Safety control system and method for forklift loader and forklift loader

Abstract

The invention discloses a safety control system and method for a forklift loader and the forklift loader, and belongs to the technical field of forklift loaders. The safety control system comprises an unmanned aerial vehicle used for moving along with movement of accessories of the forklift loader, and an image acquisition device is arranged on the unmanned aerial vehicle and used for acquiring environment images of the accessories and the environment where the accessories are located; the controller communicates with the unmanned aerial vehicle and is configured to acquire the environment image acquired by the image acquisition device in the moving process of the accessory; determining the distance between the accessory and the unmanned aerial vehicle according to the environment image to obtain a following distance; under the condition that the following distance is smaller than a lower limit threshold value of the preset following distance interval, the unmanned aerial vehicle is controlled to reduce the moving speed or stop moving within a first preset time period; and when the following distance is greater than the upper limit threshold of the preset following distance interval, controlling the unmanned aerial vehicle to increase the moving speed. According to the invention, the safety risk in the operation process of the forklift loader can be reduced.

Description

Technical Field

[0001] This application relates to the field of forklift technology, and more specifically to a safety control system, method and forklift for use in forklifts. Background Technology

[0002] Taking telescopic forklifts as an example, when transporting goods to higher locations with obstructed visibility, workers typically need to use walkie-talkies to direct the cab's operation. However, due to the different positions and orientations of the driver and workers, communication errors can easily occur, leading to collisions at the attachments of the telescopic forklift. Furthermore, in sites with multiple workers, obstructed visibility or misdirection can also result in injuries or fatalities. Therefore, existing forklifts pose a significant safety risk during actual operation. Summary of the Invention

[0003] The purpose of this application is to provide a safety control system, method, and forklift for hauling vehicles, in order to solve the problem that forklifts in the prior art have high safety risks during actual operation.

[0004] To achieve the above objectives, the first aspect of this application provides a safety control system for a forklift truck, the safety control system comprising: Drones are used to follow the movement of attachments on forklifts. The drones are equipped with image acquisition devices to capture environmental images, including the attachments and the environment in which they are located. The controller, which communicates with the drone, is configured to: During the movement of the attachment, environmental images are acquired by the image acquisition device; The distance between the attachment and the drone is determined based on the environmental imagery to obtain the following distance; If the following distance is less than the lower limit of the preset following distance range, control the drone to reduce its speed or stop moving within the first preset time period so that the following distance is within the preset following distance range. If the following distance exceeds the upper limit of the preset following distance range, control the drone to increase its speed so that the following distance is within the preset following distance range.

[0005] In this embodiment of the application, the controller is further configured to: determine that there is an obstacle in the environmental image; determine the distance between the attachment and the obstacle based on the environmental image to obtain the obstacle distance; when the obstacle distance is less than a first preset obstacle distance and greater than or equal to a second preset obstacle distance, control the moving speed of the attachment to be reduced to a preset low speed range; when the obstacle distance is less than the second preset obstacle distance, control the attachment to stop moving.

[0006] In this embodiment, the controller is further configured to: identify the attachment position corresponding to the attachment in the environmental image; construct a motion coordinate system based on the attachment position; plan a first motion path based on the motion coordinate system; and control the UAV to move according to the first motion path.

[0007] In this embodiment, the controller is further configured to: identify the attachment position corresponding to the attachment and the obstacle position corresponding to the obstacle in the environmental image; plan a second movement path based on the attachment position and the obstacle position, wherein the second movement path can avoid the obstacle and enable the drone to perform a following movement with respect to the attachment; and control the drone to move according to the second movement path.

[0008] In this embodiment of the application, the controller is further configured to: if a second movement path is not planned within a second preset time period, control the UAV to take emergency measures until a second movement path is planned, wherein the emergency measures include at least one of reducing movement speed, hovering, and changing flight altitude.

