Detection and early warning method and system for lifting truck hoisting hole cover plate

Abstract

The invention discloses a lifting truck hoisting hole cover plate detection and early warning method and system, and the method comprises the steps: obtaining the image data of a road surface in front of a lifting truck, judging whether a hoisting hole cover plate exists in the image data of the road surface according to a preset cover plate detection algorithm, if yes, judging whether the hoisting hole cover plate is in an open state, and if yes, giving out collision early warning. Otherwise, detecting the load data of the lift truck, and obtaining the real-time total weight of the lift truck by combining the self-weight of the truck body; and identifying a load identifier of the hoisting hole cover plate from the pavement image data, judging whether the real-time total weight is greater than a load value of the load identifier, and if yes, giving out overload early warning. The device assists an operator in accurately identifying the state and the load identification of the object lifting hole cover plate, reduces the operation risk and the operation difficulty, and ensures that the lift truck can safely run during operation.

Description

Technical Field

[0001] The present invention relates to the technical field of lift truck control, and particularly to a method and system for detecting and warning of the cover plate of the load hole of a lift truck. Background Art

[0002] Nowadays, in some working environments such as hydropower plants, when operating personnel control the movement of a lift truck, they only judge whether the load hole is open by visual observation and observe the load mark on the cover plate of the load hole and compare it with the self-weight of the lift truck to determine the load.

[0003] However, the position of the operating personnel when controlling the movement of the lift truck is relatively high, and it may be difficult to observe and notice in time whether the cover plate of the load hole is in an open state, there is a safety hazard that the lift truck hits the cover plate; at the same time, due to the height and angle of the operating personnel, it is difficult to accurately read the load value marked on the cover plate of the load hole. After the lift truck carries people and loads, its weight exceeds the self-weight of the vehicle, and it is impossible to judge whether the load meets the requirements when passing through the cover plate by comparing with the self-weight of the vehicle. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to provide a method and system for detecting and warning of the cover plate of the load hole of a lift truck, which assist the operating personnel to accurately identify the state and load mark of the cover plate of the load hole, and ensure the safe driving of the lift truck during operation.

[0005] In order to solve the above technical problem, the technical solution adopted by the present invention is: A method for detecting and warning of the cover plate of the load hole of a lift truck, comprising the following steps: S1. Obtain the road surface image data in front of the lift truck, and judge whether there is a cover plate of the load hole in the road surface image data according to a preset cover plate detection algorithm. If so, execute step S2; S2. Judge whether the cover plate of the load hole is in an open state. If so, issue a collision warning. Otherwise, execute step S3; S3. Detect the load data of the lift truck, and obtain the real-time total weight of the lift truck by combining the self-weight of the vehicle body; S4. Identify the load mark of the cover plate of the load hole from the road surface image data, and judge whether the real-time total weight is greater than the load value of the load mark. If so, issue an overload warning.

[0006] In order to solve the above technical problem, another technical solution adopted by the present invention is: A system for detecting and warning of the cover plate of the load hole of a lift truck, characterized in that it comprises a main controller, a camera device, a load detection device, a warning device and an obstacle recognition device arranged on the lift truck; The main controller is electrically connected to the camera device, the load detection device, the warning device, and the obstacle recognition device respectively; The main controller is used to execute the following steps: S1. Obtain the road surface image data in front of the lift truck, and judge whether there is a lifting hole cover plate in the road surface image data according to the preset cover plate detection algorithm. If so, execute step S2; S2. Judge whether the lifting hole cover plate is in an open state. If so, issue a collision warning. Otherwise, execute step S3; S3. Detect the load data of the lift truck, and obtain the real-time total weight of the lift truck by combining the vehicle body self-weight; S4. Identify the load identifier of the lifting hole cover plate from the road surface image data, and judge whether the real-time total weight is greater than the load value of the load identifier. If so, issue an overload warning. The beneficial effects of the present invention are as follows: A method and system for detecting and warning the lifting hole cover plate of a lift truck are provided. When the lift truck is operating, the road surface image data in front of the lift truck is obtained, and it is judged whether there is a lifting hole cover plate in front according to the preset cover plate detection algorithm, and then it is judged whether the lifting hole cover plate is in an open state to avoid collision between the lift truck and it. If the lifting hole cover plate is closed, the real-time total weight of the lift truck is automatically detected and the load identifier of the lifting hole cover plate is obtained, so as to accurately judge whether there is an overload risk, thereby assisting the operator to accurately identify the state and load identifier of the lifting hole cover plate, reducing the operation risk and operation difficulty, and ensuring the safe driving of the lift truck during operation. Brief Description of the Drawings

