A forklift braking distance and speed detection device

Abstract

This utility model relates to the field of intelligent control technology for industrial vehicles, and in particular to a forklift braking distance and speed detection device, comprising: a laser emitter for emitting a laser beam; an inertial measurement unit for generating a braking initiation signal; a reflective target for receiving the laser beam and forming a pre-trigger signal; a triggering device mounted on the top of the forklift; an automatic braking distance calculation module electrically connected to the triggering device; and a display module electrically connected to the automatic braking distance calculation module. This utility model employs the aforementioned multi-sensor fusion scheme, combined with a path integral algorithm to calculate the actual braking distance, and plots speed-time and distance-time curves in real time. After testing, the data is automatically stored in a built-in SD card, and the operator only needs to read the data from the SD card or view the curves to obtain the detection results.

Description

Technical Field

[0001] This utility model relates to the field of intelligent control technology for industrial vehicles, and in particular to a forklift braking distance and speed detection device. Background Technology

[0002] Currently, most domestic enterprises still rely on traditional testing methods, which are insufficient to meet the accuracy and data integrity requirements of domestic and international standards for braking performance testing. This results in some forklifts passing "form-of-life testing" but still posing safety hazards in actual operation. This situation highlights the urgent need to upgrade forklift braking performance testing technology. Traditional forklift braking performance testing mainly relies on manual measurement (such as measuring distance with a tape measure and timing with a stopwatch), which suffers from large errors and low efficiency. Although simple electronic timers have been introduced in some scenarios, they still do not deviate from the core logic of "manually judging the start / stop time of braking," and there is currently no better testing device.

[0003] Chinese patent CN119643166A discloses a forklift braking performance testing system and method based on laser ranging, including a reflector, a testing device, and a pedal force meter. The testing device includes a laser displacement sensor and a timing processor. The pedal force meter transmits the braking signal generated by pressing the brake pedal to the timing processor via wire to record and mark the start time of forklift braking. The timing processor collects high-frequency laser emission and reception signals from the laser displacement sensor in real time to continuously measure the distance between the forklift and the reflector. Combined with the start time of forklift braking transmitted from the pedal force meter and the test set speed at which the forklift reaches the brake pedal, the braking distance, braking time, and braking deceleration of the forklift are calculated.

[0004] However, this technical solution lacks an IMU or UWB module, making it unable to record forklift braking process data; the single mechanical trigger signal transmission relying on stepping on the brake pedal is not accurate enough; the installation of the reflector requires specific height and verticality requirements, making the installation process cumbersome; and the display screen can only show the detection results, not draw curves to help operators analyze and judge the forklift braking process. Utility Model Content

[0005] To address the aforementioned issues, this invention provides a forklift braking distance and speed detection device. It employs a multi-sensor fusion scheme using a laser emitter, a reflective target, an IMU (Inertial Measurement Unit), and a triggering device, combined with a provided path integration algorithm to calculate the actual braking distance. The display module plots speed-time and distance-time curves in real time. After testing, the data is automatically stored in a built-in SD card. Operators only need to read the SD card data or view the curves to obtain the detection results.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A forklift braking distance and speed detection device, comprising: A laser emitter, fixed to the head of a forklift, is used to emit a laser beam toward a ground testing area. An inertial measurement unit, which is disposed on the side of the forklift, is used to generate a braking start signal; A reflective target, positioned in the ground testing area, is equipped with a built-in photoelectric sensor to receive the laser beam emitted by the laser emitter and generate a pre-trigger signal. A triggering device, mounted on the top of the forklift, is used to collect the two-dimensional coordinate sequence and corresponding time data of the forklift from braking initiation to complete stop in real time. An automatic braking distance calculation module, electrically connected to the triggering device, receives the coordinate sequence and time data transmitted by the triggering device and calculates the forklift braking distance. A display module, electrically connected to the automatic braking distance calculation module, is used to draw and display the speed-time curve and distance-time curve during the forklift braking process in real time.

