Control method of forklift graded anti-collision system

Abstract

The invention discloses a forklift graded anti-collision system control method. The method comprises the following steps that 1, the distance between an obstacle in a forklift safety inspection area and a forklift is obtained; 2, the anti-collision grade is judged according to the distance between the obstacle and the forklift, and the closer the distance is, the higher the anti-collision grade is; 3, forklift anti-collision control is triggered according to the anti-collision grade judged in the step 2, pedestrians and non-human obstacles around the forklift can be recognized by arranging the camera and the radar, and then the protection grade is judged according to the distances between the different obstacles and the forklift; according to different protection grades, an alarm can be given out, the forklift and people and objects around the forklift can be protected by controlling the forklift speed, and meanwhile normal running of the forklift is not affected.

Description

Technical Field

[0001] This invention relates to the field of forklift collision avoidance technology, specifically a control method for a graded collision avoidance system for forklifts. Background Technology

[0002] Forklifts, as common engineering vehicles, typically operate in complex environments where personnel, vehicles, and goods are concentrated in the same area. Due to the strict limitations imposed on the forklift's working space by its structure and the necessary mast system, the driver's visibility is restricted by the front overhead guard, mast, goods, rear overhead guard, and counterweight. This working environment and limited driver visibility make forklifts prone to accidents during operation, especially causing serious injuries. Therefore, it is essential to implement real-time monitoring and safety protection for pedestrians and objects around the forklift.

[0003] Currently, for safety reasons, the visual recognition or radar equipment used in the forklift industry has the following problems:

[0004] Some devices only provide a warning and do not have an active deceleration function. Devices with an active deceleration function usually use a controller to process the voltage of the accelerator pedal. This method is only applicable to vehicles that use accelerator pedals with specific electrical parameters. It cannot be applied to dual-pedal structures, CAN communication accelerator pedals, or accelerator pedals with different voltage ranges.

[0005] If only visual pedestrian recognition is used, it cannot detect non-human obstacles (goods, shelves, walls, etc.) around the forklift, resulting in unsatisfactory safety performance. If only radar is used, and the proximity control is set to distance braking, it will make it difficult for the forklift to work in a confined space. If it is set to close-range low speed, it cannot effectively guarantee pedestrian safety. Summary of the Invention

[0006] The purpose of this invention is to provide a control method for a forklift graded collision avoidance system to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A method for controlling a graded collision avoidance system for forklifts includes the following steps:

[0009] Step 1: Obtain the distance between the forklift and obstacles within the forklift's safety inspection area;

[0010] Step 2: Determine the collision avoidance level based on the distance between the obstacle and the forklift; the closer the distance, the higher the collision avoidance level.

[0011] Step 3: Trigger the forklift anti-collision control based on the anti-collision level determined in Step 2.

[0012] As a further aspect of the present invention: the obstacles in step 1 include pedestrian and non-pedestrian obstacles, the pedestrian obstacles are acquired by a camera, and the non-pedestrian obstacles are acquired by radar.

[0013] As a further aspect of the present invention: multiple cameras are provided, and at least one camera is provided at the front end and / or rear end of the forklift; multiple radars are provided, and at least one radar is provided at the front end and / or rear end of the forklift.

[0014] As a further aspect of the present invention: in step 2, determining the collision avoidance level includes the following steps:

[0015] Step 2.1: Obtain the distance d1 between pedestrian obstacles and the forklift, and the distance d2 between non-pedestrian obstacles and the forklift;

[0016] Step 2.2: Determine whether d1 < r1 is true. If yes, the collision avoidance level is level four. If no, proceed to step 2.3.

[0017] Step 2.3: Determine if d2 < r1 is true. If yes, the collision avoidance level is level three. If no, proceed to step 2.4.

[0018] Step 2.4: Determine whether d1 < r2 or d2 < r2 is true. If true, the collision avoidance level is level 2. If not, proceed to step 2.5.

[0019] Step 2.5: Determine whether d1 < r3 or d2 < r3 is true. If true, the collision avoidance level is level 1. If not, proceed to step 2.6.

[0020] Step 2.6: Collision avoidance level is zero;

[0021] Where r1 < r2 < r3.

[0022] As a further embodiment of the present invention: the camera signal is connected to a display instrument, the display instrument is located in the forklift cab, the forklift is equipped with a controller, a horn, and a traction motor controller, the display instrument, radar, horn and controller are connected to the controller via a CAN bus, and the controller is connected to the traction motor controller via a CAN bus.

[0023] As a further aspect of the present invention: when the anti-collision level is level four, an alarm prompt is displayed on the camera screen on the display instrument, and people in the screen are marked. A high-frequency sound alarm is emitted by the speaker, and the controller sends a speed limit command to the traction motor controller, which then controls the cutting off of the traction motor power output.