[0009] In this embodiment of the application, the controller is further configured to: receive movement commands for controlling the movement of the drone; and control the drone to execute the movement commands so that the drone moves in accordance with the movement of the forklift attachments.

[0010] In this embodiment of the application, the cab of the forklift is equipped with a display screen that communicates with the drone and is used to display environmental images.

[0011] In this embodiment of the application, the image acquisition device includes radar and / or a camera.

[0012] A second aspect of this application provides a safety control method for a forklift truck, applied to the aforementioned safety control system for a forklift truck, the safety control method comprising: During the movement of the forklift attachments, images of the attachments and their surrounding environment are acquired by the image acquisition device on the drone. The distance between the attachment and the drone is determined based on the environmental imagery to obtain the following distance; If the following distance is less than the lower limit of the preset following distance range, control the drone to reduce its speed or stop moving within the first preset time period so that the following distance is within the preset following distance range. If the following distance exceeds the upper limit of the preset following distance range, control the drone to increase its speed so that the following distance is within the preset following distance range.

[0013] A third aspect of this application provides a forklift truck, including: the safety control system for the forklift truck as described above.

[0014] The above technical solution, by setting up a drone that moves along with the attachments of a forklift and acquiring environmental images of the forklift's field of vision using an image acquisition device on the drone, can guide the driver's work inside the forklift, improving operational safety. Furthermore, the distance between the attachments and the drone during the attachment's movement is determined using the environmental images, thus obtaining the drone's following distance. If the following distance is less than the lower threshold of a preset following distance range, the drone's speed is reduced or it stops moving within a first preset time period, keeping the following distance within the preset range. If the following distance is greater than the upper threshold of the preset following distance range, the drone's speed is increased, keeping the following distance within the preset range. This technical solution, by judging the relationship between the drone's following distance and the preset following distance range, and adhering to preset distance limit principles, maintains the relative positional relationship between the drone and the forklift's attachments, improving operational safety, operator safety, and reducing safety risks during forklift operations. It also enhances the drone's flight stability, allowing for better coordination between the drone and the forklift, thereby improving the forklift's operational efficiency.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 This illustration schematically shows a structural diagram of a safety control system for a forklift truck according to an embodiment of this application; Figure 2 The illustration shows a schematic flowchart of a safety control method for a forklift truck according to an embodiment of this application; Figure 3 This illustration schematically shows a structural diagram of a safety control system for a forklift truck according to another embodiment of this application; Figure 4 This illustration schematically shows an application scenario diagram of a safety control system for a forklift truck according to an embodiment of this application; Figure 5 This schematically illustrates a specific control flowchart of a safety control system for a forklift truck according to an embodiment of this application; Figure 6 The illustration shows a schematic diagram of an application scenario for a safety control method for a forklift truck according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0019] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0021] Figure 1 This illustration schematically shows a structural diagram of a safety control system for a forklift truck according to an embodiment of this application. Figure 1As shown in the figure, this application provides a safety control system for a forklift truck. Specifically, the safety control system may include: a drone, used to follow the movement of the forklift truck's attachments; the drone is equipped with an image acquisition device for acquiring environmental images including the attachments and the environment in which the attachments are located; and a controller, communicating with the drone, configured to: acquire the environmental images acquired by the image acquisition device during the movement of the attachments; determine the distance between the attachments and the drone based on the environmental images to obtain a following distance; if the following distance is less than a lower threshold of a preset following distance range, control the drone to reduce its movement speed or stop moving within a first preset time period, so that the following distance is within the preset following distance range; and if the following distance is greater than an upper threshold of the preset following distance range, control the drone to increase its movement speed, so that the following distance is within the preset following distance range.

