Laser radar anti-collision early warning device and forklift

Abstract

The utility model discloses a laser radar anti-collision early-warning device and a forklift, which are used for solving the technical problems that the existing early-warning device is low in recognition rate of small-section objects and complex in installation and wiring, and belong to the technical field of early-warning devices. The laser radar anti-collision early warning device comprises a plane laser radar and a shell, the plane laser radar transmits signals to a controller, the controller is connected with a loudspeaker through an electric wire, the loudspeaker is fixed to the lower side in the shell through a fixing plate, the plane laser radar is fixed to the top of the shell, and the plane laser radar is connected with the controller. The controller is arranged on the upper side of the interior of the shell, and meanwhile the forklift can effectively recognize small-section objects such as various rods, columns and steel wire ropes within the 360-degree range, so that the number of radars is reduced, the wireless communication technology is utilized, and wiring of an early warning device is simplified.

Description

Technical Field

[0001] The utility model belongs to the technical field of warning devices, relates to forklifts, and specifically relates to a lidar anti-collision warning device. Background Art

[0002] With the high-quality development of China's manufacturing industry, forklifts, as the main transportation tools for transporting materials, are widely used in the manufacturing industry. In the actual production process, due to site restrictions, forklifts often collide with surrounding goods when carrying goods. The rear view of the forklift is not good, and it completely relies on the driver's experience to judge the position, which is prone to collisions, damage to goods, and even economic losses and personal injury accidents.

[0003] The safety of forklift operation has attracted wide attention. To improve the safety and stability of forklift operation and reduce rear collisions, the commonly used solutions on the market at present are to install automotive ultrasonic radars at the rear of the forklift to warn of obstacles behind, and the buzzer in the cab gives an alarm, or install warning lights on the roof, and the driver or surrounding pedestrians judge the occurrence of collisions according to the lights. However, ordinary ultrasonic radars cannot detect small cross-section objects in time, such as various rods, columns, steel wires, etc. And generally, three to four ordinary ultrasonic radars need to be installed, the installation wiring is complex, and the body needs to be destructively drilled; the ultrasonic radar and the warning lights cannot be two independent systems and cannot give synchronous warnings. Content of the Utility Model

[0004] The purpose of the utility model is to provide a lidar anti-collision warning device and a forklift, which are used to solve the technical problems that the existing warning devices have low recognition rate for small cross-section objects and complex installation wiring. The utility model can effectively identify small cross-section objects such as various rods, columns, steel wires, etc. within a 360-degree range, thereby reducing the number of radars, and using wireless communication technology to simplify the wiring of the device.

[0005] The utility model is realized by adopting the following technical scheme:

[0006] A lidar anti-collision warning device includes a planar lidar and a housing. The planar lidar transmits signals to a controller. The controller is electrically connected to a loudspeaker. The loudspeaker is fixed to the lower side inside the housing through a fixing plate. The planar lidar is fixed to the top of the housing, and the controller is arranged on the upper side inside the housing.

[0007] During application, the planar lidar transmits the scanned image to the controller. The controller judges whether the warning standard is reached. If warning is needed, the controller transmits a warning signal to the loudspeaker, and then the loudspeaker emits a warning alarm.

[0008] Further preferably, it further includes a battery pack which is connected to the controller. When an emergency occurs, such as a power outage, the battery pack is used to provide temporary electrical energy to the controller, facilitating the controller to store the received signals.

[0009] Further preferably, a sound guide cone is provided below the loudspeaker. The sound guide cone is arranged at the inner bottom of the housing. The loudspeaker and the sound guide cone form an omnidirectional audio warning system. A number of through holes are provided in the housing around the sound guide cone to facilitate the maximum transmission of the volume.

[0010] A forklift equipped with the above-mentioned lidar anti-collision warning device is fixed to the trailer hitch at the rear of the forklift through a connecting plate.

[0011] During application, when an obstacle or a person is detected within the range of the forklift preset by the controller, the controller will give an alarm prompt through the omnidirectional audio warning system.