[0007] As an improvement, the inertial measurement unit is mounted on the side of the forklift using an adsorption method.

[0008] As an improvement, the reflective target adopts a ground-placed design, eliminating the need for height and level calibration.

[0009] As an improvement, the triggering device adopts a dual triggering mechanism: the photoelectric sensor in the reflective target receives the laser to form a pre-trigger signal and the inertial measurement unit detects the deceleration of the forklift to generate a braking start signal, which together trigger the triggering device.

[0010] As an improvement, when the inertial measurement unit detects that the forklift deceleration is not less than 0.3g, it generates a braking start signal.

[0011] As an improvement, the display module has a built-in SD card that automatically stores forklift position and time data streams.

[0012] As an improvement, the speed-time curve drawn by the display module is generated by matching the instantaneous speed calculated by the automatic braking distance calculation module based on the distance between adjacent positions and the corresponding time difference with its corresponding time point; the distance-time curve is generated by matching the cumulative distance accumulated by the automatic braking distance calculation module with its corresponding time point.

[0013] The beneficial effects of this utility model are as follows: (1) This utility model adopts a multi-sensor fusion scheme of laser emitter, reflective target, IMU inertial measurement unit and triggering device, and calculates the actual braking distance by combining the provided path integration algorithm. The obtained data is displayed on the display module, and the data is automatically stored in the built-in SD card after the test is completed.

[0014] (2) In this utility model, multiple sensors collect data synchronously. The triggering device adopts UWB ultra-wideband positioning module and dual triggering mechanism to start receiving the collected data signal, so that the detected data has high accuracy and reliability. In addition, the path integration algorithm can reduce the accumulation of single-point error and reduce the braking distance measurement error.

[0015] (3) The display module in this utility model can draw speed-time and distance-time curves in real time, record forklift braking process data, and can be extended to forklift driving speed stability analysis.

[0016] (4) After the test is completed, the data is automatically stored to the built-in SD card. The operator only needs to read the data on the SD card or view the curve to obtain the test results, which greatly reduces the dependence on the experience of the personnel. Attached Figure Description

[0017] Figure 1 This is a system architecture diagram of the present invention; Figure 2 This is a timing diagram for measuring the braking distance of this utility model; Figure 3 This is a diagram of the testing process of this utility model (the processor in the diagram is the automatic braking distance calculation module). Explanation of reference numerals in the attached figures: 1. Laser emitter; 2. Inertial measurement unit; 3. Reflecting target; 4. Triggering device; 5. Automatic braking distance calculation module; 6. Display module; 61. SD card; Detailed Implementation The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0019] Example 1 like Figure 1-2 As shown, this utility model provides a forklift braking distance and speed detection device, including: a laser emitter 1, an inertial measurement unit 2, a reflective target 3, a triggering device 4, an automatic braking distance calculation module 5, and a display module 6.

[0020] The laser emitter 1 is fixed to the head of the forklift and is used to emit a laser beam to a reflective target in the ground test area to prepare for subsequent braking triggering. Its installation position must be adapted to the height of the reflective target to ensure that the beam can be accurately captured.

[0021] The reflective target 3 is set in the ground test area. The reflective target 3 has a built-in photoelectric sensor capture device to receive the laser beam emitted by the laser emitter 1. The built-in photoelectric sensor capture device converts the light signal into an electrical signal to form a pre-trigger signal, prompting the triggering device 4 to enter the data acquisition state. This provides a pre-linkage for the inertial measurement unit 2 (IMU) to trigger the braking start signal and avoids false triggering of the system. Preferably, the reflective target 3 adopts a ground-placed design, which does not require height and level calibration and is easy to install.