[0022] It is understandable that the drone can actively or passively follow the movement of the forklift's attachments. For example, the driver or other operators in the forklift's cab can control the drone in real time to adjust its flight position for monitoring. The image acquisition device can be a radar or similar device used to acquire 3D point cloud images, or a vision camera or similar device used to acquire 2D images. That is, the environmental images acquired by the image acquisition device can be either 3D point cloud images or 2D images. The environmental images typically contain both the forklift's attachments and the environmental information of the environment in which the attachments are located; that is, the environmental images are images of the forklift's working field of view. The controller can communicate with the drone; it can be the forklift's controller, the drone's controller, or a controller independent of both the forklift and the drone. The following distance is the distance between the attachment and the drone. The preset following distance range is a pre-set, suitable distance range between the attachment and the drone, such as 1 meter to 5 meters. The first preset time period is a pre-set, short time period, such as 3 minutes or 5 minutes.

[0023] Specifically, during the movement of the forklift's attachments, the drone can follow the attachments, allowing its image acquisition device to capture real-time environmental images, including the attachments and their surroundings. The controller communicates with the drone, acquiring these environmental images and determining the distance between the attachments and the drone based on the images. If the following distance is less than the lower threshold of a preset following distance range, the controller can reduce the drone's speed or stop moving within a first preset time period to keep the following distance within the preset range. If the following distance is greater than the upper threshold of the preset following distance range, the controller can increase the drone's speed to keep the following distance within the preset range.

[0024] The aforementioned safety control system for forklifts utilizes a drone that moves with the forklift's attachments. The drone acquires environmental images of the forklift's field of vision using its image acquisition device, guiding the driver and improving operational safety. Furthermore, the system determines the distance between the attachments and the drone during attachment movement using the environmental images, thus establishing the drone's following distance. If the following distance is less than the lower threshold of a preset following distance range, the system controls the drone to reduce its speed or stop moving within a first preset time period, keeping the following distance within the preset range. Conversely, if the following distance exceeds the upper threshold of the preset following distance range, the system controls the drone to increase its speed, again keeping the following distance within the preset range. This technical solution, by determining the relationship between the drone's following distance and the preset following distance range, adheres to preset distance limits, maintaining the relative position of the drone and the forklift's attachments. This improves operational safety, operator safety, and reduces safety risks during forklift operations. It also enhances the drone's flight stability, allowing for better coordination between the drone and the forklift, ultimately increasing operational efficiency.

[0025] In one embodiment, the controller is further configured to: determine that an obstacle exists in an environmental image; determine the distance between the attachment and the obstacle based on the environmental image to obtain the obstacle distance; if the obstacle distance is less than a first preset obstacle distance but greater than or equal to a second preset obstacle distance, control the attachment to reduce its moving speed to a preset low-speed range; if the obstacle distance is less than the second preset obstacle distance, control the attachment to stop moving.

[0026] It can be understood that obstacle distance is the distance between the attachment and the obstacle. The first preset obstacle distance and the second preset obstacle distance are pre-set distances between attachments of different sizes and obstacles. The second preset obstacle distance is less than the first preset obstacle distance. Understandably, the range between the first and second preset obstacle distances can be defined as a deceleration zone for unsafe directional movements, and the range from the second preset obstacle distance to zero can be defined as a stop zone for unsafe directional movements. The preset low-speed range is a pre-determined speed range where the attachment's movement speed is relatively low.

[0027] Specifically, the controller can identify obstacles and attachments in the environmental image based on the corresponding target detection algorithm, and calculate the distance between the obstacles and attachments, i.e., the obstacle distance. The controller compares the obstacle distance with the first preset obstacle distance and the second preset obstacle distance. When the obstacle distance is less than the first preset obstacle distance and greater than or equal to the second preset obstacle distance, the controller can control the attachment to reduce its moving speed to a preset low speed range. When the obstacle distance is less than the second preset obstacle distance, the controller can control the attachment to stop moving.

[0028] In this embodiment, the distance between the attachment and the obstacle is determined by environmental image recognition. When the obstacle distance is between a first preset obstacle distance and a second preset obstacle distance, the moving speed of the attachment is reduced to a preset low speed range. When the obstacle distance is less than the second preset obstacle distance, the attachment is controlled to stop moving. This can improve the operational safety of the forklift, reduce or even avoid safety risks during the forklift operation, achieve automated safety protection, and ensure the safety of the operators.

