Intelligent anti-collision vehicle control system based on forklift IA

Abstract

The utility model discloses an IA intelligent anti-collision vehicle control system based on a forklift, which comprises a forklift and surrounding pedestrian acquisition unit used for acquiring data of pedestrians appearing around the forklift and sending signals of the pedestrians appearing around the forklift to a control unit; the control unit is used for giving an alarm and controlling the forklift after acquiring a signal that pedestrians appear around the forklift, and the control unit comprises a main control IC (Integrated Circuit) which is used for transmitting a forklift signal and a brake signal after acquiring the signal that the pedestrians appear around the forklift; the alarm module is used for obtaining a pedestrian approaching forklift signal and giving an audible and visual alarm; and the brake control module is used for acquiring a brake signal to perform forklift brake control. According to the IA intelligent anti-collision vehicle control system based on the forklift, collision accidents caused by the fact that the forklift runs too fast are prevented, especially when the forklift is backed up or pedestrians around the forklift are detected at a fork road and the forklift is stopped at a dangerous distance through active speed reduction, and safety accidents caused by blind areas of the forklift can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to a forklift anti -collision technical field, concretely relates to a kind of IA intelligent anti -collision control vehicle system based on forklift. BACKGROUND

[0002] Forklift is industrial handling vehicle, refers to the various wheeled handling vehicles of the loading, unloading, stacking and short-distance transport operation of piece pallet goods.International standardization organization ISO / TC110 is called industrial vehicle.Usually used for the transport of warehouse large objects, usually uses fuel engine or battery drive.

[0003] With the development of industry, forklift becomes indispensable auxiliary tool, but when using in factory, due to forklift blind area problem, forklift person is prone to, and current forklift anti -collision technology is not perfect enough, cannot effectively avoid forklift person problem. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of IA intelligent anti -collision control vehicle system based on forklift.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a kind of IA intelligent anti -collision control vehicle system based on forklift, comprising:

[0006] forklift and surrounding pedestrian acquisition unit, for obtaining the pedestrian data around forklift and sending the pedestrian signal around forklift to control unit;And

[0007] control unit, for obtaining the pedestrian signal around forklift and carrying out alarm and control vehicle processing after;

[0008] Wherein control unit includes:

[0009] main control IC, for sending forklift signal, brake signal after obtaining the pedestrian signal around forklift;

[0010] alarm module, for obtaining the pedestrian signal close to forklift and carrying out sound and light alarm;

[0011] brake control module, for obtaining brake signal and carrying out forklift brake control.

[0012] Further, the model of the main control IC is AT32F403A.

[0013] Further, the alarm module includes:

[0014] audio power amplifier circuit for carrying out horn reminder, the audio power amplifier circuit includes voice chip U2, power amplifier chip U1 and horn, the voice chip U2 is connected after power amplifier chip U1 and is accessed horn;

[0015] The warning light circuit for light reminding comprises a triode Q11, a MOS tube Q10, resistors R48, R50, R51, R57, R58, R59, R60, an LED lamp group and a warning light, the LED lamp group is composed of a plurality of LED diodes, and the LED lamp group is connected to the drain of the MOS tube Q10, the source and the gate of the MOS tube Q10 are connected and then connected to the collector of the triode Q11, and the base of the triode Q11 is connected to the warning light.

[0016] Further, the brake control module comprises a brake control module motor, a triode Q8 and resistors R41 and R42, one end of the resistor R41 is connected to the base of the triode Q8 through one end of the resistor R42, the emitter of the triode Q8 is connected to the other end of the resistor R42, and the collector of the triode Q8 is connected to the brake control module motor.

[0017] Further, the forklift and surrounding pedestrian acquisition unit comprises:

[0018] The BSD monitoring camera module is used for monitoring the image data of the pedestrians appearing around the forklift and uploading;

[0019] The 4G / WiFi module is used for connecting the user end and the algorithm master control module;

[0020] The algorithm master control module is used for sending the signal of the pedestrians appearing around the forklift after processing the image data of the pedestrians appearing around the forklift.

[0021] Further, the forklift and surrounding pedestrian acquisition unit further comprises:

[0022] The DMS monitoring camera module is used for detecting the driving behavior and the face information of the driver and uploading to the algorithm master control module for judgment, then uploading the signal of the driver's fatigue driving behavior and the face recognition signal to the master control IC, the master control IC sends the alarm signal to the alarm module for sound and light alarm after obtaining the signal of the driver's fatigue driving behavior, and the master control IC uploads the signal of striking a match after obtaining the signal of face recognition.

