Dynamic haptics-based collaborative safety operation system and method for industrial vehicles

Abstract

The application discloses a dynamic tactile-based industrial vehicle cooperative safety operation system and method, which comprises a holding perception module for collecting holding perception parameters when a driver holds a steering wheel in real time, a steering wheel angle sensing module for collecting absolute steering wheel angle and steering angle velocity signals in real time, an environment risk perception module for acquiring environment risk data including environment risk azimuth and distance in real time, a tactile prompting module for generating a tactile prompting signal at a specified position according to a safety guiding instruction, and a main controller for calculating the operation intention of the driver according to the absolute steering wheel angle and steering angle velocity signals, acquiring an environment risk azimuth interval according to the environment risk data, and generating the safety guiding instruction according to the operation intention of the driver and the environment risk azimuth interval. The application realizes the transition from static warning to dynamic guiding, adapts to the situation that the driver generally operates a forklift with one hand, and can realize dynamic guiding when the driver operates with one hand.

Description

Technical Field

[0001] This invention belongs to the field of active safety control technology for industrial vehicles, and particularly relates to a collaborative safety operating system and method for industrial vehicles based on dynamic tactile sensing. Background Technology

[0002] Currently, industrial vehicles operate in complex environments, presenting challenges such as high noise levels, numerous blind spots, and the need for drivers to frequently switch their attention. Existing safety solutions primarily rely on visual warnings on the dashboard and audible warnings from buzzers, but these are ineffective in noisy environments, and when warning information is overloaded, drivers must visually interpret it, distracting them from the work environment. Forklift steering wheels are typically designed for single-handed operation, and their steering mechanisms differ from those of ordinary cars. Especially at low speeds or during frequent turns, drivers often operate with one hand. During forklift operation, drivers need to operate hydraulic control levers (such as raising and tilting the forks), typically requiring one hand to control the steering wheel and the other to operate other devices.

[0003] Application CN202511779022.7, entitled "Vehicle Obstacle Orientation Warning System and Method Based on Steering Wheel Haptic Feedback," provides the following technical solution: an obstacle perception module that collects obstacle information around the vehicle and outputs obstacle detection data including at least distance and orientation information of the obstacles; an intelligent driving domain controller that generates warning information including obstacle hazard level and obstacle orientation range based on the obstacle detection data; a steering wheel haptic feedback module, located inside the steering wheel, including multiple haptic execution units distributed in multiple orientation areas of the steering wheel; and a steering wheel control module that receives the warning information from the intelligent driving domain controller. While this solution converts obstacle azimuth angles into steering wheel orientation ranges and outputs differentiated vibration intensities, it relies on static point vibration and cannot guide the driver to correct course safely in a timely manner. Furthermore, this technical solution is not suitable for complex scenarios where forklifts frequently handle goods.

[0004] Forklifts are typically operated with one hand, and the hand position is not fixed. Existing solutions, based on fixed-position coding logic (e.g., left-hand vibration represents left-hand risk), completely fail in one-handed operation, failing to provide accurate directional guidance. Current technologies lack contextual intelligence; when alarms are unrelated to the driver's real-time operational intentions, or even conflict with them, it leads to driver confusion or ignoring of the alarms. Therefore, there is an urgent need for an intelligent collaborative safety operating system and method that can adapt to one-handed operation, understand the driver's operational intentions, and provide intuitive and guided feedback. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative safety operating system and method for industrial vehicles based on dynamic tactile feedback. By utilizing steering wheel angle and grip perception information, guided safety instructions are obtained based on environmental risks and the driver's current operating intentions. Dynamic tactile sequences are output through a tactile prompt module, which can adapt to the situation where drivers generally operate forklifts with one hand, and can achieve dynamic guidance even when the driver is operating with one hand.

[0006] This invention employs the following technical solution: a collaborative safety operating system for industrial vehicles based on dynamic haptic feedback, comprising:

[0007] Grip sensing module: used to collect grip sensing parameters of the driver when gripping the steering wheel in real time and output them to the main controller;

[0008] Steering wheel angle sensing module: used to collect the absolute steering angle and steering angular velocity signals of the steering wheel in real time and output them to the main controller;

[0009] The environmental risk perception module is used to acquire and output environmental risk data, including the location and distance of environmental risks, to the main controller in real time.