[0029] In one embodiment, the controller is further configured to: identify the attachment position corresponding to the attachment in the environmental image; construct a motion coordinate system based on the attachment position; plan a first motion path based on the motion coordinate system; and control the drone to move according to the first motion path.

[0030] It is understandable that the moving coordinate system includes the position of the attachment. For example, the moving coordinate system of the drone can be constructed with the position of the attachment as the center. Then, based on the preset distance limit principle between the drone and the attachment, a suitable moving path, namely the first moving path, can be planned in the moving coordinate system to achieve stable following motion of the attachment.

[0031] Specifically, the controller can identify the position of the attachment corresponding to the attachment in the environmental image, and construct a motion coordinate system based on the attachment position. Then, based on the motion coordinate system or based on the corresponding path planning algorithm, it can plan the first motion path of the drone, thereby controlling the drone to move according to the first motion path.

[0032] In this embodiment, when the operator or pilot does not actively move the drone, the controller can quickly and accurately construct a coordinate system that adapts to the real-time dynamic changes of the attachment, and efficiently plan the flight trajectory of the drone based on this, thereby achieving stable following motion of the drone to the attachment. In one embodiment, the controller is further configured to: identify the attachment position corresponding to the attachment and the obstacle position corresponding to the obstacle in the environmental image; plan a second movement path based on the attachment position and the obstacle position, wherein the second movement path can avoid the obstacle and enable the drone to perform a following motion with respect to the attachment; and control the drone to move according to the second movement path.

[0033] It can be understood that the second movement path is a path planned based on the position of the attachment and the position of the obstacle, which allows the drone to stably follow the movement of the attachment and avoid the obstacle.

[0034] Specifically, the controller can identify the attachment positions corresponding to attachments and the obstacle positions corresponding to obstacles in the environmental image, and based on the attachment positions and obstacle positions, plan the second movement path of the drone according to the corresponding path planning algorithm, thereby controlling the drone to move according to the second movement path.

[0035] In this embodiment, when there are obstacles in the environmental image, the controller can plan a second movement path for the UAV based on the position of the attachment and the position of the obstacle. That is, it searches for a new path that allows the UAV to avoid the obstacle and maintain the following movement of the attachment, thus ensuring flight safety and data transmission.

[0036] In one embodiment, the controller is further configured to: if a second movement path is not planned within a second preset time period, control the drone to take emergency measures until a second movement path is planned, wherein the emergency measures include at least one of reducing movement speed, hovering, and changing flight altitude.

[0037] It is understood that the second preset time period is a shorter, pre-set time period. Emergency measures may include at least one of the following: reducing movement speed, hovering, or changing flight altitude. For example, one may reduce movement speed and change flight altitude simultaneously, or change flight altitude first and then hover.

[0038] Specifically, if the controller fails to plan a suitable second movement path for the drone within the second preset time period (i.e., a short period of time), the controller can control the drone to take emergency measures based on the distance between the obstacle and the drone and the relative speed between the obstacle and the drone, such as reducing the movement speed, hovering, or changing the flight altitude, until the controller plans a second movement path.

[0039] In this embodiment of the application, considering that path planning also takes a certain amount of time, if the controller cannot find a path to completely avoid obstacles in a short period of time, it can control the UAV to take corresponding emergency measures according to the actual scenario information, wait for new path planning results, until it successfully avoids obstacles and resumes following the target, thereby ensuring flight safety and data transmission.

[0040] In one embodiment, the controller is configured to: receive movement commands for controlling the movement of the drone; and control the drone to execute the movement commands so that the drone moves in accordance with the movement of the forklift attachments.

[0041] It is understandable that the movement commands used to control the drone can be issued by the driver or operator inside the forklift to adjust the drone's flight position so that the drone follows the attachment.