[0022] The inertial measurement unit 2 is located on the side of the forklift and is used to generate a braking start signal. Preferably, the inertial measurement unit 2 is installed on the side of the forklift using an adsorption method. The adsorption method uses a suction cup (or flexible adhesive) with an adjustable adsorption area, which can be adapted to different surfaces such as steel plates and aluminum alloys, and can adapt to slightly curved surfaces or protrusions (such as the edge of the side reinforcing ribs). It is compatible with a variety of different forklift models, which greatly improves the versatility of the equipment. It is best to also use a built-in bubble level or attitude calibration mark, so that the operator can quickly adjust the position of the IMU with the naked eye. It is worth noting that when the inertial measurement unit 2 detects that the deceleration of the forklift is not less than 0.3g, it automatically generates a braking start signal, accurately locking the braking start time and avoiding the delay error of manual judgment. The triggering device 4 is a UWB ultra-wideband positioning module, which is installed on the top of the forklift. It is used to collect the two-dimensional coordinate sequence and corresponding time data of the forklift in real time from the start of braking to the complete stop. The triggering device 4 utilizes the high-precision positioning characteristics (millimeter-level accuracy) of UWB technology to collect the two-dimensional coordinate sequence and corresponding time points of the forklift in real time during the braking process, providing core raw data for displacement and velocity calculation. Its sampling frequency needs to meet the requirements of capturing all key position points during the braking process to ensure that the coordinate sequence is continuous without any breaks.

[0023] Preferably, the triggering device 4 employs a dual-trigger mechanism: the photoelectric sensor in the reflective target 3 receives a laser to generate a pre-trigger signal, and the inertial measurement unit 2 detects the forklift's deceleration to generate a braking start signal, jointly triggering the triggering device 4. This prevents the system from erroneously starting before the forklift enters the test area and reduces trigger delay. The automatic braking distance calculation module 5 is electrically connected to the triggering device 4 and receives the coordinate sequence and time data transmitted by the triggering device 4. It then calculates the braking distance using a preset algorithm. It also has a signal linkage function, receiving the start signal from the inertial detection unit 2 and the pre-trigger signal from the reflective target 3. It then sends a signal to the triggering device 4 requesting positioning data, which the triggering device 4 returns millimeter-level coordinates and corresponding time, achieving multi-signal coordinated scheduling. The display module 6 is electrically connected to the automatic braking distance calculation module 5 and is used to draw and display the speed-time curve and distance-time curve during the forklift braking process in real time. Preferably, the display module 6 has a built-in SD card 61 that receives the data processed by the automatic braking distance calculation module 5 and automatically stores the forklift position and time data stream.

[0024] Preferably, the speed-time curve drawn by the display module 6 is generated by matching the instantaneous speed calculated by the automatic braking distance calculation module 5 based on the distance between adjacent positions and the corresponding time difference with its corresponding time point; the distance-time curve is generated by matching the cumulative distance accumulated by the automatic braking distance calculation module 5 with its corresponding time point.

[0025] Example 2 like Figure 2 As shown, components that are the same as or corresponding to those in Embodiment 1 are referred to using the same reference numerals as in Embodiment 1. For simplicity, only the differences from Embodiment 1 are described below. The difference between Embodiment 2 and Embodiment 1 is as follows: In this embodiment, the driver initiates braking of the forklift. The inertial measurement unit 2 detects the forklift deceleration in real time. When the detected deceleration is ≥0.3g, a braking start signal (t0) is generated and transmitted to the triggering device 4 (UWB ultra-wideband positioning module). After receiving the braking start signal (t0), the triggering device 4 records the coordinate sequence of n position points from (t0) to the stopping time (t1) and the corresponding time of the coordinate sequence, and sends the data to the automatic braking distance calculation module 5. The automatic braking distance calculation module 5 calculates the straight-line distance between two adjacent position points sequentially using a path integral algorithm, and then accumulates the straight-line distances of all adjacent position points to obtain the actual braking distance of the forklift. More specifically, the braking distance calculation formula is:

[0026] Where S is the total braking distance (meters), n is the total number of position points collected from the start (t0) to the end (t1) of braking, i is the index of the sampling point (from 0 to n-1), and X i Y i Let X and Y be the two-dimensional coordinates (in meters) of the i-th sampling point, respectively. (i+1) Y (i+1) These are the two-dimensional coordinates (in meters) of the (i+1)th sampling point on the X-axis and Y-axis, respectively.