[0012] Further preferably, it further includes a positioning part. The positioning part transmits signals to the lidar anti-collision warning device through a wireless module. The positioning part includes a front-view camera, a horizontal laser emitter, and a video monitor. The signal of the front-view camera is transmitted to the video monitor and the controller. The wireless module is integrated on the controller. The horizontal laser emitter is installed inside the forklift fork arm and is on the same horizontal plane as the fork arm. The front-view camera is installed at the lower edge of the fender and is on the same horizontal plane as the fork arm. The video monitor is installed on the left side of the cab console.

[0013] Further preferably, it further includes a warning spotlight part. The warning spotlight includes a number of spotlight bodies and angle sensors. The spotlight bodies are fixed to the left and right sides and the rear of the forklift overhead guard through angle adjustment brackets. The angle sensors are coaxially connected to the angle adjustment brackets through couplings. The angle sensors transmit the adjusted angles of the spotlight bodies to the lidar anti-collision warning device through a wireless module. The controller will receive the data from the angle sensors of the warning spotlight and perform calculations, converting it into the distance corresponding to the forklift and the light strip emitted by the warning spotlight, and setting this distance as the alarm threshold for the planar lidar scan. When the working condition of the forklift changes and it is necessary to adjust the range of the light strip emitted by the warning spotlight, the controller synchronously modifies the alarm range of the planar lidar scan.

[0014] Further preferably, the horizontal laser emitter and the front-view camera are installed by adsorbing with a high-strength magnetic sticker suction cup and fixing with a clamp.

[0015] This utility model analyzes the scanning alarm signal of the planar lidar in real time by using a controller for example analysis, realizes the synchronous coordination between the scanning range and the illumination range of the warning light strip, and can adjust the radar scanning warning distance according to different usage scenarios; relies on an omnidirectional audio warning system to warn the driver and personnel who may enter the safety area. At the same time, a front-view camera and a laser emitter are added to assist the driver in judging the position of the forklift forks.

[0016] The controller included in a lidar anti-collision warning device can convert the adjustment amount of the illumination angle of the warning spotlight into the actual distance data between the light and the forklift, and use this data as the scanning warning distance threshold of the planar lidar. In this way, the warning distance of the planar lidar and the light strip can work together. When surrounding obstacles enter the range of the light strip, they also enter the radar scanning warning range at the same time, and a warning prompt is issued.

[0017] When the usage environment of the forklift changes, only by adjusting the illumination angle of the warning spotlight can the width of the light strip and the radar warning range be changed at the same time. Compared with the common independent warning spotlight warning scheme on the market, the warning range of this device can be adjusted, the usage environment is wider, and the coordinated effect between the planar lidar scanning range and the spotlight improves the intelligence and obstacle avoidance efficiency of the equipment, and enhances the safety of forklift operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this utility model, and are used together with the specification to explain the principles of this utility model.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It shows a three-dimensional schematic diagram of a lidar anti-collision warning device of this utility model.

[0021] Figure 2 It shows a side view schematic diagram of a lidar anti-collision warning device of this utility model.

[0022] Figure 3 It shows a side view internal schematic diagram of a lidar anti-collision warning device of this utility model.

[0023] Figure 4 It shows a three-dimensional schematic diagram of a forklift of this utility model.

[0024] Figure 5 It shows a side view schematic diagram of a forklift of this utility model.

[0025] Figure 6 It shows a top view schematic diagram of a forklift of the present utility model.

[0026] Figure 7 It shows a schematic installation diagram of a warning spotlight on a forklift of the present utility model.

[0027] Figure 8 It shows a top view schematic diagram of the detection range of a warning device on a forklift of the present utility model.

[0028] Figure 9 It shows a side view schematic diagram of the detection range of a warning device on a forklift of the present utility model.