[0007] Figure 1 It is a step schematic diagram of a method for detecting and warning the lifting hole cover plate of a lift truck according to the present invention; Figure 2 It is a flowchart of a preset cover plate detection algorithm of a method for detecting and warning the lifting hole cover plate of a lift truck according to the present invention; Figure 3 It is a system block diagram of a system for detecting and warning the lifting hole cover plate of a lift truck according to the present invention.

[0008] Label Description: 1. Main controller; 2. Camera device; 3. Load detection device; 4. Warning device; 5. Obstacle recognition device. Detailed Embodiments

[0009] To describe the technical content, the achieved purpose and the effects of the present invention in detail, the following is described in conjunction with the embodiments and with reference to the drawings.

[0010] Please refer to Figure 1 and Figure 2 , a method for detecting and warning the lifting hole cover plate of a lift truck, including the following steps: S1. Obtain the road surface image data in front of the lift truck, and determine whether there is a lifting hole cover plate in the road surface image data according to a preset cover plate detection algorithm. If so, execute step S2; S2. Determine whether the lifting hole cover plate is in an open state. If so, issue a collision warning. Otherwise, execute step S3; S3. Detect the load data of the lift truck, and combine the vehicle body self-weight to obtain the real-time total weight of the lift truck; S4. Identify the load identification of the lifting hole cover plate from the road surface image data, and determine whether the real-time total weight is greater than the load value of the load identification. If so, issue an overload warning.

[0011] As can be seen from the above description, the beneficial effects of the present invention are as follows: When the lift truck is operating, obtain the road surface image data in front of the lift truck, judge whether there is a lifting hole cover plate in front according to a preset cover plate detection algorithm, and then judge whether the lifting hole cover plate is in an open state to avoid collision between the lift truck and it. If the lifting hole cover plate is closed, automatically detect the real-time total weight of the lift truck and obtain the load identification of the lifting hole cover plate, so as to accurately judge whether there is an overload risk, thereby assisting the operator to accurately identify the state and load identification of the lifting hole cover plate, reducing the operation risk and operation difficulty, and ensuring the safe driving of the lift truck during operation.

[0012] Further, the step S1 includes: S11. Obtain the first road surface image data in front of the lift truck, convert the first road surface image data from the BGR color space to the HSV color space to obtain the second road surface image data; S12. According to the preset HSV threshold range corresponding to the lifting hole cover plate, perform color filtering on the second road surface image data to obtain the third road surface image data, and extract the original stripe outer boundary corresponding to the yellow and black warning stripes from the third road surface image data; S13. Crop the first road surface image data according to the original stripe outer boundary to obtain the fourth road surface image data, and judge whether there is a lifting hole cover plate in the fourth road surface image data. If so, execute step S2.

[0013] As can be seen from the above description, in the preset cover plate detection algorithm part, specifically convert the first road surface image data from the BGR color space to the HSV color space to obtain the second road surface image data; perform color filtering on the second road surface image data according to the preset HSV threshold range corresponding to the lifting hole cover plate to obtain the third road surface image data, and extract the original stripe outer boundary corresponding to the yellow and black warning stripes from the third road surface image data, so as to accurately confirm whether there is a lifting hole cover plate in the image and the specific position and size of the lifting hole cover plate.

[0014] Further, in step S2, if so, the collision warning is issued as follows: If so, calculate and determine whether the real-time distance between the lift truck and the cover plate of the lifting hole is less than or equal to a preset warning distance. If the real-time distance is less than or equal to the preset warning distance, issue a collision warning. If the real-time distance is greater than the preset warning distance, recalculate and determine.

[0015] As can be seen from the above description, after detecting that the cover plate of the lifting hole is in the open state, by comparing and judging the real-time distance between the lift truck and the cover plate of the lifting hole with the preset warning distance, it is determined whether there is a risk that the lift truck will collide with the cover plate of the lifting hole soon, and then a collision warning is issued, providing a more intelligent collision warning function and improving the safety and convenience of the operator operating the lift truck for work.