[0023] Further, the voltage reduction power supply unit for supplying power to the forklift and surrounding pedestrian acquisition unit and the control unit comprises:

[0024] The voltage reduction circuit for reducing the power voltage, the voltage reduction circuit includes 100V voltage reduction chip U6, switching voltage regulator chip U5, low dropout voltage regulator chip U4, diode D7, D5, inductor L4, capacitor C23, C16, C15, CC1, C17, C18, resistor R16, R19, R17, R14, the input of U6 and U5 is connected, the output of U5 is connected with L4 through the negative electrode of diode D7 and then connected with C23, C23 and C16 are connected in parallel and then connected with U5 through R16 and R19, the positive electrode of diode D5 is connected with C23 and C16 in parallel, the negative electrode of diode D5 is connected with the input of U4 through one end of C15, the output of U4 is connected with CC1, one end of C17 and C18 connected in parallel is connected with U4 through resistor R14, the other end of C17 and C18 connected in parallel is connected with CC1 and U4 through one end of resistor R17, the other end of resistor R17 is connected with resistor R14 and U4, U4 outputs 3.8V power supply;

[0025] The master IC power supply circuit includes voltage reduction chip U7 and capacitor C29, the voltage reduction chip U7 is connected with capacitor C29, capacitor C29 is connected with U4, voltage reduction chip U7 reduces 3.8V power supply to 3.3V power supply to supply power for master IC;

[0026] The GPS power supply circuit includes voltage reduction chip U8, resistor R36 and capacitor C37, voltage reduction chip U8 is connected with U4 through resistor R36 and capacitor C37 respectively, voltage reduction chip U8 reduces 3.8V power supply to 3.3V power supply to supply power for GPS;

[0027] The BT1 battery charging includes voltage reduction type DCDC conversion chip U9, inductor L5, resistor R24, R30, R33, capacitor C33 and C32, capacitor C33 and C32 connected in parallel are connected with U9 through R30, one end of resistor R33 is connected with R30 and U9, resistor R24 is connected with U9, one end of inductor L5 is connected with resistor R24 and U9, one end of inductor L5 is connected with U9, U9 and the constant current charging circuit composed of inductor L5, resistor R24, R30, R33, capacitor C33 and C32 charge BT1 battery;

[0028] The discharging circuit comprises a MOS tube Q1, a triode Q3, resistors R18, R20, R22, R13 and R15, one end of the resistor R22 is connected with a resistor R24, the other end of the resistor R22 is connected with the base of the triode Q3 through the resistor R18, one end of the resistor R20 is connected between the resistors R22 and R18, the other end of the resistor R20 is connected with the emitter of the triode Q3, the collector of the triode Q3 is connected with the gate of the MOS tube Q1 through the resistors R13 and R15; when the battery voltage is lower than 10.5V, the discharging circuit stops power supply;

[0029] The power supply detection circuit comprises resistors R29 and R31, a diode D8, capacitors C31 and C34, the R29, R31, D8, C31 and C34 are connected in parallel and then connected between U6 and U5; the power supply detection circuit detects the power supply voltage;

[0030] The ACC voltage detection circuit comprises a triode Q5, a diode D9, resistors R28, R32 and R34, and a capacitor C28, the resistor R32 is connected with the base of the triode Q5, the capacitor C28 and the resistor R28 are connected in parallel and then connected between the resistor R32 and the triode Q5, the resistor R34 and the diode D9 are connected in parallel and then connected with the emitter of the triode Q5; the ACC voltage detection circuit detects the ACC voltage.

[0031] Further, the control unit further comprises:

[0032] The GPS positioning module is used for acquiring the positioning information of the forklift and uploading the positioning information to the main control IC for processing, and the GPS positioning module comprises a Beidou / GPS antenna, a Beidou / GPS chip TR1, resistors R44 and R46, capacitors C36, C39 and CC2, the resistors R44 and R46 are connected with the TR1 respectively, the TR1 is connected with one end of the capacitors C36 and CC2 in parallel through the Beidou / GPS antenna, and one end of the capacitor C39 is connected with the TR1 through the Beidou / GPS antenna.

[0033] The speed pulse detection module is used for acquiring the driving speed of the forklift and uploading the driving speed to the main control IC for processing and uploading the overspeed signal, and the speed pulse detection module comprises a speed pulse receiving chip, MOS tubes Q12 and Q15, resistors R52, R53, R49, R59, R60 and R62, and capacitors C41, C42 and C43, the speed pulse receiving chip is connected with the gate of the MOS tube Q15 through the resistor R60, one end of the resistor R62 is connected between the resistor R60 and the MOS tube Q15, the other end of the resistor R62 is connected with the drain of the MOS tube Q15, and the source of the MOS tube Q15 is connected with the resistor R59 and the capacitor C42 in parallel.