[0010] Main controller: used to obtain the driver's grip area on the steering wheel based on grip perception parameters; calculate the driver's operating intention based on the absolute angle and steering angular velocity signal of the steering wheel; obtain the environmental risk orientation range based on environmental risk data; and generate safety guidance instructions based on the driver's operating intention and the environmental risk orientation range, and output them to the tactile prompt module in the corresponding grip area.

[0011] Tactile cue module: Used to generate tactile cue signals at designated locations based on safety guidance instructions.

[0012] Furthermore, the environmental risk perception module includes radar, ultrasonic sensors, gantry height sensors, and vehicle-mounted cameras, and is connected to the main controller via a CAN bus interface.

[0013] Furthermore, the tactile feedback module is evenly distributed inside the forklift steering wheel rim, and consists of several linear resonant actuators arranged at equal intervals to form a continuous tactile feedback loop.

[0014] Furthermore, the grip sensing module includes several touch sensors evenly distributed on the steering wheel rim, and obtains the grip area when the driver grips the steering wheel through the following steps:

[0015] First, with the steering wheel unheld, the idle values ​​of each touch sensor are used as the baseline values.

[0016] Then, while the steering wheel is held, the touch sensor continuously collects the current grip perception parameter value. The change in grip perception parameter is obtained by comparing the current grip perception parameter value with the reference value. If the change in grip perception parameter is greater than the preset effective grip parameter threshold and the duration is greater than the effective touch time threshold, it is determined that the touch sensor has been effectively contacted.

[0017] The driver's grip area is determined based on the location of the touch sensor that is being effectively contacted.

[0018] Furthermore, the steps for the tactile feedback module to generate tactile feedback signals are as follows: the safety guidance command includes an activation timing and vibration intensity;

[0019] The tactile feedback module in the grip area is activated by a set vibration intensity according to the safety guidance instructions and the set activation sequence to generate a tactile feedback signal.

[0020] Furthermore, the driver's operating intention is calculated based on the collected absolute steering angle and steering angular velocity signals of the steering wheel. The steps are as follows: preset the straight-line range of the steering angle and the straight-line range of the steering angular velocity respectively;

[0021] If the absolute turning angle is greater than or equal to the minimum value of the absolute turning angle straight-ahead range and less than or equal to the maximum value of the absolute turning angle straight-ahead range, and the steering angular velocity is greater than or equal to the minimum value of the steering angular velocity straight-ahead range and less than or equal to the maximum value of the steering angular velocity straight-ahead range, then the driver's intention is determined to be to go straight.

[0022] When the absolute turning angle is greater than the minimum value of the absolute turning angle straight-ahead range and less than the maximum value of the absolute turning angle straight-ahead range, i.e. when going straight, if the steering angular velocity is greater than the maximum value of the steering angular velocity straight-ahead range, then the driver's intention is determined to be to turn left.

[0023] When the absolute turning angle is greater than the minimum value of the straight-line range of the absolute turning angle and less than the maximum value of the straight-line range of the absolute turning angle, if the steering angular velocity is less than the minimum value of the straight-line range of the steering angular velocity, then the driver's intention is determined to be to turn right.

[0024] When the absolute turning angle is less than the minimum value of the straight-ahead range, if the steering angular velocity is greater than the maximum value, the driver's intention is to turn left to straighten the steering wheel; if the steering angular velocity is less than or equal to the maximum value, the driver's intention is to continue turning right.

[0025] When the absolute turning angle is greater than the maximum value of the straight-ahead range, if the steering angular velocity is less than the minimum value, the driver's intention is to straighten to the right; if the steering angular velocity is greater than or equal to the minimum value, the driver's intention is to continue turning left.

[0026] Furthermore, the industrial vehicle collaborative safety operating system also includes a vision display module, which is used to dynamically display visual information of environmental risks based on the risk display instructions received from the main controller, which are generated according to the location and distance of the environmental risks.

[0027] A dynamic haptic-based collaborative safety operation method for industrial vehicles, applicable to the aforementioned collaborative safety operating system for industrial vehicles, includes:

[0028] S1: Real-time acquisition of the absolute steering angle and steering angular velocity signals of the steering wheel, grip perception parameters, and environmental risk data including the location and distance of environmental risks;

[0029] S2: Obtain the driver's grip area on the steering wheel based on grip perception parameters; calculate the driver's current operating intention based on the absolute angle and steering angular velocity signal of the steering wheel, and obtain the environmental risk orientation range based on environmental risk data;

[0030] S3: Generate safety guidance instructions based on the environmental risk location range and the driver's current operational intention;

[0031] S4: The tactile feedback module in the grip area generates tactile feedback signals according to the safety guidance instructions.

