Sensor device, forklift and control method of sensor device

Abstract

The invention relates to a sensor device, a forklift and a control method of the sensor device. The sensor device comprises a supporting structure which comprises a supporting plate, a supporting column and a fixing piece, one end of the supporting column is connected with the supporting plate, and the other end of the supporting column is connected with the fixing piece; the first radar is arranged on the supporting plate, and the first radar is located between the supporting plate and the fixing piece; the camera is arranged on the supporting plate and located between the supporting plate and the fixing piece. According to the sensor device, the radar and the camera are integrated, so that wiring of cables of the radar and the camera is facilitated, and the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of sensors, and in particular to a sensor device, a forklift, and a control method for the sensor device. Background Art

[0002] Smart forklifts are already being used in warehouses to handle goods, replacing manual forklifts and reducing labor costs. Compared to AGVs (Automated Guided Vehicles) or AMRs (Autonomous Mobile Robots), smart forklifts can directly move pallets and their contents within a flat surface, without the need for additional lifting mechanisms or docking devices.

[0003] Smart forklifts are typically equipped with a laser radar (LIDAR) and a camera to help them sense their surroundings. The LIDAR is typically located on the top of the forklift, while the camera is typically located in the lower middle portion of the sidewall. This distance between the LIDAR and the camera makes cable routing inconvenient. Summary of the Invention

[0004] Based on the above problems, the present application provides a sensor device, a forklift, and a control method for the sensor device. The sensor device integrates a radar and a camera to facilitate cable wiring.

[0005] In a first aspect, an embodiment of the present application provides a sensor device, comprising:

[0006] A supporting structure comprising a supporting plate, a pillar and a fixing member, wherein one end of the pillar is connected to the supporting plate, and the other end of the pillar is connected to the fixing member;

[0007] a first radar, disposed on the support plate, wherein the first radar is located between the support plate and the fixing member;

[0008] A camera is arranged on the support plate, and the camera is located between the support plate and the fixing member.

[0009] According to some embodiments of the present application, the center line of the first radar is tilted relative to the vertical direction, and the camera is tilted downward.

[0010] According to some embodiments of the present application, the centerline of the first radar coincides with the vertical center plane of at least one of the pillars.

[0011] According to some embodiments of the present application, the number of the pillars is at least three.

[0012] According to some embodiments of the present application, the number of the cameras is at least three, and one camera is arranged between two adjacent pillars.

[0013] According to some embodiments of the present application, the sensor device further includes:

[0014] a first cushion block, disposed on the support plate, wherein the first radar is disposed on the first cushion block;

[0015] A camera bracket is arranged on the support plate, and the camera is arranged on the camera bracket.

[0016] According to some embodiments of the present application, the sensor device further includes a second radar disposed on a side of the support plate away from the fixing member.

[0017] According to some embodiments of the present application, the sensor device further includes a leveling mechanism, and the leveling mechanism includes:

[0018] an adjusting plate, wherein the second radar is arranged on the adjusting plate, the adjusting plate is fastened to a side of the support plate away from the fixing member, and the adjusting plate is provided with a leveling threaded hole;

[0019] A leveling screw is matched with the leveling threaded hole, and the leveling screw abuts against the support plate.

[0020] According to some embodiments of the present application, the sensor device further includes:

[0021] an indicator light connected to the support plate; and / or,

[0022] The projector is arranged on the fixing member.

[0023] In a second aspect, an embodiment of the present application provides a forklift, comprising:

[0024] Forklift body;

[0025] The sensor device as described above is arranged on the top of the forklift body.

[0026] According to some embodiments of the present application, a vertical center plane of at least one of the pillars coincides with a vertical center plane of the forklift body.

[0027] In a third aspect, an embodiment of the present application provides a method for controlling a sensor device, including:

[0028] confirming whether an obstacle is detected based on signals from the first radar and the camera;

[0029] If an obstacle is detected, the type of obstacle is analyzed, the color of the indicator light on the side where the obstacle is located is determined based on the type of obstacle, and the indicator light on the side where the obstacle is located is controlled to illuminate. The first radar and camera of the present application are both arranged between the support plate and the fixing member. The sensor device integrates the radar and camera, which facilitates the wiring of the radar and camera cables and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by this application.