[0016] Further, it further includes: S5. Identify obstacles based on the road surface image data. If there are obstacles in front of the lift truck, issue an obstacle warning.

[0017] As can be seen from the above description, in addition to detecting the cover plate of the lifting hole, an obstacle recognition function is introduced to ensure that the lift truck is not easily collided with other objects when moving in the working scene.

[0018] Further, the detection of the load data of the lift truck is specifically as follows: Obtain the pressure data inside the cylinder barrel of the lifting cylinder of the lift truck, and obtain the load data according to the pressure data.

[0019] As can be seen from the above description, the load data of the lift truck is indirectly obtained by using the pressure data inside the cylinder barrel of the lifting cylinder of the lift truck, so as to accurately evaluate the total weight of the lift truck and accurately judge the overload possibility of the lift truck relative to the cover plate of the lifting hole.

[0020] Please refer to Figure 3 , a detection and warning system for the cover plate of the lifting hole of a lift truck, including a main controller 1, a camera device 2, a load detection device 3, a warning device 4 and an obstacle recognition device 5 arranged on the lift truck; The main controller 1 is electrically connected to the camera device 2, the load detection device 3, the warning device 4 and the obstacle recognition device 5 respectively; The main controller 1 is used to execute the following steps: S1. Obtain the road surface image data in front of the lift truck, and judge whether there is a cover plate of the lifting hole in the road surface image data according to a preset cover plate detection algorithm. If so, execute step S2; S2. Judge whether the cover plate of the lifting hole is in the open state. If so, issue a collision warning. Otherwise, execute step S3; S3. Detect the load data of the lift truck, and obtain the real-time total weight of the lift truck by combining the vehicle body self-weight; S4. Identify the load identification of the lifting hole cover plate from the road surface image data, and judge whether the real-time total weight is greater than the load value of the load identification. If so, issue an overload warning.

[0021] As can be seen from the above description, the beneficial effects of the present invention are as follows: When the lift truck is operating, obtain the road surface image data in front of the lift truck, judge whether there is a lifting hole cover plate in front according to the preset cover plate detection algorithm, and then judge whether the lifting hole cover plate is in the open state to avoid the lift truck from colliding with it. If the lifting hole cover plate is closed, automatically detect the real-time total weight of the lift truck and obtain the load identification of the lifting hole cover plate, so as to accurately judge whether there is an overload risk, thereby assisting the operator to accurately identify the state and load identification of the lifting hole cover plate, reducing the operation risk and operation difficulty, and ensuring the safe driving of the lift truck during operation. Further, the step S1 includes: S11. Obtain the first road surface image data in front of the lift truck, convert the first road surface image data from the BGR space to the HSV color space to obtain the second road surface image data; S12. According to the preset HSV threshold range corresponding to the lifting hole cover plate, perform color filtering on the second road surface image data to obtain the third road surface image data, and extract the original image stripe outer boundary corresponding to the yellow and black warning stripes from the third road surface image data; S13. Crop the first road surface image data according to the original image stripe outer boundary to obtain the fourth road surface image data, and judge whether there is a lifting hole cover plate in the fourth road surface image data. If so, execute step S2.

[0022] As can be seen from the above description, for the preset cover plate detection algorithm part, specifically convert the first road surface image data from the BGR space to the HSV color space to obtain the second road surface image data; perform color filtering on the second road surface image data according to the preset HSV threshold range corresponding to the lifting hole cover plate to obtain the third road surface image data, and extract the original image stripe outer boundary corresponding to the yellow and black warning stripes from the third road surface image data, so as to accurately confirm whether there is a lifting hole cover plate in the image and the specific position and size of the lifting hole cover plate.

[0023] Further, when "if so" in the step S2, the specific content of issuing a collision warning is as follows: If so, calculate and judge whether the real-time distance between the lift truck and the lifting hole cover plate is less than or equal to the preset warning distance. If the real-time distance is less than or equal to the preset warning distance, issue a collision warning. If the real-time distance is greater than the preset warning distance, recalculate and judge.

[0024] As can be seen from the above description, after detecting that the cover plate of the lifting hole is in the open state, by comparing the real-time distance between the lift truck and the cover plate of the lifting hole with the preset warning distance, it is determined whether there is a risk that the lift truck is about to collide with the cover plate of the lifting hole, and then a collision warning is issued, providing a more intelligent collision warning function and improving the safety and convenience of the operator operating the lift truck for work.