[0032] Furthermore, the aforementioned collaborative safety operation method for industrial vehicles also includes: generating risk display instructions based on the location and distance of environmental risks, the risk display instructions being used to dynamically display visual information about environmental risks.

[0033] Furthermore, S4 includes: the safety guidance command includes an activation timing and vibration intensity;

[0034] The tactile feedback module in the grip area is activated by a set vibration intensity according to the safety guidance instructions and the set activation sequence to generate a tactile feedback signal.

[0035] This invention utilizes the absolute steering angle and steering angular velocity signals of the steering wheel, the driver's grip perception parameters when holding the steering wheel, and the environmental risk orientation range. Based on the environmental risk orientation range and the driver's current operating intention, it generates safety guidance instructions with a specific spatiotemporal sequence, realizing the leap from static alarm to dynamic guidance. Through multi-source information fusion and dynamic tactile coding, it realizes an intelligent hardware system and its control method for safety alarm and operation guidance. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 A schematic block diagram of an embodiment of the collaborative safety operating system for industrial vehicles provided by the present invention;

[0038] Figure 2 This is a schematic block diagram of yet another embodiment of the industrial vehicle collaborative safety operating system provided by the present invention;

[0039] Figure 3 The flowchart illustrates the collaborative safe operation method for industrial vehicles provided by this invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments described herein clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments described herein, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are within the scope of protection of this document. It should be noted that, unless otherwise specified, the embodiments and features described herein can be arbitrarily combined with each other.

[0041] The following is in conjunction with the appendix Figures 1-3 The present invention will be described in detail with reference to the embodiments:

[0042] Grip sensing module: used to collect grip sensing parameters of the driver when gripping the steering wheel in real time, obtain the grip area of ​​the driver when gripping the steering wheel and output it to the main controller;

[0043] Steering wheel angle sensing module: used to collect the absolute steering angle and steering angular velocity signals of the steering wheel in real time and output them to the main controller;

[0044] The environmental risk perception module is used to acquire and output environmental risk data, including the location and distance of environmental risks, to the main controller in real time.

[0045] Main controller: It is used to calculate the driver's operating intention based on the absolute angle and steering angular velocity signal of the steering wheel, and to obtain the environmental risk orientation range based on environmental risk data; and to generate safety guidance instructions based on the driver's operating intention and the environmental risk orientation range, and output them to the tactile prompt module in the corresponding grip area;

[0046] Tactile cue module: Used to generate tactile cue signals at designated locations based on safety guidance instructions.

[0047] In this invention, the industrial vehicle collaborative safety operating system further includes a vision display module. The vision display module is used to dynamically display visual information of environmental risks according to the risk display instructions generated by the main controller based on the location and distance of the environmental risks. The vision display module drives the corresponding location area and / or turn prompt icon on the digital instrument interface to be highlighted, changed color and / or flashed according to the location and distance of the environmental risks, and synchronously presents the risk distance.

[0048] In this embodiment, the steering wheel angle sensing module adopts a non-contact magnetic encoder, and the environmental risk perception module includes radar, ultrasonic sensor, gantry height sensor and vehicle camera. It is connected to the main controller via CAN bus. The gantry height sensor can also be replaced by a gantry tilt sensor. The technology for calculating the location and distance of environmental risks based on the above modules is a common existing technology in the field and will not be described in detail here.

[0049] In this invention, the grip sensing module includes several sets of integrated capacitive touch sensors or pressure sensors evenly arranged around the circumference of the forklift steering wheel rim, and the driver always contacts at least one set of capacitive touch sensors or pressure sensors while driving the forklift.

[0050] Similarly, the tactile prompting module drives the linear resonant actuators to generate tactile prompting signals through a dedicated multi-channel driver IC. The tactile prompting module includes several sets of linear resonant actuators evenly arranged around the circumference of the forklift steering wheel rim. During the operation of the forklift, the driver always contacts at least three sets of linear resonant actuators simultaneously, thereby ensuring that the tactile prompting signals generated by the linear resonant actuators in the driver's grip area can provide dynamic guidance to the driver.