[0024] As a further aspect of the present invention: when the anti-collision level is level three, an alarm prompt is displayed on the camera screen on the display instrument, obstacles in the screen are marked, a medium-frequency sound alarm is emitted by the horn, the controller sends a speed limit command to the traction motor controller, the traction motor controller controls the reduction of the traction motor power output, and controls the forklift to decelerate rapidly.

[0025] As a further aspect of the present invention: when the anti-collision level is level two, an alarm prompt is displayed on the camera screen on the display instrument, obstacles in the screen are marked, a low-frequency sound alarm is emitted by the horn, the controller sends a speed limit command to the traction motor controller, the traction motor controller controls the reduction of the traction motor power output, and controls the forklift to slow down slowly.

[0026] As a further aspect of the present invention: when the anti-collision level is Level 1, an alarm prompt is displayed on the camera screen on the display instrument, and obstacles in the screen are marked at the same time.

[0027] As a further aspect of the present invention: when the collision avoidance level is zero, the forklift can drive normally.

[0028] Compared with the prior art, the beneficial effects of the present invention are: by setting up cameras and radar, the present application can identify pedestrians and non-human obstacles around the forklift, and then determine the protection level according to the distance of different obstacles from the forklift. According to different protection levels, alarms can be issued and the speed of the forklift can be controlled to protect the forklift and people and objects around the forklift, without affecting the normal operation of the forklift. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the hardware structure of the anti-collision system in this embodiment;

[0030] Figure 2 This is a topology diagram of the collision avoidance system in this embodiment;

[0031] Figure 3 This is a schematic diagram of the forklift safety inspection scope in this embodiment;

[0032] Figure 4 This is a schematic diagram of the anti-collision logic in this embodiment.

[0033] In the diagram: 1-Display instrument, 2-Radar, 3-Camera, 4-Controller, 5-Horn, 6-Traction motor controller. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1 In this embodiment of the invention, a forklift graded anti-collision system control method includes a display instrument 1, radar 2, camera 3, controller 4, horn 5, and traction motor controller 6 installed on the forklift. Multiple cameras 3 are provided, with at least one camera 3 installed at the front and / or rear of the forklift. Multiple radars 2 are provided, with at least one radar 2 installed at both the front and / or rear of the forklift. In this embodiment, cameras are installed at both the front and rear of the forklift, and radars are installed at both the front and rear of the forklift.

[0036] The camera 3 is connected to a display instrument 1, which is located in the forklift cab. The forklift is equipped with a controller 4, a horn 5, and a traction motor controller 6. The display instrument 1, radar 2, horn 5 and controller 4 are connected to each other via a CAN bus. The controller 4 is also connected to the traction motor controller 6 via a CAN bus.

[0037] The control method includes the following steps:

[0038] Step 1: Obtain the distance between the forklift and obstacles within the forklift safety inspection area. The obstacles in Step 1 include pedestrians and non-pedestrian obstacles. Pedestrian obstacles are obtained through camera 3, and non-pedestrian obstacles are obtained through radar 2.

[0039] Step 2: Determine the collision avoidance level based on the distance between the obstacle and the forklift; the closer the distance, the higher the collision avoidance level.

[0040] Determining the collision avoidance level includes the following steps:

[0041] Step 2.1: Obtain the distance d1 between pedestrian obstacles and the forklift, and the distance d2 between non-pedestrian obstacles and the forklift;

[0042] Step 2.2: Determine whether d1 < r1 is true. If yes, the collision avoidance level is level four. If no, proceed to step 2.3.

[0043] Step 2.3: Determine if d2 < r1 is true. If yes, the collision avoidance level is level three. If no, proceed to step 2.4.

[0044] Step 2.4: Determine whether d1 < r2 or d2 < r2 is true. If true, the collision avoidance level is level 2. If not, proceed to step 2.5.

[0045] Step 2.5: Determine whether d1 < r3 or d2 < r3 is true. If true, the collision avoidance level is level 1. If not, proceed to step 2.6.

[0046] Step 2.6: Collision avoidance level is zero;

[0047] r1 < r2 < r3;

[0048] Step 3: Trigger the forklift anti-collision control based on the anti-collision level determined in Step 2;

[0049] When the collision avoidance level is level four, an alarm is displayed on the camera screen on the display instrument 1. The alarm is displayed by selecting the pedestrian in the overall frame of the screen with a red border, and the red prompt flashes. The horn 5 emits a high-frequency sound alarm, and the controller 4 sends a speed limit command to the traction motor controller 6. The traction motor controller 6 controls the cutting off of the traction motor power output. In this implementation, the speed of the motor, that is, the actual vehicle speed, is directly limited to 0, so that there is no power output and the vehicle stops.