[0042] Specifically, the controller can receive movement commands for manipulating the drone and control the drone to execute those commands so that the drone moves along with the attachments of the forklift.

[0043] In one embodiment, the forklift's cab is equipped with a display screen that communicates with the drone to display environmental images.

[0044] It is understandable that the display screen installed in the cab of the forklift can receive and display environmental images sent by the drone, that is, the working field of view of the forklift, to realize operation monitoring, facilitate the guidance of the driver, break the dependence on manpower for traditional walkie-talkie operation, realize single-person operation mode, reduce labor costs, avoid communication errors, and improve operation efficiency.

[0045] In one embodiment, the image acquisition device includes radar and / or a camera.

[0046] like Figure 2 As shown, this application embodiment also provides a safety control method for a forklift truck, applied to the safety control system for a forklift truck according to the above embodiments. Taking the execution of this safety control method on a controller as an example, the safety control method may include the following steps: Step S202: During the movement of the forklift attachments, acquire environmental images of the attachments and their surroundings captured by the image acquisition device on the drone.

[0047] Step S204: Determine the distance between the attachment and the drone based on the environmental image to obtain the following distance.

[0048] Step S206: If the following distance is less than the lower limit threshold of the preset following distance range, control the drone to reduce its movement speed or stop moving within the first preset time period so that the following distance is within the preset following distance range.

[0049] Step S208: If the following distance is greater than the upper limit threshold of the preset following distance range, control the drone to increase its movement speed so that the following distance is within the preset following distance range.

[0050] Specifically, during the movement of the forklift's attachments, the drone can follow the attachments, allowing its image acquisition device to capture real-time environmental images, including the attachments and their surroundings. The controller communicates with the drone, acquiring these environmental images and determining the distance between the attachments and the drone based on the images. If the following distance is less than the lower threshold of a preset following distance range, the controller can reduce the drone's speed or stop moving within a first preset time period to keep the following distance within the preset range. If the following distance is greater than the upper threshold of the preset following distance range, the controller can increase the drone's speed to keep the following distance within the preset range.

[0051] The aforementioned safety control method for forklifts utilizes a drone that moves with the forklift's attachments. The drone acquires environmental images of the forklift's field of vision using its image acquisition device, guiding the driver and improving operational safety. Furthermore, the environmental images determine the distance between the attachments and the drone during attachment movement, providing the drone's following distance. If the following distance is less than the lower threshold of a preset following distance range, the drone's speed is reduced or it stops moving within a first preset time period, keeping the following distance within the preset range. Conversely, if the following distance exceeds the upper threshold, the drone's speed is increased, again keeping the following distance within the preset range. This technical solution, by determining the relationship between the drone's following distance and the preset following distance range, adheres to preset distance limits, maintaining the relative position of the drone and the forklift's attachments. This improves operational safety, operator safety, and reduces safety risks during forklift operations. It also enhances drone flight stability, facilitating better coordination between the drone and the forklift, thereby increasing operational efficiency.

[0052] In one embodiment, the above-described safety control method for a forklift further includes: determining that an obstacle exists in an environmental image; determining the distance between the attachment and the obstacle based on the environmental image to obtain the obstacle distance; when the obstacle distance is less than a first preset obstacle distance but greater than or equal to a second preset obstacle distance, controlling the moving speed of the attachment to decrease to a preset low-speed range; and when the obstacle distance is less than the second preset obstacle distance, controlling the attachment to stop moving.

[0053] In one embodiment, the above-described safety control method for forklifts further includes: identifying the attachment position corresponding to the attachment in an environmental image; constructing a moving coordinate system based on the attachment position; planning a first moving path based on the moving coordinate system; and controlling the drone to move according to the first moving path.