[0031] Figure 1 is a schematic diagram of a sensor device according to an embodiment of the present application;

[0032] Figure 2 This is a schematic diagram of the tilt setting of the first radar in an embodiment of the present application;

[0033] Figure 3 Schematic diagram of the field of view of the first radar in an embodiment of the present application;

[0034] Figure 4 is a schematic diagram showing that the center line of the first radar and the vertical center plane of the first pillar coincide with each other in an embodiment of the present application;

[0035] Figure 5 It is a schematic diagram of the pillar of the embodiment of the present application;

[0036] Figure 6 Schematic diagram of the first pad and camera bracket of an embodiment of the present application;

[0037] Figure 7 is a schematic diagram of the second radar according to an embodiment of the present application;

[0038] Figure 8 This is a partial enlarged view of the leveling mechanism of the embodiment of the present application;

[0039] Figure 9 is a schematic diagram of the connection hole of the leveling mechanism according to an embodiment of the present application;

[0040] Figure 10 is a schematic diagram of an indicator light and a projector according to an embodiment of the present application;

[0041] Figure 11 is a schematic diagram of a forklift according to an embodiment of the present application;

[0042] Figure 12 It is a top view of the field of view of the first radar in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following is a clear and complete description of the technical solution of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of this application.

[0044] like Figure 1 As shown, an embodiment of the present application provides a sensor device 100, which includes a support structure 1, a first radar 2, and a camera 3. The support structure 1 provides support for the first radar 2 and the camera 3, and the sensor device 100 integrates the radar and the camera.

[0045] The support structure 1 includes a support plate 11, pillars 12, and fixings 13. One end of the pillars 12 is connected to the support plate 11, and the other end of the pillars 12 is connected to the fixings 13. A storage space is formed between the support plate 11 and the fixings 13. The fixings 13 are used to connect to smart mobile devices, such as a forklift. The pillars 12 support the support plate 11.

[0046] The first radar 2 is disposed below the support plate 11, in the accommodation space between the support plate 11 and the fixing member 13. Optionally, the first radar 2 is a multi-line laser radar.

[0047] The camera 3 is disposed below the support plate 11, in the accommodation space between the support plate 11 and the fixing member 13. Optionally, in the vertical direction, the camera 3 is located above the first radar 2 to prevent the first radar 2 from affecting the field of view of the camera 3 or the camera 3 from affecting the field of view of the first radar 2.

[0048] The sensor device 100 is installed on a smart mobile device, for example, a smart forklift. The sensor device 100 is communicatively connected to the controller of the smart mobile device. The signals from the first radar 2 and the camera 3 are both sent to the controller, which then senses obstacles based on the signals from the first radar 2 and the camera 3. The controller can process the signals from the first radar 2 and the camera 3 using existing methods.

[0049] The sensor device 100 integrates a radar and a camera, and can bundle the radar's power supply cable and signal transmission cable as well as the camera's power supply cable and signal transmission cable into a cable bundle, facilitating cable routing on smart mobile devices and enabling 360-degree panoramic security perception of smart mobile devices.

[0050] In traditional smart forklifts, the radar's centerline is vertical. The forklift's fork arm is considered the front of the forklift, and the radar's field of view is at the same height in front and behind the forklift. Because the forklift's fork arm moves up and down when handling cargo, the front field of view requires a greater height. Existing radar configurations are insufficient for these applications, posing a risk of collision.

[0051] like Figure 2 and Figure 3 As shown, in some embodiments, the centerline L of the first radar 2 is tilted relative to the vertical, resulting in an inclined field of view. When the sensor device 100 is installed on an intelligent forklift, the side with the higher field of view of the first radar 2 corresponds to the front of the forklift, resulting in a field of view that is higher in front and lower in the back, meeting the requirements of the intelligent forklift for handling cargo. The tilt angle of the centerline L of the first radar 2 is set as required.

[0052] Camera 3 is tilted downward to detect objects that are lower than the camera 3, making it easier for the forklift to locate or avoid obstacles based on the sensor information. The tilt angle of camera 3 is set as required.

[0053] like Figure 4 As shown, in some embodiments, the centerline L of the first radar 2 coincides with the vertical center plane of at least one pillar 12. For example, the centerline L of the first radar 2 coincides with the vertical center plane of the first pillar 12A. Pillars 12 can affect the field of view of the first radar 2, creating blind spots. The coincidence of the centerline L of the first radar 2 with the vertical center plane of at least one pillar 12 creates a symmetrical field of view for the first radar 2, facilitating obstacle detection.

[0054] In some embodiments, there are at least three pillars 12. For example, the three pillars 12 are respectively a first pillar 12A, a second pillar 12B, and a third pillar 12C. The three pillars 12 are evenly distributed around the vertical axis to provide stable support for the support plate 11, thereby preventing the first radar 2 and the camera 3 from shaking unnecessarily when the smart mobile device is moved.

[0055] like Figure 5 As shown, optionally, the pillar 12 is in a sheet shape, having a wide sidewall 121 and a narrow sidewall 122. The narrow sidewall 122 of the pillar 12 faces the first radar 2 to reduce the influence of the pillar 12 on the field of view of the first radar 2.