[0025] Further, it further includes: S5. Perform obstacle recognition based on the road surface image data. If there is an obstacle in front of the lift truck, an obstacle warning is issued.

[0026] As can be seen from the above description, in addition to detecting the cover plate of the lifting hole, an obstacle recognition function is also introduced to ensure that the lift truck is not easily collided with other objects when moving in the working scenario.

[0027] Further, the specific detection of the load data of the lift truck is as follows: Obtain the pressure data inside the cylinder barrel of the lifting cylinder of the lift truck, and obtain the load data according to the pressure data.

[0028] As can be seen from the above description, the load data of the lift truck is indirectly obtained by using the pressure data inside the cylinder barrel of the lifting cylinder of the lift truck, so as to accurately evaluate the total weight of the lift truck and accurately judge the overload possibility of the lift truck relative to the cover plate of the lifting hole.

[0029] Please refer to Figure 1 and Figure 2 , and Embodiment 1 of the present invention is: A method for detecting and warning the cover plate of the lifting hole of a lift truck, including the following steps: S1. Obtain the road surface image data in front of the lift truck, and judge whether there is a cover plate of the lifting hole in the road surface image data according to the preset cover plate detection algorithm. If so, execute step S2; In this embodiment, a camera is installed in front of the lift truck, and the road surface image data in front of the lift truck is recognized in real time through the camera, combined with Figure 2 as shown, the specific process is as follows: S11. Obtain the first road surface image data in front of the lift truck, and convert the first road surface image data from the BGR space to the HSV color space to obtain the second road surface image data; In this embodiment, the BGR value is linearly changed to the range of [0, 1], the maximum value maxV and the minimum value minV in the three color channels are calculated, and the difference delta = maxV = minV is obtained, Calculate the V component: V = maxV; Calculate the S component: ; Also ; Calculate the H component: ; Normalize H, S, and V through the above formula.

[0030] S12. According to the preset HSV threshold range of the corresponding lifting hole cover plate, perform color filtering on the second road surface image data to obtain the third road surface image data, and extract the outer boundary of the original stripe of the corresponding yellow and black warning stripes from the third road surface image data; In this embodiment, the color filtering process includes: determining the yellow HSV threshold range according to the yellow and black stripe colors, that is, the upper limit upperV and the lower limit lowerV of the HSV values corresponding to yellow, and comparing each pixel value with the yellow threshold range pixel by pixel in the HSV space image. If the pixel value is between the upper limit and the lower limit , then set the pixel to white in the output binary image, otherwise set it to black, and then convert the image into a binary image, and then perform image denoising, specifically through morphological opening operation and closing operation for denoising, where the opening operation is first erosion operation and then dilation operation; the closing operation is first dilation operation and then erosion operation. The erosion operation is to reduce the foreground pixels in the binary image. For the pixel points in the image, if the point is the foreground, then only when the kernel is completely contained in the foreground, the position of the point in the eroded image will be the foreground, otherwise, the point will be set as the background. The dilation operation is to increase the foreground pixels. For the pixel points in the image, if any part of the kernel overlaps with the foreground, then the position of the point in the dilated image will be set as the foreground.

[0031] After obtaining the third road surface image data, extract the yellow and black warning stripes in the original image through a mask and mark the outer boundary of the original stripe.

[0032] S13. Crop the first road surface image data according to the outer boundary of the original stripe to obtain the fourth road surface image data, and determine whether there is a lifting hole cover plate in the fourth road surface image data. If so, execute step S2.

[0033] In this embodiment, crop the original image according to the outer boundary of the stripe, perform optical character recognition on the cropped image, and record the load identification value.

[0034] S2. Determine whether the lifting hole cover plate is in the open state. If so, calculate and determine whether the real-time distance between the lifting vehicle and the lifting hole cover plate is less than or equal to the preset warning distance. If so, issue a collision warning, otherwise recalculate and judge; if the lifting hole cover plate is in the closed state, execute step S3; S3, detecting the load data of the lifting vehicle, and obtaining the real-time total weight of the lifting vehicle in combination with the deadweight of the vehicle body; In this embodiment, a pressure transmitter is installed on the lifting cylinder of the lifting vehicle, and the load data on the loading platform of the lifting vehicle is indirectly measured by measuring the pressure data on one side of the cylinder barrel of the lifting cylinder.