[0054] In one embodiment, the above-described safety control method for forklifts further includes: identifying the attachment position corresponding to the attachment and the obstacle position corresponding to the obstacle in an environmental image; planning a second movement path based on the attachment position and the obstacle position, wherein the second movement path can avoid the obstacle and enable the drone to perform following motion with respect to the attachment; and controlling the drone to move according to the second movement path.

[0055] In one embodiment, the above-described safety control method for forklifts further includes: if a second movement path is not planned within a second preset time period, controlling the drone to take emergency measures until a second movement path is planned, wherein the emergency measures include at least one of reducing movement speed, hovering, and changing flight altitude.

[0056] In one embodiment, the above-described safety control method for a forklift truck further includes: receiving a movement command for controlling the movement of a drone; controlling the drone to execute the movement command so that the drone moves in accordance with the movement of the attachments of the forklift truck.

[0057] In one embodiment, the forklift's cab is equipped with a display screen that communicates with the drone to display environmental images.

[0058] In one embodiment, the image acquisition device includes radar and / or a camera.

[0059] Taking telescopic forklifts as an example, when transporting goods to higher locations with obstructed visibility, workers typically need to use walkie-talkies to direct the cab's operation. However, due to the different positions of the driver and workers, communication errors can easily occur, leading to collisions at the attachment ends. In multi-person construction sites, obstructed visibility or command errors can also cause injuries or fatalities.

[0060] The driver and workers coordinate their work via walkie-talkie, which increases labor costs, is inefficient, and poses a risk of communication errors.

[0061] Based on this complex working condition, a specific embodiment of this application discloses a safety control system for forklifts, such as... Figure 3As shown, this system cleverly utilizes a flexibly controllable drone to monitor in real time work areas inaccessible from the cab, guiding the operator's work. Simultaneously, it constructs a coordinate system for the movement of attachments, controlling the activities of personnel around the attachments. The cab receives personnel approach warnings, reminding the operator to operate with caution. The system intelligently manages actions, reducing or even stopping unsafe directional movements, thereby achieving safe monitoring of the work situation.

[0062] The aforementioned safety control system for forklifts includes a drone, a wireless receiver module, a monitoring display screen, a central controller, and a hydraulic actuator assembly. The drone is operated by a pilot to approach and film the work process, facilitating comprehensive monitoring of the operational status. For details, please refer to [reference needed]. Figure 4 The detailed control flowchart for the safety control system used in forklifts described above can be found here. Figure 5 .

[0063] The drone's integrated high-definition camera captures images of the operational status, extracts features and identifies targets from the data, and processes the data into specially formatted images, which are then transmitted to the monitoring display screen via a video wireless transmission module. Simultaneously, the drone utilizes algorithms to automatically and flexibly follow target attachments and automatically avoid obstacles. The wireless receiver is mounted on the side of the cab to ensure unobstructed and interference-free communication signals. Both the display screen and the central controller are located in the control compartment behind the cab. The video wireless receiving module receives wirelessly transmitted images and synchronously transmits them to the monitoring display screen for image display. The central controller receives image data, and based on real-time detection of the distance between personnel and attachments, executes intelligent control logic for equipment actions, outputting the control logic to the hydraulic actuator valve group to control hydraulic movements.

[0064] When drones are used for monitoring operations, the pilot actively moves the drone to find a suitable perspective to monitor the target construction conditions for safety.

[0065] When the drone is not actively moved, it quickly and accurately constructs a coordinate system that matches the real-time dynamic changes of the target attachments, and efficiently plans its own flight trajectory based on this, thereby achieving stable following of the target. At the same time, the drone is also equipped with an automatic obstacle avoidance system, which automatically completes obstacle avoidance actions during flight to ensure flight safety and data transmission.

[0066] In terms of motion tracking, the drone monitors the positional changes of the forklift attachments in real time using built-in high-precision sensors as the forklift attachments move. Specifically, a real-time data transmission link based on wireless communication technology is established between the drone and the forklift, allowing information such as the displacement, speed, and direction of the forklift attachments to be transmitted to the drone instantly. Using this data and specific kinematic algorithms, the drone accurately calculates its relative position to the forklift.