[0056] In one embodiment, a fixing member 13 is provided below each support 12 , and the multiple fixing members 13 are connected to smart mobile devices respectively. In another embodiment, multiple support 12 are connected to the same fixing member 13 .

[0057] In some embodiments, there are at least three cameras 3, with one camera 3 disposed between two adjacent pillars 12. The cameras 3 are equidistant from the two adjacent pillars 12. Multiple cameras 3 can improve the perception capability of the forklift.

[0058] like Figure 6 As shown, in some embodiments, the sensor device 100 further includes: a first cushion block 4 and a camera bracket 5, both of which are disposed on the lower surface of the support plate 11. The first radar 4 is disposed on the bottom surface of the first cushion block 4, and the bottom surface of the first cushion block 4 is tilted to meet the tilt requirement of the first radar 2. The cameras 3 are disposed on the camera brackets 5, and each camera bracket 5 corresponds to one camera 3.

[0059] like Figure 7 As shown, in some embodiments, the sensor device 100 further includes a second radar 6, which is disposed on a side of the support plate 11 away from the fixing member 13. Optionally, the second radar 6 is a multi-line laser radar. The centerline of the second radar 6 is located in the vertical direction and is used to locate the smart mobile device.

[0060] like Figure 8 and Figure 9 As shown, in some embodiments, the sensor device 100 further includes a leveling mechanism 7, comprising a leveling plate 71 and leveling screws 73. The leveling plate 71 is disposed on a surface of the support plate 11 away from the second connecting plate 13. The second radar 6 is disposed on the leveling plate 71, and the leveling plate 71 is securely connected to the support plate 11. For example, the leveling plate 7 is provided with a through hole 711, and the support plate 11 is provided with a threaded hole 111. The screw 72 passes through the through hole 711 and connects with the threaded hole 111 to secure the leveling plate 71 to the support plate 11. The leveling plate 7 is also provided with a leveling threaded hole 712, and the leveling screw 73 is adapted to fit within the leveling threaded hole 712. The bottom end of the leveling screw 73 can abut the support plate 11. Multiple leveling screws 73 are disposed along the edge of the leveling plate 71. Turning the leveling screws 73 can adjust the top surface of the leveling plate 71 to a horizontal position, thereby improving the positioning accuracy of the second radar 6.

[0061] During installation, first adjust the leveling screw 73 until the top surface of the leveling plate 71 is horizontal, and then tighten the screw 72 to lock the leveling plate 71.

[0062] Optionally, the sensor device 100 further includes a shield 8, which is disposed on the bottom surface of the support plate 11, and the first cushion block 4 and the camera bracket 5 are both located within the shield 8. The shield 8 is provided with through holes adapted to the first radar 2 and the camera 3 to prevent the shield 8 from affecting the field of view of the first radar 2 and the camera 3.

[0063] like Figure 10As shown, sensor device 100 further includes an indicator light 91 and / or a projector 92. Indicator light 91 is connected to support plate 11. Optionally, indicator light 91 includes an LED light strip, a ring-shaped LED light strip disposed on the outer wall of shield 8. The LED light strip can emit light of different colors. Indicator light 91 is connected to the controller of the smart mobile device.

[0064] The signal of the first radar 2 and the signal of the camera 3 are both sent to the controller of the smart mobile device, and the controller confirms whether an obstacle is detected based on the signal of the first radar 2 and the signal of the camera 3.

[0065] If an obstacle is detected, the controller analyzes the type of obstacle, determines the color of the indicator light on the side where the obstacle is located according to the type of obstacle, and controls the indicator light on the side where the obstacle is located to light up.

[0066] For example, if a pedestrian is detected as an obstacle, the LED light strip will emit red light, and if a vehicle is detected, the LED light strip will emit green light. The controller can control the LED light strip on the side where the obstacle is located to illuminate, while the rest of the LED light strip is not illuminated, to indicate to the pedestrian or vehicle that the smart mobile device has detected them.

[0067] Projectors 92 are mounted on fixture 13, for example, multiple projectors 92 are mounted on the sidewalls of fixture 13. Projectors 92 are connected to the controller of the smart mobile device. Projectors 92 can project the controller's obstacle analysis results onto the ground. For example, projectors 92 can project detected obstacles as pedestrians or vehicles in the form of text. Projectors 92 can also project the movements of the smart mobile device onto the ground, such as arrows indicating straight and turn directions.