[0050] When the anti-collision level is level three, an alarm prompt (flashing red prompt) will be issued on the camera screen displayed on the display instrument 1. At the same time, obstacles in the screen will be marked, the horn 5 will emit a medium frequency sound alarm, the controller 4 will send a speed limit command to the traction motor controller 6, the traction motor controller 6 will control the reduction of the traction motor power output, control the forklift to decelerate quickly, and limit the maximum speed to 2-3 km / h.

[0051] When the anti-collision level is level two, an alarm prompt will be displayed on the camera screen on the display instrument 1 (yellow border, selecting pedestrians, and flashing yellow prompt). At the same time, obstacles in the screen will be marked, the horn 5 will emit a low-frequency sound alarm, the controller 4 will send a speed limit command to the traction motor controller 6, the traction motor controller 6 will control the reduction of the traction motor power output, control the forklift to slow down slowly, and limit the maximum speed to 4-6 km / h.

[0052] When the anti-collision level is Level 1 (green border, selecting pedestrians, and flashing green prompt), an alarm will be triggered on the camera screen displayed on display instrument 1, and obstacles in the screen will be marked.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0054] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A control method for a forklift graded collision avoidance system, characterized in that, Includes the following steps: Step 1: Obtain the distance between the forklift and obstacles within the forklift's safety inspection area; Step 2: Determine the collision avoidance level based on the distance between the obstacle and the forklift; the closer the distance, the higher the collision avoidance level. Step 3: Trigger the forklift anti-collision control based on the anti-collision level determined in Step 2.

2. The control method for a forklift graded collision avoidance system according to claim 1, characterized in that, The obstacles in step 1 include pedestrians and non-pedestrian obstacles. Pedestrian obstacles are acquired by a camera (3), and non-pedestrian obstacles are acquired by a radar (2).

3. The control method for a forklift graded collision avoidance system according to claim 2, characterized in that, The camera (3) is provided in multiple locations, and at least one camera (3) is provided at the front end and / or rear end of the forklift; the radar (2) is provided in multiple locations, and at least one radar (2) is provided at the front end and / or rear end of the forklift.

4. The control method for a forklift graded collision avoidance system according to claim 2, characterized in that, Step 2, determining the collision avoidance level, includes the following steps: Step 2.1: Obtain the distance d1 between pedestrian obstacles and the forklift, and the distance d2 between non-pedestrian obstacles and the forklift; Step 2.2: Determine whether d1 < r1 is true. If yes, the collision avoidance level is level four. If no, proceed to step 2.

3. Step 2.3: Determine if d2 < r1 is true. If yes, the collision avoidance level is level three. If no, proceed to step 2.

4. Step 2.4: Determine whether d1 < r2 or d2 < r2 is true. If true, the collision avoidance level is level 2. If not, proceed to step 2.

5. Step 2.5: Determine whether d1 < r3 or d2 < r3 is true. If true, the collision avoidance level is level 1. If not, proceed to step 2.

6. Step 2.6: Collision avoidance level is zero; Where r1 < r2 < r3.

5. The control method for a forklift graded collision avoidance system according to claim 4, characterized in that, The camera (3) is connected to a display instrument (1), which is located in the forklift cab. The forklift is equipped with a controller (4), a horn (5), and a traction motor controller (6). The display instrument (1), radar (2), horn (5), and controller (4) are connected to the controller (4) via a CAN bus. The controller (4) is connected to the traction motor controller (6) via a CAN bus.

6. The control method for a forklift graded collision avoidance system according to claim 5, characterized in that, When the anti-collision level is level four, an alarm prompt is made on the camera screen displayed on the display instrument (1), and the person in the screen is marked. The horn (5) emits a high-frequency sound alarm, and the controller (4) sends a speed limit command to the traction motor controller (6). The traction motor controller (6) controls the cutting off of the traction motor power output.

7. The control method for a forklift graded collision avoidance system according to claim 5, characterized in that, When the anti-collision level is level three, an alarm prompt is made on the camera screen displayed on the display instrument (1), and obstacles in the screen are marked. The horn (5) emits a medium-frequency sound alarm, and the controller (4) sends a speed limit command to the traction motor controller (6). The traction motor controller (6) controls the reduction of the traction motor power output and controls the forklift to decelerate quickly.

8. The control method for a forklift graded collision avoidance system according to claim 5, characterized in that, When the anti-collision level is level two, an alarm prompt is made on the camera screen displayed on the display instrument (1), and obstacles in the screen are marked. The horn (5) emits a low-frequency sound alarm, and the controller (4) sends a speed limit command to the traction motor controller (6). The traction motor controller (6) controls the reduction of the traction motor power output and controls the forklift to slow down slowly.

9. The control method for a forklift graded collision avoidance system according to claim 5, characterized in that, When the anti-collision level is Level 1, an alarm prompt will be issued on the camera screen displayed on the display instrument (1), and obstacles in the screen will be marked at the same time.

10. The control method for a forklift graded collision avoidance system according to claim 5, characterized in that, When the collision avoidance level is zero, the forklift can operate normally.

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