[0067] For example, when the forklift moves forward, the drone calculates the required distance and angle of movement based on the received information about the forklift's distance and direction, combined with its current position, to maintain its relative position with the forklift within a preset range. The minimum following distance between the drone and the forklift is set to 1 meter, and the maximum is 5 meters. When the forklift moves forward, if the distance between the drone and the forklift is less than 1 meter, the drone slows down its forward movement or hovers briefly; if the distance is greater than 5 meters, the drone accelerates forward to return to the appropriate following distance. When the forklift moves backward, the same distance limit principle applies to ensure that the drone does not stray too far from the location where the object to be moved is located, facilitating subsequent operations.

[0068] In terms of autonomous obstacle avoidance, the drone is equipped with a multi-sensor fusion obstacle avoidance system. Its front end is equipped with a lidar that can scan the environment in front in real time and generate three-dimensional point cloud data of surrounding obstacles; at the same time, combined with a binocular vision camera, it uses computer vision algorithms to process the acquired images, identify the shape, size and position information of obstacles, and can distinguish different types of obstacles, such as static buildings and moving workers.

[0069] When the lidar or visual camera detects an obstacle ahead, the drone's obstacle avoidance algorithm is immediately activated. First, an obstacle map is constructed based on sensor data, clearly defining the location and extent of the obstacle. Then, based on a path planning algorithm, a new path is searched within the constructed map to avoid the obstacle while maintaining target tracking. If a path that completely avoids the obstacle cannot be found within a short time, the drone will take emergency measures such as deceleration, hovering, or changing flight altitude based on the distance and relative speed of the obstacle, waiting for the new path planning result until it successfully avoids the obstacle and resumes target tracking, thereby ensuring flight safety and data transmission.

[0070] High-definition cameras capture clear images, which are then converted into digital image signals through photoelectric conversion and analog-to-digital conversion. Using computer vision algorithms and other technologies, feature information of attachments and obstacles is accurately extracted from the digital image signals. A mathematical model calculates the distance between the obstacle and the target attachment. The processed image and calculation results are then transmitted wirelessly to a display screen in real time, enabling interactive display between the operator and the controller. This allows the operator to intuitively and clearly understand the situation on-site and issue control commands.

[0071] The central controller, based on the received action execution direction information and obstacle distance data, performs intelligent safety monitoring and control of the equipment's multi-dimensional actions according to preset distance parameter standards. For example... Figure 6As shown, when the turntable rotates clockwise, if the distance to the character enters the deceleration circle of an unsafe direction, the clockwise rotation will be reduced to a very slow speed. If the distance to the character enters the stop circle of an unsafe direction, the clockwise rotation will stop immediately. Other actions follow a similar principle.

[0072] The operator views the construction footage on the display screen in the cab and can control the drone in real time to adjust its position for monitoring. Construction actions are executed as needed, and the intelligent safety monitoring system controls these actions in real time to protect personnel and equipment safety. After completing one construction site, the drone can be quickly flown to a new site for the next task.

[0073] The technical solution of this application embodiment has the following advantages: 1. The driver can control the work site with the help of the drone's video monitoring system, which breaks the dependence on manpower in traditional walkie-talkie operations, realizes the single-person operation mode, reduces labor costs, avoids communication errors, and improves work efficiency.

[0074] 2. The drone intelligent monitoring system gives the operation flexibility and adaptability. For complex construction conditions, it can easily overcome the limitations of terrain and environment, find a suitable monitoring perspective, and improve the accuracy and comprehensiveness of monitoring.

[0075] 3. Through the intelligent safety monitoring system, automated safety protection based on multi-dimensional information can be achieved. When the system detects that personnel are approaching a dangerous area, it will immediately trigger an intelligent response mechanism to automatically slow down or stop the equipment moving in an unsafe direction, so as to ensure personnel safety.