[0029] In the figure: 1 - planar lidar, 2 - controller, 3 - battery pack, 4 - loudspeaker, 5 - sound guiding cone, 6 - housing, 8 - fixing plate, 9 - connecting plate, 10 - warning spotlight, 11 - video monitor, 12 - horizontal laser emitter, 13 - angle sensor. Specific embodiments

[0030] In order to more clearly understand the above-mentioned objects, features and advantages of the present utility model, the solution of the present utility model will be further described below. It should be noted that, without conflict, the embodiments of the present utility model and the features in the embodiments can be combined with each other.

[0031] In the description, it should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. It should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific situations.

[0032] Many specific details are set forth in the following description in order to fully understand the present utility model, but the present utility model can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0033] The specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0034] Embodiment 1, as Figures 1-3A laser radar anti-collision warning device is shown, which includes a planar lidar 1 and a housing 6. The planar lidar 1 transmits signals to a controller 2 wirelessly or by wire. The controller 2 is connected to a loudspeaker 4 by an electric wire. The loudspeaker 4 is fixed to the lower side inside the housing 6 through a fixing plate 8. The planar lidar 1 is fixed to the top of the housing 6, and the controller 2 is arranged on the upper side inside the housing 6.

[0035] It further includes a battery pack 3, which is arranged at the rear side of the controller 2. When an emergency occurs, the battery pack 3 is dedicated to storing data for the controller 2.

[0036] A sound guide cone 5 is arranged below the loudspeaker 4. The sound guide cone 5 is arranged at the bottom inside the housing 6. The loudspeaker 4 and the sound guide cone 5 form an omnidirectional audio warning system. The housing 6 is provided with a plurality of through holes around the sound guide cone 5.

[0037] Embodiment 2, as Figures 1-9 shown, a forklift truck equipped with the above-mentioned laser radar anti-collision warning device. The warning device is fixed to the trailer hook at the rear of the forklift truck through a connecting plate 9. The warning device is powered by a wired supply of DC5 - 24V power or uses an internal battery. The controller 2 adopts an STM32 embedded controller 2.

[0038] It further includes a positioning part, and the positioning part transmits signals to a laser radar anti-collision warning device through a wireless module; the positioning part includes a front-view camera, a horizontal laser emitter 12, and a video monitor 11. The signals of the front-view camera can be transmitted to the video monitor 11 and the controller by wire or wirelessly. The wireless module is integrated on the controller 2. The horizontal laser emitter 12 is installed inside the forklift fork arm and is in the same horizontal plane as the fork arm. The front-view camera is installed at the lower edge of the goods retaining rack and is in the same horizontal plane as the fork arm to avoid the collision of the goods with the camera when lifting the goods; the video monitor 11 is installed on the left side of the cab operation console for the convenience of the driver to observe. After the front-view camera detects an object, it transmits the signal to the controller, and the controller will give an alarm prompt through the omnidirectional audio warning system.

[0039] The horizontal laser ray emitted by the horizontal laser emitter 12 and the picture monitored by the front-view camera assist the driver in judging the position of the fork. When the power of the forklift truck is turned on, the horizontal laser emitter 12 will emit a horizontal laser ray in the shape of a line. When the driver forks and lifts the goods, he can judge the current horizontal height of the fork according to the position of the ray emitted by the horizontal laser emitter 12, so as to quickly insert the fork into the pallet, greatly shortening the time for the fork to insert into the pallet.

[0040] In this embodiment, the monitoring signal of the front-view camera is transmitted to the video monitor 11 installed on the left side of the cab console through a 2.4GHz wireless module, which can assist the driver in observing the aiming direction of the forklift forks. When lifting large-volume goods, the goods block the driver's line of sight, and the driver can observe the blind area picture through the video monitor 11.