[0051] In this embodiment, the guided vibration occurs only within the grip area, ensuring stable perception even with one hand and in a non-fixed grip posture, without ineffective global vibration; only the linear resonant actuator within the grip area is activated, without vibrating the non-grip area, reducing energy consumption and interference, allowing the driver to receive safety commands solely by touch even in the presence of sound interference.

[0052] In this invention, drivers typically need to control the steering wheel with one hand and operate other devices with the other. Based on the grip perception parameters when the driver holds the steering wheel with one hand, the grip perception module includes several touch sensors evenly distributed on the steering wheel rim. When the touch sensor is a pressure sensor, the grip perception parameter is the pressure value collected by the pressure sensor; when the touch sensor is a capacitive sensor, the grip perception parameter is the capacitance value collected by the capacitive sensor. Taking a capacitive sensor as an example, the steps for obtaining the driver's grip area on the steering wheel are as follows:

[0053] First, with the steering wheel unheld, the idle values ​​of each touch sensor are used as the baseline values.

[0054] Then, while the steering wheel is held, the touch sensor continuously collects the current capacitance value. The capacitance change is obtained by comparing the current capacitance value of the touch sensor with the reference value. If the capacitance change is greater than the preset effective capacitance threshold and the duration is greater than the effective touch time threshold, it is determined that the touch sensor has been effectively contacted.

[0055] The driver's grip area is determined based on the location of the touch sensor that is being effectively contacted.

[0056] In this invention, the absolute steering angle of the steering wheel is collected. Using the vehicle's forward straight-ahead midpoint as the absolute zero reference, a positive angle corresponds to the forklift turning left when the steering wheel veers to the left, and a negative angle corresponds to the forklift turning right when the steering wheel veers to the right; the steering wheel angular velocity is collected. angular velocity of steering The absolute rate of change of the steering wheel's steering angle with time; the absolute value of the steering wheel's angular velocity. A larger value indicates a faster steering wheel rotation speed, and vice versa. The smaller the value, the slower the steering wheel turns.

[0057] Based on the absolute steering angle and steering angular velocity signals of the steering wheel, the driver's operating intention is calculated. The steps are as follows: preset the straight-line steering angle range respectively. and steering angular velocity straight range ;

[0058] If absolute angle The minimum value of the absolute turning angle straight-through range is greater than or equal to At the same time, it is less than or equal to the maximum value of the absolute turning straight range. And the turning angular velocity The minimum value of the straight-line range greater than or equal to the steering angular velocity At the same time, it is less than or equal to the maximum value of the straight-line range of the steering angular velocity. If so, the driver's intention is determined to be to go straight;

[0059] When absolute angle The minimum value of the straight-ahead range greater than the absolute turning angle And less than the maximum value of the absolute turning angle straight range When traveling straight, if the turning angular velocity... The maximum value of the straight-line range of steering angular velocity If so, the driver's intention is determined to be to turn left;

[0060] When absolute angle The minimum value of the straight-ahead range greater than the absolute turning angle And less than the maximum value of the absolute turning angle straight range At that time, if the turning angular velocity Less than the minimum value of the straight-line range of steering angular velocity If so, the driver's intention is determined to be to turn right;

[0061] When absolute angle The minimum value of the straight-ahead range that is less than the absolute turning angle At that time, if the turning angular velocity Greater than the maximum value If the driver's intention is to straighten the steering wheel to the left, then the steering angular velocity is determined to be... Less than or equal to the maximum value If so, the driver's intention is determined to continue to the right;

[0062] When absolute angle The maximum value of the absolute turning angle straight range At that time, if the turning angular velocity Less than the minimum value If the driver's intention is to straighten the steering wheel to the right, then the steering angular velocity is determined to be... Greater than or equal to the minimum value If so, it is determined that the driver's intention was to continue turning left.