[0034] One end of R52 is connected between R60 and the speed pulse receiving chip, one end of C43 is connected between R52 and R60, the other end of R52 is connected to the gate of Q12, one end of R53 is connected between R52 and Q12, the other end of R53 is connected to the drain of Q12, the source of Q12 is connected to R49 and C41 in parallel;

[0035] The reverse detection module is used for receiving a reverse signal and uploading a reverse image to the main control IC for processing, and the reverse detection module comprises a triode Q6, R35, R38, R39 and C38, the R35, C38 and R39 are connected in parallel and then connected to one end of R38, and the other end of R38 is connected to the base of the triode Q6;

[0036] The safety belt detection module is used for detecting whether a safety belt is buckled, uploading a buckle insertion and extraction signal of the safety belt to the main control IC for processing, and sending an alarm signal to the alarm module for sound and light alarm, and the safety belt detection module comprises a safety belt detection chip J1, a triode Q9, resistors R45 and R47, and a capacitor C40, one end of the resistor R45 is connected to the J1, the other end of the resistor R45 is connected to the base of the triode Q9 in sequence through the capacitor C40 and one end of the resistor R47, and the other end of the resistor R47 is connected to the drain of the triode Q9.

[0037] The hand brake detection module is used for detecting whether the hand brake is pulled after the engine is turned off, sending a hand brake signal to the main control IC for processing, and sending an alarm signal to the alarm module for sound and light alarm, and the hand brake detection module comprises a MOS tube Q7, resistors R37, R40 and R43, and a capacitor C35, the resistor R40 is connected to the gate of the MOS tube Q7, one end of the resistor R43 is connected between the resistor R40 and the MOS tube Q7, the other end of the resistor R43 is connected to the drain of the MOS tube Q7, and the source of the MOS tube Q7 is connected to the capacitor C35 and the resistor R37 in parallel.

[0038] A throttle control module is used to control the forklift to enter an idle state after the overspeed signal uploaded by the master IC and the signal of the pedestrian approaching the forklift are obtained, the throttle control module comprises MOS tubes Q13 and Q16, triodes Q14 and Q18, resistors R54, R55, R56, R58, R61, R64 and R66, and a throttle actuator, one end of the resistor R61 is connected to the gate of the Q16, one end of the R66 is connected to the resistor R61 and the Q16, the other end of the R66 is connected to the drain of the Q16, the source of the Q16 is connected to the throttle actuator, one end of the R55 is connected to the base of the Q14, one end of the R58 is connected to the resistor R55 and the Q14, the other end of the R58 is connected to the emitter of the Q14, the collector of the Q14 is connected to the gate of the Q13 through the R54, one end of the R56 is connected to the resistor R54 and the Q13, the other end of the R56 is connected to the drain of the Q13, the source of the Q13 is connected to the throttle actuator, one end of the resistor R64 is connected to the base of the Q18, one end of the R67 is connected to the resistor R64 and the Q18, the other end of the R67 is connected to the emitter of the Q18, the collector of the Q18 is connected to the resistor R61 and the R55;

[0039] A spark control module is used to connect the ignition line after the spark signal is uploaded to the master IC, the spark control module comprises a triode Q17, resistors R63 and R65, a diode D10 and a relay, the resistor R63 is connected to the base of the Q17, one end of the R65 is connected to the Q17 and the R63, the other end of the R65 is connected to the emitter of the Q17, the collector of the Q17 is connected to the relay through the D10;

[0040] A display module is used to display the forklift driving speed uploaded by the master IC, the display module comprises a display chip U3 and an LED large screen, and the display chip U3 and the LED large screen are connected.

[0041] According to the technical scheme, the utility model has the advantages of the following beneficial effects:

[0042] The forklift IA intelligent anti-collision control system supports wireless infrared remote control function setting, supports vehicle face recognition control function, adopts wireless sensing speed measurement technology to detect the speed in real time, has overspeed sound and light alarm, supports electronic throttle and mechanical throttle speed limit control, supports GPS real-time positioning speed measurement, electronic fence, track playback and other functions, has safety belt detection and alarm function when the safety belt is not buckled, is used for safety protection in the forklift driving process, prevents collision accidents caused by the forklift driving too fast, especially when reversing or at the fork, and assists driving through the IA intelligent anti-collision management system when the driver's line of sight is blocked and the driving environment cannot be judged, detects the pedestrians around the forklift, actively reduces the speed and stops when the dangerous distance is reached, effectively reduces the safety accidents caused by the blind area of the forklift, reduces the hidden danger on safety, effectively improves the work efficiency of the forklift driver and the vigilance of safety production, and effectively protects the life and property of enterprises. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is the overall system framework diagram of the utility model;

[0044] Figure 2 is the forklift and surrounding pedestrian acquisition unit and control unit system framework diagram of the utility model

[0045] Figure 3 is the audio power amplifier circuit diagram of the utility model;

[0046] Figure 4 is the police lamp circuit diagram of the utility model;