[0035] S4. Identify the load mark of the hanging hole cover plate from the road surface image data, and determine whether the real-time total weight is greater than the load value of the load mark. If so, issue an overload warning.

[0036] In this embodiment, the early warning part may use a buzzer and a warning light. When it is detected that the maximum load of the cover is exceeded or the cover is in an open state, the buzzer sounds and the warning light flashes to remind the operator that there is a risk of overload or collision.

[0037] S5. Obstacle identification is performed based on the road surface image data. If there is an obstacle in front of the lift truck, an obstacle warning is issued.

[0038] In this embodiment, the obstacle recognition process may be: the laser transceiver emits laser and records the time , the laser transceiver receives the laser and records the time ,calculate

[0039] ; in is the speed of light, and the distance s between the lift vehicle and the obstacle in front is obtained. When the laser transceiver does not receive the reflected laser, it is determined that there is no obstacle in front.

[0040] Please refer to Figure 3 , Embodiment 2 of the present invention is: A lifting vehicle hanging hole cover plate detection and early warning system comprises a main controller 1, a camera device 2, a load detection device 3, an early warning device 4 and an obstacle recognition device 5 arranged on the lifting vehicle; the main controller 1 is electrically connected to the camera device 2, the load detection device 3, the early warning device 4 and the obstacle recognition device 5 respectively; the main controller 1 is used to execute a lifting vehicle hanging hole cover plate detection and early warning method according to embodiment one.

[0041] In this embodiment, the warning device 4 can adopt a warning form combining sound and light, and specifically a buzzer, a warning light, etc. can be set; the load detection device 3 uses a pressure transmitter sensor as the main component to collect the pressure of the lifting cylinder of the lift truck; the obstacle recognition device 5 can be selected as a laser obstacle recognition with a distance detection function.

[0042] In summary, the present invention provides a method and system for detecting and warning of the cover plate of the lifting hole of a lifting vehicle. When the lifting vehicle is operating, road surface image data in front of the lifting vehicle is obtained, and it is judged whether there is a cover plate for the lifting hole in front according to a preset cover plate detection algorithm, and then it is judged whether the cover plate of the lifting hole is in an open state to avoid collision between the lifting vehicle and it. If the cover plate of the lifting hole is closed, the real-time total weight of the lifting vehicle is automatically detected and the load identification of the cover plate of the lifting hole is obtained, so as to accurately judge whether there is an overloading risk, thereby assisting the operator to accurately identify the state and load identification of the cover plate of the lifting hole, reducing the operation risk and operation difficulty, and ensuring the safe driving of the lifting vehicle during operation; In summary, the present invention has at least the following advantages: 1. The visual recognition cover plate design is adopted. By recognizing the unique yellow and black warning stripes of the cover plate, the automatic detection and recognition of the cover plate in the driving direction of the lifting vehicle are realized.

[0043] 2. The laser obstacle recognition design is adopted. By detecting the obstacles in front and their distances, combined with the visual recognition cover plate design, the recognition of the opening and closing states of the cover plate is realized.

[0044] 3. The collision warning design is adopted. When it is recognized that there is an open cover plate in front and the distance is less than the collision warning distance, a collision warning is issued.

[0045] 4. The weight detection design is adopted. By measuring the pressure of the lifting cylinder, the measurement of the total weight of the lifting vehicle with load is realized.

[0046] 5. The overloading warning design is adopted. When it is recognized that there is a closed cover plate in front and the marked load is less than the total weight of the lifting vehicle with load measured, an overloading warning is issued.

[0047] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for detecting and warning a cover plate of a lifting hole of a lifting vehicle, characterized in that: The steps include: S1, obtaining road surface image data in front of the lifting vehicle, and determining whether there is a lifting hole cover in the road surface image data according to a preset cover detection algorithm, and if so, executing step S2; S2, determining whether the hanging hole cover is in an open state, if so, issuing a collision warning, otherwise executing step S3; S3, detecting the load data of the lifting vehicle, and obtaining the real-time total weight of the lifting vehicle in combination with the deadweight of the vehicle body; S4. Identify the load mark of the hanging hole cover plate from the road surface image data, and determine whether the real-time total weight is greater than the load value of the load mark. If so, issue an overload warning.