[0063] The system incorporates a dynamic tactile coding library. This library takes the environmental risk location range and the driver's operational intent as inputs and matches them with corresponding safety guidance instructions. The target execution area is the driver's real-time grip area. Within the target execution area, the corresponding dynamic tactile guidance is executed on the relevant tactile prompt module according to the safety guidance instructions. The actuators within the target execution area are activated in an orderly manner according to preset requirements, forming dynamic tactile feedback with clear directional guidance. This allows the driver to stably perceive the guidance intent while holding the vehicle with one hand, without relying on the full-area propagation of the wheel rim, thus improving the reliability of alarms and the effectiveness of operational guidance in complex industrial scenarios.

[0064] The main controller takes the environmental risk location range and the driver's operating intention as input, matches the corresponding safety guidance command from the built-in dynamic tactile coding library, and outputs the dynamic tactile feedback indicated by the safety guidance command through the tactile prompt module array on the steering wheel rim; the process is as follows:

[0065] The safety guidance command includes the activation timing and vibration intensity;

[0066] The tactile prompting module generates tactile prompting signals at designated locations according to safety guidance instructions. Within the target execution area, the tactile prompting module is activated to generate tactile prompting signals according to the set activation sequence and the set vibration intensity.

[0067] The dynamic haptic coding library is a pre-built dataset containing multiple haptic feedback codes. Each code corresponds to a driving risk location and operational intention, including the target execution area, actuator number, activation sequence, and vibration intensity. The vibration intensity includes a first intensity, a second intensity, and a third intensity. The third intensity is greater than the second intensity, and the second intensity is greater than the first intensity. The vibration intensity is controlled by changing the PWM duty cycle of the drive signal. The third intensity is set to a duty cycle of 85%, the second intensity is set to a duty cycle of 65%, and the first intensity is set to a duty cycle of 50%.

[0068] In this invention, the relationship between the driver's operational intention and environmental risks is analyzed, and the resulting driving risk interaction state is obtained through the following steps:

[0069] If the driving range corresponding to the driver's operating intention does not intersect with the environmental risk location range, the driving risk interaction state is determined to be a conflict-free state.

[0070] If the driving range corresponding to the driver's operating intention intersects with the environmental risk location range, the driving risk interaction state is determined to be a conflict state.

[0071] In this embodiment, taking an array of 80 miniature linear resonant actuators forming a ring-shaped tactile feedback module as an example, the starting position is set at 0 degrees at the top of the steering wheel, and the linear resonant actuator at this position is numbered 1. The actuators are then evenly arranged clockwise and numbered sequentially from 1 to 80. The system identifies the driver's real-time grip area through the grip sensing module and uses this real-time grip area as the target execution area for dynamic tactile feedback. All tactile guidance is completed only within the target execution area, activating the linear resonant actuators within the grip area to ensure stable perception even with a single hand or a non-fixed grip posture. For example, the system covers 8 linear resonant actuators when the driver holds the steering wheel with one hand.

[0072] In this embodiment, when the risk orientation range is on the left, the driver's intention is to drive straight; the driving risk interaction state is a conflict-free state; the linear resonant actuators covered by the target execution area are identified as 55, 56...62 and 63 according to the grip area; the activation sequence is obtained according to the safety guidance command, and the activation order is 55 first, then 56... and finally 63; the single vibration duration of each linear resonant actuator is 0.1s, and the interval time with the next linear resonant actuator is 0.1s (at this time, the next linear resonant actuator of linear resonant actuator 63 is linear resonant actuator 55); the vibration intensity is set to the second intensity.

[0073] When the risk orientation range is on the right, the driver's intention is to go straight; the driving risk interaction state is a conflict-free state; based on the grip area, the linear resonant actuators covered by the target execution area are identified as 55, 56...62 and 63; the activation sequence is obtained according to the safety guidance instructions, and the activation order is 63 first, then 62... and finally 55; the single vibration duration of each linear resonant actuator is 0.1s, and the interval time with the next linear resonant actuator is 0.1s (at this time, the next linear resonant actuator after linear resonant actuator 55 is linear resonant actuator 63); the vibration intensity is set to the second intensity.