[0076] 4. When the equipment moves in multiple dimensions, the drone automatically follows the target. It constructs a coordinate system based on the target in real time and transmits real-time parameters. The system conducts intelligent safety monitoring of the movement process at all times.

[0077] 5. The drone's automatic following and obstacle avoidance system can protect the drone itself and free up the pilot's attention.

[0078] This application also provides a forklift truck, including: a safety control system for a forklift truck according to the above embodiments.

[0079] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the aforementioned safety control method for forklifts.

[0080] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0086] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0088] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A safety control system for forklifts, characterized in that, The safety control system includes: A drone is used to follow the movement of the attachments of a forklift. The drone is equipped with an image acquisition device to acquire environmental images including the attachments and the environment in which the attachments are located. The controller, which communicates with the drone, is configured to: During the movement of the attachment, the environmental image captured by the image acquisition device is obtained; The distance between the attachment and the drone is determined based on the environmental image to obtain the following distance; If the following distance is less than the lower limit of the preset following distance range, the drone is controlled to reduce its movement speed or stop moving within a first preset time period, so that the following distance is within the preset following distance range. If the following distance is greater than the upper limit threshold of the preset following distance range, the drone is controlled to increase its movement speed so that the following distance is within the preset following distance range.

2. The safety control system according to claim 1, characterized in that, The controller is also configured to: It was determined that an obstacle existed in the environmental image; The distance between the attachment and the obstacle is determined based on the environmental image to obtain the obstacle distance; When the distance to the obstacle is less than the first preset obstacle distance and greater than or equal to the second preset obstacle distance, the moving speed of the attachment is reduced to a preset low-speed range. If the distance to the obstacle is less than the second preset obstacle distance, the attachment is controlled to stop moving.

3. The safety control system according to claim 1, characterized in that, The controller is also configured to: Identify the attachment positions corresponding to the attachments in the environmental image; Construct a moving coordinate system based on the position of the attachment; Based on the aforementioned coordinate system, plan the first movement path; Control the drone to move according to the first movement path.

4. The safety control system according to claim 1, characterized in that, The controller is also configured to: Identify the positions of attachments and obstacles in the environmental image; Based on the position of the attachment and the position of the obstacle, a second movement path is planned, wherein the second movement path can avoid the obstacle and enable the drone to perform a following movement with respect to the attachment; Control the drone to move according to the second movement path.

5. The safety control system according to claim 4, characterized in that, The controller is also configured to: If the second movement path is not planned within the second preset time period, the drone is controlled to take emergency measures until the second movement path is planned. The emergency measures include at least one of reducing the movement speed, hovering, and changing the flight altitude.

6. The safety control system according to claim 1, characterized in that, The controller is also configured to: Receive movement commands for controlling the movement of the drone; The drone is controlled to execute the movement command so that it moves in accordance with the movement of the forklift's attachments.

7. The safety control system according to claim 1, characterized in that, The forklift's cab is equipped with a display screen that communicates with the drone and displays the environmental images.

8. The safety control system according to claim 1, characterized in that, The image acquisition device includes radar and / or a camera.

9. A safety control method for a forklift truck, applied to the safety control system for a forklift truck according to any one of claims 1 to 8, characterized in that, The security control method includes: During the movement of the forklift attachments, environmental images including the attachments and the environment in which the attachments are located are acquired by the image acquisition device on the drone. The distance between the attachment and the drone is determined based on the environmental image to obtain the following distance; If the following distance is less than the lower limit of the preset following distance range, the drone is controlled to reduce its movement speed or stop moving within a first preset time period, so that the following distance is within the preset following distance range. If the following distance is greater than the upper limit threshold of the preset following distance range, the drone is controlled to increase its movement speed so that the following distance is within the preset following distance range.

10. A forklift, characterized in that, include: The safety control system for forklifts according to any one of claims 1 to 8.

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