2. A method for detecting and warning a cover plate of a lifting vehicle lifting hole according to claim 1, characterized in that: The step S1 comprises: S11, obtaining first road surface image data in front of the lift vehicle, converting the first road surface image data from a BGR color space into an HSV color space to obtain second road surface image data; S12, performing color filtering on the second road surface image data according to a preset HSV threshold range corresponding to the object hanging hole cover plate to obtain third road surface image data, and extracting the outer circle boundary of the original image stripe corresponding to the yellow and black warning stripe from the third road surface image data; S13, cutting the first road surface image data according to the outer circle boundary of the original image stripes to obtain fourth road surface image data, and determining whether there is a hanging hole cover in the fourth road surface image data, and if so, executing step S2.

3. A method for detecting and warning a cover plate of a lifting hole of a lifting vehicle according to claim 1, characterized in that: In step S2, if yes, issuing a collision warning is specifically: If so, calculate and determine whether the real-time distance between the lifting vehicle and the hanging hole cover is less than or equal to the preset warning distance. If the real-time distance is less than or equal to the preset warning distance, issue a collision warning. If the real-time distance is greater than the preset warning distance, recalculate and determine.

4. A method for detecting and warning a cover plate of a lifting hole of a lifting vehicle according to claim 1, characterized in that: Also includes: S5. Obstacle identification is performed according to the road surface image data, and if there is an obstacle in front of the lifting vehicle, an obstacle warning is issued.

5. The method for detecting and warning the cover plate of the lifting hole of a lifting vehicle according to claim 1 is characterized in that: The load data of the lifting vehicle is specifically detected as follows: The pressure data of the inner side of the lifting cylinder of the lifting vehicle is obtained, and the load data is obtained according to the pressure data.

6. A detection and early warning system for a lifting vehicle's lifting hole cover, characterized in that: It includes a main controller, a camera device, a load detection device, an early warning device and an obstacle recognition device arranged on the lifting vehicle; The main controller is electrically connected to the camera device, the load detection device, the early warning device and the obstacle recognition device respectively; The main controller is used to perform the following steps: S1, obtaining road surface image data in front of the lifting vehicle, and determining whether there is a lifting hole cover in the road surface image data according to a preset cover detection algorithm, and if so, executing step S2; S2, determining whether the hanging hole cover is in an open state, if so, issuing a collision warning, otherwise executing step S3; S3, detecting the load data of the lifting vehicle, and obtaining the real-time total weight of the lifting vehicle in combination with the deadweight of the vehicle body; S4. Identify the load mark of the hanging hole cover plate from the road surface image data, and determine whether the real-time total weight is greater than the load value of the load mark. If so, issue an overload warning.

7. A detection and early warning system for a lifting vehicle's lifting hole cover according to claim 6, characterized in that: The step S1 comprises: S11, obtaining first road surface image data in front of the lift vehicle, converting the first road surface image data from a BGR color space into an HSV color space to obtain second road surface image data; S12, performing color filtering on the second road surface image data according to a preset HSV threshold range corresponding to the object hanging hole cover plate to obtain third road surface image data, and extracting the outer circle boundary of the original image stripe corresponding to the yellow and black warning stripe from the third road surface image data; S13, cutting the first road surface image data according to the outer circle boundary of the original image stripes to obtain fourth road surface image data, and determining whether there is a hanging hole cover in the fourth road surface image data, and if so, executing step S2.

8. The detection and early warning system for the cover plate of the lifting hole of a lifting vehicle according to claim 6 is characterized in that: In step S2, if yes, issuing a collision warning is specifically: If so, calculate and determine whether the real-time distance between the lifting vehicle and the hanging hole cover is less than or equal to the preset warning distance. If the real-time distance is less than or equal to the preset warning distance, issue a collision warning. If the real-time distance is greater than the preset warning distance, recalculate and determine.

9. A detection and early warning system for a lifting vehicle's lifting hole cover according to claim 6, characterized in that: Also includes: S5. Obstacle identification is performed according to the road surface image data, and if there is an obstacle in front of the lifting vehicle, an obstacle warning is issued.

10. The detection and early warning system for the cover plate of the lifting hole of a lifting vehicle according to claim 6, characterized in that: The load data of the lifting vehicle is specifically detected as follows: The pressure data of the inner side of the lifting cylinder of the lifting vehicle is obtained, and the load data is obtained according to the pressure data.

Images