[0047] Figure 5 is the brake control module circuit diagram of the utility model;

[0048] Figure 6 is the GPS positioning module circuit diagram of the utility model;

[0049] Figure 7 is the speed pulse detection module circuit diagram of the utility model;

[0050] Figure 8 is the reverse detection module circuit diagram of the utility model;

[0051] Figure 9 is the safety belt detection module circuit diagram of the utility model;

[0052] Figure 10 is the handbrake detection module circuit diagram of the utility model;

[0053] Figure 11 is the throttle control module circuit diagram of the utility model;

[0054] Figure 12 is the lighter control module circuit diagram of the utility model;

[0055] Figure 13 is the display module circuit diagram of the utility model;

[0056] Figure 14 is the voltage reduction power supply unit circuit diagram of the utility model;

[0057] Figure 15 is the main control IC circuit diagram of the utility model. DETAILED DESCRIPTION

[0058] Clearly, the described embodiments are merely a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present utility model.

[0059] As shown in Figures 1-15 The utility model provides a kind of based on forklift IA intelligent anti-collision control vehicle system, including forklift and surrounding pedestrian acquisition unit, control unit and step-down power supply unit;Wherein forklift and surrounding pedestrian acquisition unit includes BSD monitoring camera module, DMS monitoring camera module, 4G / WiFi module and algorithm main control module, BSD monitoring camera module uses BSD camera to monitor the forklift surrounding appearance pedestrian image data and upload to algorithm main control module, 4G / WiFi module connects user end and algorithm main control module, specifically, 4G module uploads forklift running data and state to algorithm main control module, WiFi module connects mobile phone APP to carry out parameter setting, algorithm main control module sends forklift surrounding appearance pedestrian signal to control unit after processing forklift surrounding appearance pedestrian image data, DMS monitoring camera module uses DMS camera to detect the driving behavior and face information of driver and upload to algorithm main control module to carry out accurate calculation and processing after then driver fatigue driving behavior and face recognition signal are uploaded to main control IC, main control IC obtains driver fatigue driving behavior and sends alarm signal to alarm module to carry out sound and light alarm, and main control IC obtains face recognition signal and uploads to fire signal, forklift and pedestrian distance acquisition unit also include display screen, for displaying the camera image of BSD monitoring camera module, DMS monitoring camera module and forklift running data,

[0060] The control unit comprises a master IC, an alarm module, and a brake control module, and the model of the master IC is AT32F403A. The alarm module comprises an audio power amplifier circuit and a warning light circuit. The audio power amplifier circuit comprises a voice chip U2, a power amplifier chip U1, and a loudspeaker. The voice chip U2 is connected to the power amplifier chip U1 and then connected to the loudspeaker. The audio power amplifier circuit is used for reminding by the loudspeaker. The warning light circuit comprises a triode Q11, a MOS tube Q10, resistors R48, R50, R51, R57, R58, R59, R60, an LED lamp group, and a warning light. The LED lamp group is composed of a plurality of LED diodes. The LED lamp group is connected to the drain of the MOS tube Q10. The source and the gate of the MOS tube Q10 are connected and then connected to the collector of the triode Q11. The base of the triode Q11 is connected to the warning light. The warning light circuit is used for reminding by the warning light. The brake control module comprises a brake control module motor, a triode Q8, and resistors R41 and R42. One end of the resistor R41 is connected to one end of the resistor R42, and the base of the triode Q8. The emitter of the triode Q8 is connected to the other end of the resistor R42. The collector of the triode Q8 is connected to the brake control module motor.

[0061] When the master IC receives a signal that a pedestrian appears around the forklift and a driver is fatigued, the master IC sends a forklift signal and a brake signal. The alarm module acquires a signal that the pedestrian approaches the forklift and performs an audible and light alarm. The brake control module acquires the brake signal and controls the brake of the forklift, so as to achieve the purpose of intelligent anti-collision.

[0062] The control unit further comprises a GPS positioning module, a speed pulse detection module, a reverse detection module, a safety belt detection module, a hand brake detection module, an accelerator control module, an ignition control module, and a display module. The GPS positioning module comprises a Beidou / GPS antenna, a Beidou / GPS chip TR1, resistors R44 and R46, capacitors C36, C39, and CC2. The resistors R44 and R46 are connected to the TR1. The TR1 is connected to one end of the parallelly connected C36 and CC2 through the Beidou / GPS antenna. One end of the C39 is connected to the TR1 through the Beidou / GPS antenna. The real-time positioning data of the forklift is uploaded to the master IC through the resistors R44 and R46 for processing through the GPS positioning module.