[0074] When the risk area is on the right, and the driver's intention is to turn right due to operational requirements, the driving risk interaction status is in conflict. A strong double-click pulse warning is added to the safety guidance instructions. Based on the grip area, the linear resonant actuators covering the target execution area are identified as numbers 55, 56…62, and 63. According to the safety guidance instructions, the linear resonant actuators within the target execution area first output a strong double-click pulse warning: the activation sequence is simultaneous execution of 55, 56…62, and 63, with each linear resonant actuator's single vibration duration being 0.1s, and an interval of 0.1s between the same linear resonant actuator, with a vibration intensity of the third strength. Subsequently, the linear resonant actuators within the target execution area output intermittent blocking vibrations: the activation sequence is simultaneous execution of 55, 56…62, and 63, with each linear resonant actuator's single vibration duration being 0.1s, and an interval of 0.1s between the same linear resonant actuator, with a vibration intensity set to the second strength. A sudden change in rhythm simulates a sense of obstruction, indicating that further turning in that direction is prohibited.

[0075] This invention utilizes the absolute steering angle and steering angular velocity signals of the steering wheel, the driver's grip perception parameters when holding the steering wheel, and the environmental risk orientation range. Based on the environmental risk orientation range and the driver's current operating intention, it generates safety guidance instructions with a specific spatiotemporal sequence, realizing the leap from static alarm to dynamic guidance. Through multi-source information fusion and dynamic tactile coding, it realizes an intelligent hardware system and its control method for safety alarm and operation guidance, which is adapted to the situation where drivers generally operate forklifts with one hand, and can also realize dynamic guidance when the driver operates with one hand.

[0076] A collaborative safety operation method for industrial vehicles based on dynamic tactile sensing includes:

[0077] S1: Real-time acquisition of the absolute steering angle and steering angular velocity signals of the steering wheel, grip perception parameters, and environmental risk data including the location and distance of environmental risks;

[0078] S2: Obtain the driver's grip area on the steering wheel based on grip perception parameters; calculate the driver's current operating intention based on the absolute angle and steering angular velocity signal of the steering wheel, and obtain the environmental risk orientation range based on environmental risk data;

[0079] S3: Generate safety guidance instructions based on the environmental risk location range and the driver's current operational intention;

[0080] S4: The tactile feedback module in the grip area generates tactile feedback signals according to the safety guidance instructions.

[0081] This invention effectively reduces accidents such as collisions and crushing caused by blind spots, distraction, or misjudgment through timely, accurate, and easily overlooked tactile guidance. It also helps new drivers adapt to complex environments more quickly and reduces operational hesitation. Furthermore, it can improve work efficiency and reduce training costs, and significantly enhance work safety, especially protecting pedestrians and facilities on site.

[0082] The closed-loop data flow and interaction framework for driver intent, environmental status, and vehicle feedback formed by this invention is an important foundation for realizing higher levels of autonomous driving or remote assisted driving in the future. It lays the foundation for intelligent upgrades, significantly enhances the technological added value and market attractiveness of forklift products, and strengthens the product's differentiated competitiveness.

[0083] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A collaborative safety operating system for industrial vehicles based on dynamic haptic feedback, characterized in that, include: Grip sensing module: used to collect grip sensing parameters of the driver when gripping the steering wheel in real time and output them to the main controller; Steering wheel angle sensing module: used to collect the absolute steering angle and steering angular velocity signals of the steering wheel in real time and output them to the main controller; The environmental risk perception module is used to acquire and output environmental risk data, including the location and distance of environmental risks, to the main controller in real time. Main controller: used to determine the driver's grip area on the steering wheel based on grip perception parameters; It calculates the driver's operating intention based on the absolute angle and steering angular velocity signal of the steering wheel, and obtains the environmental risk orientation range based on environmental risk data; and generates safety guidance instructions based on the driver's operating intention and the environmental risk orientation range, and outputs them to the tactile prompt module in the corresponding grip area; Tactile cue module: Used to generate tactile cue signals at designated locations based on safety guidance instructions.

2. The industrial vehicle collaborative safety operating system according to claim 1, characterized in that: The environmental risk perception module includes radar, ultrasonic sensors, gantry height sensors, and vehicle-mounted cameras, and is connected to the main controller via a CAN bus interface.

3. The industrial vehicle collaborative safety operating system according to claim 1, characterized in that: The tactile feedback module is evenly distributed inside the forklift steering wheel rim, and consists of several linear resonant actuators arranged at equal intervals to form a continuous tactile feedback loop.