[0027] Work process A forklift braking distance and speed detection device includes the following steps: Step 1: The laser emitter 1, inertial measurement unit 2 (IMU), and triggering device 4 (UWB ultra-wideband positioning module) are respectively installed at the corresponding positions on the forklift. The reflective target 3 is fixed at the preset position in the ground test area, and the automatic braking distance calculation module 5 is effectively connected to the triggering device 4 and the display module 6 respectively. Step 2: Control the forklift to accelerate to the maximum speed and maintain a constant speed to travel towards the test area where the reflective target 3 is located. The laser emitter 1 at the head of the forklift emits a laser beam towards the reflective target 3. The photoelectric sensor built into the reflective target 2 receives the laser beam and forms a pre-trigger signal. Step 3: The driver operates the forklift to start braking. The inertial measurement unit 2 (IMU) detects the deceleration of the forklift in real time. When the detected deceleration is ≥0.3g, a braking start signal (t0) is generated and transmitted to the triggering device 4. Step 4: After receiving the braking start signal, the trigger device 4 collects the two-dimensional coordinate data and corresponding time data of the forklift in real time until the forklift comes to a complete stop and records the stopping time (t1). Then, the collected coordinate sequence and time data from t0 to t1 are transmitted to the automatic braking distance calculation module 5. Step 5: The automatic braking distance calculation module 5 processes the received coordinate sequence and time data based on the path integral algorithm to calculate the forklift braking distance, and simultaneously transmits the displacement, speed and time data to the display module 6; Step 6: After receiving the data, the display module 6 draws the speed-time curve and distance-time curve in real time, and automatically stores the position data, time data, displacement data and speed data through the built-in SD card 61.

[0028] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A forklift braking distance and speed detection device, characterized in that, include: A laser emitter, fixed to the head of a forklift, is used to emit a laser beam toward a ground testing area; An inertial measurement unit, which is disposed on the side of the forklift, is used to generate a braking start signal; The system includes: a reflective target, positioned on the ground test area, equipped with a built-in photoelectric sensor to receive the laser beam emitted by the laser emitter and generate a pre-trigger signal; a triggering device, a UWB ultra-wideband positioning module mounted on the top of the forklift, for real-time acquisition of the forklift's two-dimensional coordinate sequence and corresponding time data from braking initiation to complete stop; an automatic braking distance calculation module electrically connected to the triggering device, for receiving the coordinate sequence and time data transmitted by the triggering device and calculating the forklift's braking distance; and a display module electrically connected to the automatic braking distance calculation module, for real-time plotting and display of the speed-time curve and distance-time curve during the forklift braking process.

2. The forklift braking distance and speed detection device according to claim 1, characterized in that, The inertial measurement unit is mounted on the side of the forklift using an adsorption method.

3. The forklift braking distance and speed detection device according to claim 1, characterized in that, The reflective target is designed for ground placement and requires no height or level calibration.

4. The forklift braking distance and speed detection device according to claim 1, characterized in that, The triggering device employs a dual-trigger mechanism: the photoelectric sensor in the reflective target receives a laser to generate a pre-trigger signal, and the inertial measurement unit detects the forklift's deceleration to generate a braking start signal, which together trigger the triggering device.

5. The forklift braking distance and speed detection device according to claim 4, characterized in that, When the inertial measurement unit detects that the forklift deceleration is not less than 0.3g, it generates a braking start signal.

6. The forklift braking distance and speed detection device according to claim 1, characterized in that, The display module has a built-in SD card that automatically stores forklift position and time data streams.

7. The forklift braking distance and speed detection device according to claim 1, characterized in that, The speed-time curve drawn by the display module is generated by matching the instantaneous speed calculated by the automatic braking distance calculation module based on the distance between adjacent positions and the corresponding time difference with its corresponding time point; the distance-time curve is generated by matching the cumulative distance accumulated by the automatic braking distance calculation module with its corresponding time point.

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