[0063] The speed pulse detection module comprises a speed pulse receiving chip, MOS tubes Q12 and Q15, resistors R52, R53, R59, R60 and R62, and capacitors C41 and C42 and C43. One end of R52 is connected to R60 and the speed pulse receiving chip, one end of C43 is connected to R52 and R60, the other end of R52 is connected to the gate of Q12, one end of R53 is connected to R52 and Q12, the other end of R53 is connected to the drain of Q12, and the source of Q12 is connected to R49 and C41 in parallel. When the resistors R52 and R60 detect the speed pulse signal, the drains of Q12 and Q15 output the speed pulse signal to the 35th and 66th pins of the main control IC. When the main control IC detects the speed signal, the speed of the forklift is displayed on the screen. If the speed exceeds the set speed, an overspeed signal is sent to the alarm module, the alarm module acquires the overspeed signal to sound and light alarm, reminding the driver to slow down, and the throttle is controlled to slow down at the same time.

[0064] The reverse detection module comprises a triode Q6, resistors R35, R38 and R39, and a capacitor C38. R35, C38 and R39 are connected in parallel, and then one end of R38 is connected to the base of Q6. The collector of Q6 is connected to the 95th pin of the main control IC. When R35 detects the reverse voltage, the collector of Q6 pulls down the voltage of the 95th pin of the main control IC. At this time, the main control IC transmits the reverse information to the algorithm control module, and the algorithm control module controls the display screen to display the reverse image in full screen.

[0065] The safety belt detection module comprises a safety belt detection chip J1, a triode Q9, resistors R45 and R47, and a capacitor C40. One end of R45 is connected to J1, the other end of R45 is connected to the base of Q9 through C40 and R47 in sequence. The safety belt detection module detects whether the safety belt is buckled, and uploads the plug-in and plug-out signal of the safety belt buckle to the main control IC for processing, and then sends an alarm signal to the alarm module for sound and light alarm.

[0066] The hand brake detection module comprises a MOS tube Q7, resistors R37, R40 and R43, and a capacitor C35. R40 is connected to the gate of Q7, one end of R43 is connected to R40 and Q7, the other end of R43 is connected to the drain of Q7, and the source of Q7 is connected to C35 and R37 in parallel. When R40 detects the hand brake signal, the drain of Q7 outputs a low voltage to the 60th pin of the main control IC. When the driver gets off the vehicle without pulling the hand brake, the 60th pin of the main control IC detects a high voltage, and sends an alarm signal to the alarm module for sound and light alarm to remind the driver.

[0067] The throttle control module comprises MOS tubes Q13 and Q16, triodes Q14 and Q18, resistors R54, R55, R56, R58, R61, R64, R66 and a throttle actuator, one end of the resistor R61 is connected to the gate of Q16, one end of R66 is connected to R61 and Q16, the other end of R66 is connected to the drain of Q16, the source of Q16 is connected to the throttle actuator; one end of R55 is connected to the base of Q14, one end of R58 is connected to R55 and Q14, the other end of R58 is connected to the emitter of Q14, the collector of Q14 is connected to the gate of Q13 through R54, one end of R56 is connected to R54 and Q13, the other end of R56 is connected to the drain of Q13, the source of Q13 is connected to the throttle actuator; one end of the resistor R64 is connected to the base of Q18, one end of R67 is connected to R64 and Q18, the other end of R67 is connected to the emitter of Q18, the collector of Q18 is connected to R61 and R55; when the master IC detects an overspeed signal and pedestrians approach the forklift, the 77th pin of the master IC outputs high level to R64, and the throttle actuator controls the forklift to enter the idle state.

[0068] The ignition control module comprises triode Q17, resistors R63 and R65, diode D10 and a relay, the resistor R63 is connected to the base of Q17, one end of R65 is connected to Q17 and R63, the other end of R65 is connected to the emitter of Q17, the collector of Q17 is connected to the relay through D10; when the master IC detects an ignition signal, the 93th pin of the master IC outputs high level to R63, and the collector of Q17 controls the relay to connect the ignition line.

[0069] The display module comprises a display chip U3 and a large LED screen, the display chip U3 and the large LED screen are connected, when the master IC detects a speed signal, the 46th, 47th and 48th pins of the master IC output signals to U3, and U3 controls the large screen LED to display the driving speed of the forklift in real time.