[0041] It also includes a warning spotlight 10 part; the warning spotlight 10 includes a number of spotlight bodies and an angle sensor 13. The spotlight bodies are fixed on the left and right sides and the rear of the forklift overhead guard through an angle adjustment bracket. The angle adjustment bracket allows the user to adjust the angle of the warning spotlight according to needs to achieve the best support effect and user experience. The angle adjustment bracket can be realized through a rotating shaft structure with adjustable rotation resistance. The angle sensor 13 is coaxially connected to the angle adjustment bracket through a coupling. The angle sensor 13 transmits the adjusted angle of the spotlight body to the warning device through a wireless module. Three warning spotlights 10 of the angle adjustment bracket are installed on the forklift overhead guard, irradiating out a width indication light belt on the ground on the left and right sides and the rear of the forklift. The distance between the light belt and the vehicle body can be adjusted according to the use scenario. The angle sensor 13 transmits the angle adjustment data of the warning spotlight 10 to the STM32 embedded controller 2 through a 2.4GHz wireless module, synchronizing the light belt range with the scanning range of the planar lidar 1.

[0042] The light belt can effectively remind pedestrians to avoid the forklift and prevent forklift collision accidents, and can also irradiate the obstacles that need to be avoided for the driver when the forklift is backing up.

[0043] The positioning part, the warning spotlight 10 part and the warning device communicate through a wireless module.

[0044] The installation method of the horizontal laser emitter 12 and the front-view camera uses a high-strength magnetic sticker suction cup adsorption combined with a fixture for fixation, avoiding destructive drilling on the fork arm.

[0045] The front-view camera, the planar lidar 1, the warning spotlight 10, the angle sensor 13 data, the video monitor 11 communicate with the STM32 embedded system using a 2.4G wireless transmission module.

[0046] During application, the controller 2 will receive the data from the angle sensor 13 of the warning spotlight 10 and perform calculations, converting it into the distance corresponding to the forklift and the light belt emitted by the warning spotlight 10, and setting this distance as the alarm threshold for the scanning of the planar lidar 1. After detecting an obstacle or a person within the scanning range of the planar lidar 1 on the forklift, the controller 2 will give an alarm prompt through the omnidirectional audio warning system. When the working condition of the forklift changes and it is necessary to adjust the light belt range emitted by the warning spotlight 10, the controller 2 synchronously modifies the alarm range of the radar scanning.

[0047] Such as Figures 8-9The dotted line shown is the warning range of the warning device. In this embodiment, when the distance between the forklift laser radar anti-collision warning device and the surrounding obstacles is less than 300 cm, the loudspeaker 4 emits a sound for reminder, and the sound is omni-directionally reminded around the forklift by the sound guide cone 5 at 360°;

[0048] When the distance between the forklift laser radar anti-collision warning device and the surrounding obstacles is less than 200 cm, the loudspeaker 4 emits a sound for reminder, and the sound is omni-directionally warned around the forklift by the sound guide cone 5 at 360°;

[0049] When the distance between the forklift laser radar anti-collision warning device and the surrounding obstacles is less than 100 cm, the loudspeaker 4 emits a sound for reminder, and the sound is omni-directionally reminded to stop around the forklift by the sound guide cone 5 at 360°.

[0050] In this embodiment, the planar lidar 1 adopts a single-line TOF short-range mechanical lidar, which can use one lidar to perform 360-degree scanning on the rear of the forklift. While the common automotive ultrasonic radars on the market need to install 3 - 4 pieces. Compared with automotive ultrasonic radars, this device can reduce the difficulty of radar installation and, combined with the wireless communication technology adopted by each part of the device, simplify the wiring of the device.

[0051] The single-line TOF short-range mechanical lidar adopted in this embodiment has higher accuracy and resolution compared with the automotive ultrasonic radars used for traditional forklift obstacle avoidance. It can effectively identify small cross-section objects such as various poles, columns, wire ropes, etc. within a 360-degree range. It has stronger stability in use under complex climate environments and is suitable for harsh working environments such as construction sites.

[0052] The advantages of this utility model compared with the existing technology are as follows:

[0053] (1) The common forklift warning devices on the market install 3 - 4 ordinary automotive ultrasonic radars at the rear of the forklift, aiming at the problems that ordinary automotive ultrasonic radars have low recognition rate for small cross-section objects and complex installation wiring. This forklift can effectively identify small cross-section objects such as various poles, columns, wire ropes, etc. within a 360-degree range, thus reducing the number of radars and simplifying the wiring of the device by using wireless communication technology.