4. The industrial vehicle collaborative safety operating system according to claim 1, characterized in that, The grip sensing module includes several touch sensors evenly distributed on the steering wheel rim, and obtains the grip area when the driver grips the steering wheel through the following steps: First, with the steering wheel unheld, the idle values ​​of each touch sensor are used as the baseline values. Then, while the steering wheel is held, the touch sensor continuously collects the current grip perception parameter value. The change in grip perception parameter is obtained by comparing the current grip perception parameter value with the reference value. If the change in grip perception parameter is greater than the preset effective grip parameter threshold and the duration is greater than the effective touch time threshold, it is determined that the touch sensor has been effectively contacted. The driver's grip area is determined based on the location of the touch sensor that is being effectively contacted.

5. The industrial vehicle collaborative safety operating system according to claim 1, characterized in that, The steps by which the tactile cue module generates tactile cue signals are as follows: the safety guidance command includes activation timing and vibration intensity; The tactile feedback module in the grip area is activated by a set vibration intensity according to the safety guidance instructions and the set activation sequence to generate a tactile feedback signal.

6. The industrial vehicle collaborative safety operating system according to claim 1, characterized in that: The steps for calculating the driver's intention based on the collected absolute steering angle and steering angular velocity signals of the steering wheel are as follows: preset the straight-line range of steering angle and the straight-line range of steering angular velocity respectively; If the absolute turning angle is greater than or equal to the minimum value of the absolute turning angle straight-ahead range and less than or equal to the maximum value of the absolute turning angle straight-ahead range, and the steering angular velocity is greater than or equal to the minimum value of the steering angular velocity straight-ahead range and less than or equal to the maximum value of the steering angular velocity straight-ahead range, then the driver's intention is determined to be to go straight. When the absolute turning angle is greater than the minimum value of the straight-line range of the absolute turning angle but less than the maximum value of the straight-line range of the absolute turning angle, if the steering angular velocity is greater than the maximum value of the straight-line range of the steering angular velocity, then the driver's intention is determined to be to turn left. When the absolute turning angle is greater than the minimum value of the straight-line range of the absolute turning angle and less than the maximum value of the straight-line range of the absolute turning angle, if the steering angular velocity is less than the minimum value of the straight-line range of the steering angular velocity, then the driver's intention is determined to be to turn right. When the absolute turning angle is less than the minimum value of the straight-ahead range, if the steering angular velocity is greater than the maximum value, the driver's intention is to turn left to straighten the steering wheel; if the steering angular velocity is less than or equal to the maximum value, the driver's intention is to continue turning right. When the absolute turning angle is greater than the maximum value of the straight-line range of the absolute turning angle, if the steering angular velocity is less than the minimum value, it is determined that the driver's intention is to straighten the steering wheel to the right. If the steering angular velocity is greater than or equal to the minimum value, the driver's intention is determined to continue turning left.

7. The industrial vehicle collaborative safety operating system according to claim 1, characterized in that: The aforementioned industrial vehicle collaborative safety operating system also includes a vision display module, which is used to dynamically display visual information about environmental risks based on the risk display instructions received from the main controller, which are generated according to the location and distance of the environmental risks.

8. A collaborative safety operation method for industrial vehicles based on dynamic haptic feedback, applicable to the collaborative safety operating system for industrial vehicles as described in any one of claims 1-7, characterized in that, include: S1: Real-time acquisition of the absolute steering angle and steering angular velocity signals of the steering wheel, grip perception parameters, and environmental risk data including the location and distance of environmental risks; S2: Obtain the driver's grip area on the steering wheel based on grip perception parameters; Based on the absolute steering angle and steering angular velocity signal of the steering wheel, the driver's current operating intention is calculated, and the environmental risk directional range is obtained based on environmental risk data. S3: Generate safety guidance instructions based on the environmental risk location range and the driver's current operational intention; S4: The tactile feedback module in the grip area generates tactile feedback signals according to the safety guidance instructions.

9. The method for cooperative safe operation of industrial vehicles according to claim 8, characterized in that: The aforementioned collaborative safety operation method for industrial vehicles further includes: generating risk display instructions based on the location and distance of environmental risks, which are used to dynamically display visual information about environmental risks.

10. The method for cooperative safe operation of industrial vehicles according to claim 8, characterized in that: The S4 mentioned above includes: the safety guidance command includes activation timing and vibration intensity; The tactile feedback module in the grip area is activated by a set vibration intensity according to the safety guidance instructions and the set activation sequence to generate a tactile feedback signal.

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