[0070] The voltage reduction power supply unit supplies power to the forklift pedestrian distance acquisition unit and the control unit, and includes a voltage reduction circuit, a main control IC power supply circuit, a GPS power supply circuit, a BT1 battery charging and discharging circuit, a power supply detection circuit and an ACC voltage detection circuit. The voltage reduction circuit includes a 100V voltage reduction chip U6, a switching voltage regulator chip U5, a low dropout voltage regulator chip U4, diodes D7 and D5, an inductor L4, capacitors C23, C16, C15, CC1, C17, C18, resistors R16, R19 and R17, and R14. The input end of the U6 is connected to the input end of the U5. The output end of the U5 is connected to the negative electrode of the diode D7, and then connected to the C23. The C23 and the C16 are connected in parallel, and then connected to the feedback pin of the U5 through the R16 and the R19. The positive electrode of the diode D5 is connected to the C23 and the C16 in parallel. The negative electrode of the diode D5 is connected to the input end of the U4 through one end of the C15. The output end of the U4 is connected to the CC1. One end of the C17 and the C18 connected in parallel is connected to the U4 through the resistor R14. The other end of the C17 and the C18 connected in parallel is connected to the CC1 and the U4 through one end of the resistor R17. The other end of the resistor R17 is connected to the resistor R14 and the U4. The high-voltage input voltage reduction circuit composed of the U6 and peripheral components can input a voltage of 15-100V. The output is 12V8 / 5A. The voltage reduction circuit composed of the U5, the D7, the L4, the C23, the C16, the R16 and the R19 reduces the 12V8 voltage to 11V. The voltage reduction circuit composed of the U4, the D5, the C15, the CC1, the C17, the C18, the R17 and the R14 reduces the 11V voltage to 3.8V. The U4 outputs a 3.8V power supply.

[0071] The main control IC power supply circuit includes a voltage reduction chip U7 and a capacitor C29. The voltage reduction chip U7 is connected to the capacitor C29, and the capacitor C29 is connected to the U4. The voltage reduction chip U7 reduces the 3.8V power supply to a 3.3V power supply to supply power to the main control IC.

[0072] The GPS power supply circuit includes a voltage reduction chip U8, a resistor R36 and a capacitor C37. The voltage reduction chip U8 is connected to the U4 through the resistor R36 and the capacitor C37. The voltage reduction chip U8 reduces the 3.8V power supply to a 3.3V power supply to supply power to the GPS.

[0073] The BT1 battery charging includes a voltage reduction type DCDC conversion chip U9, an inductor L5, resistors R24, R30 and R33, and capacitors C33 and C32. The capacitors C33 and C32 connected in parallel are connected to the U9 through the R30. One end of the resistor R33 is connected to the R30 and the U9. The resistor R24 is connected to the U9. One end of the inductor L5 is connected to the resistor R24 and the U9. One end of the inductor L5 is connected to the U9. The U9, the inductor L5, the resistor R24, the R30, the R33 and the capacitors C33 and C32 constitute a constant current charging circuit to charge the BT1 battery.

[0074] The discharging circuit comprises MOS Q1, triode Q3, resistors R18, R20, R22, R13, R15, one end of the resistor R22 is connected with resistor R24, the other end of the resistor R22 is connected with the base of triode Q3 through resistor R18, one end of resistor R20 is connected between resistor R22 and R18, the other end of resistor R20 is connected with the emitter of Q3, the collector of Q3 is connected with the gate of MOS Q1 through resistors R13, R15; when the battery voltage is lower than 10.5V, the discharging circuit stops power supply;

[0075] The power supply detection circuit comprises resistors R29, R31, diode D8, capacitors C31, C34, the parallel connection of R29, R31, D8, C31, C34 is connected between U6 and U5; the power supply detection circuit detects the power supply voltage;

[0076] The ACC voltage detection circuit comprises triode Q5, diode D9, resistors R28, R32, R34, capacitor C28, R32 is connected with the base of triode Q5, the parallel connection of C28 and R28 is connected between R32 and Q5, the parallel connection of R34 and D9 is connected with the emitter of triode Q5; the ACC voltage detection circuit detects the ACC voltage.

[0077] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A forklift IA intelligent anti-collision control system, characterized in that, The forklift and the surrounding pedestrian acquisition unit are used for acquiring the pedestrian data around the forklift and sending the pedestrian signal around the forklift to the control unit. The control unit is used for alarming and controlling the forklift after acquiring the pedestrian signal around the forklift. The control unit comprises: The main control IC is used for sending the forklift signal and the brake signal after acquiring the pedestrian signal around the forklift. The alarm module is used for sound and light alarm after acquiring the pedestrian signal around the forklift. The brake control module is used for controlling the forklift brake after acquiring the brake signal. The model of the main control IC is AT32F403A. The alarm module comprises:

2. The intelligent anti-collision control system based on a forklift truck IA according to claim 1, characterized in that: The audio power amplifier circuit is used for reminding the horn, and the audio power amplifier circuit comprises a voice chip U2, a power amplifier chip U1 and a horn.