[0054] (2) In the existing forklift obstacle avoidance field, the ultrasonic radar and the sound and light warning light are two independent systems. The illumination range of the light strip is not unified with the warning range of the radar. This forklift uses the STM32 embedded controller 2 to perform computational analysis on the angle signal of the warning spotlight 10 and the scanning alarm signal of the planar lidar 1, realizing the synchronous cooperation of the scanning range and the warning range, and can adjust the radar scanning warning distance according to different usage scenarios.

[0055] (3) The existing positioning of forklift forks completely relies on the driver's experience to judge the position and angle of the forks. It is easily affected by factors such as the driver's state, light conditions, and blind spots of vision, resulting in inaccurate positioning, easy errors, low efficiency, and potential safety hazards. Therefore, a positioning part is installed on the forklift fork arm to replace the positioning method that relies on the driver's experience, so as to improve the operation efficiency, safety, and management efficiency.

[0056] The above are only specific implementation manners of the present utility model, enabling those skilled in the art to understand or implement the present utility model. Although the foregoing embodiments have been described in detail, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered by the protection scope of the claims.

Claims

1. A laser radar anti-collision warning device, characterized in that: The invention comprises a planar laser radar (1) and a housing (6), wherein the planar laser radar (1) transmits a signal to a controller (2), wherein the controller (2) is connected to a loudspeaker (4) via an electric wire, wherein the loudspeaker (4) is fixed to the lower side of the housing (6) via a fixing plate (8), wherein the planar laser radar (1) is fixed to the top of the housing (6), and wherein the controller (2) is arranged on the upper side of the housing (6).

2. A laser radar anti-collision warning device according to claim 1, characterized in that: It also includes a battery pack (3), wherein the battery pack (3) is connected to the controller (2).

3. The laser radar anti-collision warning device according to claim 1, characterized in that: A sound guide cone (5) is arranged below the loudspeaker (4), and the sound guide cone (5) is arranged at the bottom of the inner side of the housing (6). The loudspeaker (4) and the sound guide cone (5) form an omnidirectional audio warning system, and the housing (6) is provided with a plurality of through holes around the sound guide cone (5).

4. A forklift, characterized in that: It comprises a laser radar anti-collision warning device as described in any one of claims 1 to 3, wherein the laser radar anti-collision warning device is fixed to the trailer hook at the rear of a forklift via a connecting plate (9).

5. A forklift according to claim 4, characterized in that: The invention also comprises a positioning part, wherein the positioning part transmits signals to a laser radar anti-collision warning device through a wireless module; the positioning part comprises a front-view camera, a horizontal laser transmitter (12), and a video monitor (11); the signal of the front-view camera is transmitted to the video monitor (11) and a controller (2); the wireless module is integrated on the controller (2); the horizontal laser transmitter (12) is installed on the inner side of the fork arm of the forklift and is in the same horizontal plane as the fork arm; the front-view camera is installed on the lower edge of the shelf and is in the same horizontal plane as the fork arm; and the video monitor (11) is installed on the left side of the operating table in the cab.

6. A forklift according to claim 5, characterized in that: It also includes a warning spotlight (10) part; the warning spotlight (10) includes a plurality of spotlight bodies and angle sensors (13); the spotlight bodies are fixed to the left and right sides and the rear of the forklift overhead guard frame via angle adjustment brackets; the angle sensor (13) is coaxially connected to the angle adjustment bracket via a coupling; the angle sensor (13) transmits the adjusted angle of the spotlight body to a laser radar anti-collision warning device via a wireless module.

7. A forklift according to claim 6, characterized in that: The horizontal laser transmitter (12) and the front-view camera are installed by using a high-strength magnetic suction cup to adsorb and fix with a fixture.

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