected to the first screw rod, the first screw rod (381) being coaxially connected to an output end of the first driving member (34), the first slider (382) being rotatably connected to an end of the first adjusting link (32) away from the second adjusting link (33), wherein the first driving member (34) is used to drive the first screw rod (381) to rotate, so as to drive the first adjusting link (32) to move relative to the adjusting base (31); and The second screw module (39) comprises a second screw (391) arranged in a vertical direction and a second slider (392) threadedly connected to the second screw (391), wherein the axis of the second screw is parallel to the axis of the first screw, the second screw (391) is coaxially connected to the output end of the second driving member (35), and the second slider (392) is rotatably connected to an end of the second adjusting link (33) away from the first adjusting link (32), wherein the second driving member (35) is used to drive the second screw (391) to rotate, so as to drive the second adjusting link (33) to move relative to the adjustment base (31).

4. The anti-collision device (2) according to claim 2, characterized in that: The position adjustment unit (30) further comprises: A first encoder (36), provided on the first driving member (34) and electrically connected to the position control unit (41), the first encoder (36) being used to collect rotation angle information of the output shaft of the first driving member (34) and feed it back to the position control unit (41); The second encoder (37) is provided on the second driving member (35) and is electrically connected to the position control unit (41). The second encoder (37) is used to collect the rotation angle information of the output shaft of the second driving member (35) and feed it back to the position control unit (41).

5. The anti-collision device (2) according to claim 1, characterized in that: The first imaging component (21) comprises: A first mounting seat (211) is disposed at one end of the first adjustment link (32) away from the adjustment base (31) and is rotatably connected to the second adjustment link (33); and A first imaging member (212) is installed in the first mounting seat (211), wherein, in the thickness direction of the door frame (12), the door frame (12) has a first end surface (120) away from the forklift body (11), and the first imaging member (212) is located on a side of the first end surface (120) close to the forklift body (11).

6. The anti-collision device (2) according to claim 5, characterized in that: The first adjustment connecting rod (32) comprises a first driving end (321) close to the adjustment base (31), a first driven end (322) away from the adjustment base (31), and a connecting portion (323), wherein the connecting portion (323) is arranged between the first driving end (321) and the first driven end (322); In the thickness direction of the door frame (12), the thickness of the first driven end (322) is smaller than the thickness of the connecting portion (323), and the side wall surface of the first driven end (322) close to the forklift body (11) is coplanar with the side wall surface of the connecting portion (323) close to the forklift body (11), so as to reserve an installation position on the end surface of the connecting portion (323), and the installation position is used to accommodate and install the first mounting seat (211).

7. The anti-collision device (2) according to claim 6, characterized in that: The second adjustment link (33) has a second driven end (332) away from the adjustment base (31), and the first driven end (322) is rotatably connected to the second driven end (332); The first mounting seat (211) comprises a first mounting portion and a second mounting portion, the first mounting portion being coaxially connected to the first driven end (322) and the second driven end (332); the second mounting portion being connected to the first mounting portion, the second mounting portion having a mounting cavity, the first imaging element (212) being disposed in the mounting cavity, wherein an end of the second mounting portion away from the first mounting portion abuts against the mounting position.

8. The anti-collision device (2) according to any one of claims 1 to 7, characterized in that: The anti-collision device (2) further comprises an alarm unit (50), wherein the alarm unit (50) is electrically connected to the anti-collision control unit (42), and the alarm unit (50) is used to issue an alarm prompt under the control of the anti-collision control unit (42).

9. The anti-collision device (2) according to claim 1, characterized in that: The imaging unit (20) further comprises: a second imaging component, arranged on the top of the gantry (12) and electrically connected to the anti-collision control unit (42), for acquiring an image of the upper area in front of the electric forklift (1) to determine whether there is an obstacle in the upper area of ​​the travel route of the electric forklift (1); and The third imaging component is arranged at the bottom of the gantry (12) and is electrically connected to the anti-collision control unit (42) and is used to obtain an image of the lower area in front of the electric forklift (1) to determine whether there is an obstacle in the area below the travel route of the electric forklift (1).

10. The anti-collision device (2) according to claim 1, characterized in that: The anti-collision device (2) also includes an input unit, which is electrically connected to the position control unit and is used for the driver to input a position control instruction, wherein the position control instruction includes a target moving direction or a target position of the first imaging component (21).

Images