3. The intelligent anti-collision control system based on a forklift truck IA according to claim 1, characterized in that: The alarm lamp circuit is used for reminding the light, and the alarm lamp circuit comprises a triode Q11, a MOS tube Q10, resistors R48, R50, R51, R57, R58, R59 and R60, an LED lamp group and an alarm lamp. The brake control module comprises a brake control module motor, a triode Q8 and resistors R41 and R42. The forklift and the surrounding pedestrian acquisition unit comprises:

4. The intelligent anti-collision control system based on a forklift truck IA according to claim 1, characterized in that: The BSD monitoring camera module is used for monitoring the pedestrian image data around the forklift and uploading.

5. The intelligent anti-collision control system based on a forklift truck IA according to claim 1, characterized in that: The 4G / WiFi module is used for connecting the user end and the algorithm main control module. The algorithm main control module is used for sending the pedestrian signal around the forklift after processing the pedestrian image data around the forklift. The forklift and the surrounding pedestrian acquisition unit further comprises: The DMS monitoring camera module is used for detecting the driving behavior and the face information of the driver and uploading to the algorithm main control module for judgment, and then uploading the driver fatigue driving behavior and the face recognition signal to the main control IC.

6. The intelligent anti-collision control system based on a forklift truck IA according to claim 1, characterized in that: The main control IC sends the alarm signal to the alarm module for sound and light alarm after acquiring the driver fatigue driving behavior, and the main control IC uploads the fire signal after acquiring the face recognition signal. The forklift and the surrounding pedestrian acquisition unit, the control unit are powered by the voltage reduction power supply unit, and the voltage reduction power supply unit comprises:

7. The intelligent anti-collision control system based on a forklift truck IA according to claim 1, characterized in that: ​ The step-down circuit for step-down processing of power supply voltage comprises 100V step-down chip U6, switching voltage regulator chip U5, low dropout voltage regulator chip U4, diode D7, D5, inductor L4, capacitor C23, C16, C15, CC1, C17, C18, resistor R16, R19, R17, R14, the input end of the U6 is connected with the U5, the output end of the U5 is connected with the L4 through the negative electrode of the diode D7 and then connected with the C23, the C23 is connected with the C16 in parallel and then connected with the U5 through the R16 and R19, the positive electrode of the diode D5 is connected with the C23 and C16 in parallel, the negative electrode of the diode D5 is connected with the input end of the U4 through one end of the C15, the output end of the U4 is connected with the CC1, one end of the C17 and C18 connected in parallel is connected with the U4 through the resistor R14, the other end of the C17 and C18 connected in parallel is connected with the CC1 and U4 through one end of the resistor R17, the other end of the resistor R17 is connected with the U4 between the resistor R14, the U4 outputs 3.8V power supply; The main control IC power supply circuit comprises step-down chip U7 and capacitor C29, the step-down chip U7 is connected with the capacitor C29, the capacitor C29 is connected with the U4, the step-down chip U7 reduces the 3.8V power supply to 3.3V power supply to supply power for the main control IC; The GPS power supply circuit comprises step-down chip U8, resistor R36 and capacitor C37, the step-down chip U8 is connected with the U4 through the resistor R36 and capacitor C37 respectively, the step-down chip U8 reduces the 3.8V power supply to 3.3V power supply to supply power for the GPS; The BT1 battery charging comprises step-down DCDC conversion chip U9, inductor L5, resistor R24, R30, R33, capacitor C33 and C32, the capacitor C33 and C32 connected in parallel are connected with the U9 through the R30, one end of the resistor R33 is connected with the R30 and U9, the resistor R24 is connected with the U9, one end of the inductor L5 is connected with the resistor R24 and U9, one end of the inductor L5 is connected with the U9, the U9 and the inductor L5, resistor R24, R30, R33, capacitor C33 and C32 constitute a constant current charging circuit to charge the BT1 battery; The discharge circuit comprises MOS tube Q1, triode Q3, resistor R18, R20, R22, R13 and R15, one end of the resistor R22 is connected with the resistor R24, the other end of the resistor R22 is connected with the base of the triode Q3 through the R18, one end of the R20 is connected with the R22 and R18, the other end of the R20 is connected with the emitter of the Q3, the collector of the Q3 is connected with the gate of the MOS tube Q1 through the resistor R13 and R15; when the battery voltage is lower than 10.5V, the discharge circuit stops power supply; The power supply detection circuit comprises resistors R29, R31, a diode D8, capacitors C31, C34, and is connected in parallel between U6 and U5; the power supply detection circuit detects the power supply voltage; The ACC voltage detection circuit comprises a transistor Q5, a diode D9, resistors R28, R32, R34, and a capacitor C28, R32 is connected to the base of the transistor Q5, C28 and R28 are connected in parallel and then connected between R32 and Q5, R34 and D9 are connected in parallel and then connected to the emitter of the transistor Q5; the ACC voltage detection circuit detects the ACC voltage.