[0068] like Figure 11 As shown, an embodiment of the present application provides a forklift, which includes a forklift body 200 and the sensor device 100 described above. The forklift body 200 is an existing intelligent forklift. A sensor support 210 is provided on the top of the forklift body 200. The sensor device 100 is disposed on the top of the sensor support 210, and the fixing member 13 is fastened to the sensor support 210. The radar and camera of the sensor device 100 are both communicatively connected to the controller of the forklift body 200 for environmental perception of the forklift.

[0069] like Figure 12 As shown, the vertical center plane of at least one support column coincides with the vertical center plane of the forklift body. For example, the vertical center plane M of the first support column 12A coincides with the vertical center plane N of the forklift body 200. This makes the field of view of the first radar 2 bilaterally symmetrical relative to the forklift body 200, thereby improving the forklift's perception capabilities.

[0070] An embodiment of the present application provides a control method for a sensor device 100, wherein the sensor device 100 further includes an indicator light 91. The indicator light 91 is connected to the support plate 11. Optionally, the indicator light 91 includes an LED light strip, wherein the annular LED light strip is disposed on the outer wall of the shield 8. The LED light strip can emit light of different colors. The indicator light 91 is connected to a controller of a smart mobile device. The control method includes:

[0071] S1. Confirm whether an obstacle is detected based on signals from the first radar and the camera.

[0072] The signal of the first radar 2 and the signal of the camera 3 are both sent to the controller of the smart mobile device, and the controller confirms whether an obstacle is detected based on the signal of the first radar 2 and the signal of the camera 3.

[0073] S2. If it is confirmed that an obstacle is detected, analyze the type of the obstacle, determine the light color of the indicator light on the side where the obstacle is located according to the type of the obstacle, and control the indicator light on the side where the obstacle is located to light up.

[0074] For example, if a pedestrian is detected as an obstacle, the LED light strip will emit red light, and if a vehicle is detected, the LED light strip will emit green light. The controller can control the LED light strip on the side where the obstacle is located to illuminate, while the rest of the LED light strip is not illuminated, to indicate to the pedestrian or vehicle that the smart mobile device has detected them.

[0075] For example, if a human-controlled conventional forklift is traveling opposite the intelligent forklift, the controller of the intelligent forklift will detect a pedestrian based on the signals from the first radar 2 and the camera 3, and the LED light strip will illuminate red. The operator controlling the conventional forklift will see the red light from the intelligent forklift's LED light strip, knowing that the intelligent forklift's analysis of the obstacle type is incorrect and will control the conventional forklift to avoid the intelligent forklift. If the controller of the intelligent forklift detects a vehicle based on the signals from the first radar 2 and the camera 3, the LED light strip will illuminate green. The operator controlling the conventional forklift will see the green light from the intelligent forklift's LED light strip, knowing that the intelligent forklift has detected the conventional forklift.

[0076] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the technical solutions and core concepts of the present application. Therefore, changes or modifications made by those skilled in the art based on the concepts of the present application, the specific implementation methods, and the scope of application of the present application, all fall within the scope of protection of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A sensor device, characterized in that: include: A supporting structure comprising a supporting plate, a pillar and a fixing member, wherein one end of the pillar is connected to the supporting plate, and the other end of the pillar is connected to the fixing member; a first radar, disposed on the support plate, wherein the first radar is located between the support plate and the fixing member; A camera is arranged on the support plate, and the camera is located between the support plate and the fixing member.

2. The sensor device according to claim 1, wherein The center line of the first radar is tilted relative to the vertical direction, and the camera is tilted downward.

3. The sensor device according to claim 2, characterized in that The centerline of the first radar coincides with the vertical center plane of at least one of the pillars.

4. The sensor device according to claim 1, wherein The number of the pillars is at least three.

5. The sensor device according to claim 4, characterized in that The number of the cameras is at least three, and one camera is arranged between two adjacent pillars.

6. The sensor device according to claim 1, wherein Also includes: a first cushion block, disposed on the support plate, wherein the first radar is disposed on the first cushion block; A camera bracket is arranged on the support plate, and the camera is arranged on the camera bracket.

7. The sensor device according to claim 1, wherein It also includes a second radar, which is arranged on a side of the support plate away from the fixing member.

8. The sensor device according to claim 1, wherein Also includes: an indicator light connected to the support plate; and / or, The projector is arranged on the fixing member.

9. A forklift, characterized in that: include: Forklift body; The sensor device according to any one of claims 1 to 8, wherein the sensor device is arranged on the top of the forklift body.

10. A method for controlling a sensor device, characterized in that: include: confirming whether an obstacle is detected based on signals from the first radar and the camera; If it is confirmed that an obstacle is detected, the type of the obstacle is analyzed, the light color of the indicator light on the side where the obstacle is located is determined according to the type of the obstacle, and the indicator light on the side where the obstacle is located is controlled to light up.

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