8. The intelligent anti-collision control system based on a forklift truck IA according to claim 2, characterized in that: The control unit further comprises: The GPS positioning module is used for acquiring the positioning information of the forklift and uploading the positioning information to the main control IC for processing, and comprises a Beidou / GPS antenna, a Beidou / GPS chip TR1, resistors R44, R46, capacitors C36, C39 and CC2, the resistors R44 and R46 are connected with the TR1 respectively, one end of the TR1 is connected with C36 and CC2 in parallel through the Beidou / GPS antenna, and one end of C39 is connected with the TR1 through the Beidou / GPS antenna; The speed pulse detection module is used for acquiring the driving speed of the forklift and uploading the driving speed to the main control IC for processing and uploading the overspeed signal, and comprises a speed pulse receiving chip, MOS tubes Q12 and Q15, resistors R52, R53, R49, R59, R60 and R62, and capacitors C41, C42 and C43, the speed pulse receiving chip is connected to the gate of Q15 through R60, one end of R62 is connected between R60 and Q15, the other end of R62 is connected to the drain of Q15, and the source of Q15 is connected to R59 and C42 in parallel; one end of R52 is connected between R60 and the speed pulse receiving chip, one end of C43 is connected between R52 and R60, the other end of R52 is connected to the gate of Q12, one end of R53 is connected between R52 and Q12, and the other end of R53 is connected to the drain of Q12, and the source of Q12 is connected to R49 and C41 in parallel; The reverse detection module is used for receiving the reverse signal and uploading the reverse signal to the main control IC for processing and then uploading the reverse image, and comprises transistors Q6, R35, R38, R39 and C38, R35, C38 and R39 are connected in parallel and then connected to the base of Q6 through one end of R38; The safety belt detection module is used for detecting whether the safety belt is buckled or not, uploading the plug-in and plug-out signal of the safety belt buckle to the main control IC for processing, and then sending the alarm signal to the alarm module for sound and light alarm, and comprises a safety belt detection chip J1, a transistor Q9, resistors R45 and R47, and a capacitor C40, one end of R45 is connected to J1, the other end of R45 is connected to the base of Q9 through C40 and one end of R47 in sequence, and one end of R47 is connected to the emitter of Q9. The hand brake detection module is used for detecting whether the hand brake is pulled after the engine is turned off, and transmitting the hand brake signal to the main control IC for processing and sending an alarm signal to the alarm module for sound and light alarm. The hand brake detection module comprises a MOS tube Q7, resistors R37, R40 and R43, and a capacitor C35. The resistor R40 is connected to the gate of the MOS tube Q7, one end of the resistor R43 is connected between the resistor R40 and the MOS tube Q7, the other end of the resistor R43 is connected to the drain of the MOS tube Q7, and the source of the MOS tube Q7 is connected to the capacitor C35 and the resistor R37 in parallel. The throttle control module is used for controlling the forklift to enter an idle state after the overspeed signal and the pedestrian approaching the forklift signal uploaded by the main control IC are obtained. The throttle control module comprises MOS tubes Q13 and Q16, triodes Q14 and Q18, resistors R54, R55, R56, R58, R61, R64 and R66, and a throttle actuator. One end of the resistor R61 is connected to the gate of the MOS tube Q16, one end of the resistor R66 is connected between the resistor R61 and the MOS tube Q16, the other end of the resistor R66 is connected to the drain of the MOS tube Q16, the source of the MOS tube Q16 is connected to the throttle actuator, one end of the resistor R55 is connected to the base of the triode Q14, one end of the resistor R58 is connected between the resistor R55 and the triode Q14, the other end of the resistor R58 is connected to the emitter of the triode Q14, the collector of the triode Q14 is connected to the gate of the MOS tube Q13 through the resistor R54, one end of the resistor R56 is connected between the resistor R54 and the MOS tube Q13, the other end of the resistor R56 is connected to the drain of the MOS tube Q13, and the source of the MOS tube Q13 is connected to the throttle actuator. One end of the resistor R64 is connected to the base of the triode Q18, one end of the resistor R67 is connected between the resistor R64 and the triode Q18, the other end of the resistor R67 is connected to the emitter of the triode Q18, and the collector of the triode Q18 is connected between the resistor R61 and the resistor R55. The ignition control module is used for connecting the ignition line after uploading the ignition signal to the main control IC. The ignition control module comprises a triode Q17, resistors R63 and R65, a diode D10 and a relay. The resistor R63 is connected to the base of the triode Q17, one end of the resistor R65 is connected between the triode Q17 and the resistor R63, the other end of the resistor R65 is connected to the emitter of the triode Q17, and the collector of the triode Q17 is connected to the relay through the diode D10. The display module is used for displaying the driving speed of the forklift uploaded by the main control IC. The display module comprises a display chip U3 and an LED large screen. The display chip U3 and the LED large screen are connected.

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