Safety braking device for heavy equipment

Abstract

The present invention is designed to prevent safety accidents that may occur due to collisions with obstacles, as well as safety accidents that may be caused by the falling of heavy objects being handled, by stopping heavy equipment through braking operation along with engine stoppage when an obstacle is detected during driving and turning; The invention is characterized by including a detection camera mounted on the forklift to detect obstacles, a display installed to visually display detection information from the detection camera, a warning lamp installed on the frame to visually indicate a dangerous state, a controller for determining an obstacle detected by the detection camera, displaying it on the display, activating the warning lamp, and stopping the engine when it is determined to be an obstacle, a forward driving sensor, a rear driving sensor, and a steering sensor that are authorized by the controller to operate only the detection camera located in the direction the forklift is moving to prevent the risk of error and confusion, and an auxiliary braking means that secures braking force by operating a brake pedal by the controller to prevent the forklift from driving by inertia and colliding with an obstacle when an obstacle is detected and the engine is stopped.

Description

Technology Field

[0001] The present invention relates to a safety braking device for heavy equipment, and more specifically, to the provision of an improved safety braking device for heavy equipment that is applied to heavy equipment equipped with an internal combustion engine and operates by performing braking upon stopping upon obstacle detection, thereby preventing accidents caused by collisions and rear-end collisions. Background Technology

[0002] Various types of heavy equipment, such as forklifts and excavators, have been developed and are currently being used in various fields. Furthermore, technological advancements have been made to eliminate the risk of safety accidents caused by collisions by ensuring that the equipment stops when an obstacle (such as a person, vehicle, or object) is detected during the process of performing work.

[0003] Numerous patents regarding safety devices for heavy equipment as described above have been proposed and filed in the past, and they are currently being applied in actual field operations. Representative examples of such prior art can be examined through patent literature, and their technical details are as follows.

[0004] Patent Document 1 describes a body coupled to the rear of heavy equipment by magnetic force;

[0005] It includes: a sensing rod that is rotatably coupled to each rear side of the body and detects an obstacle through a sensing unit installed at one end; and a notification unit that is positioned in the driver's seat of the heavy equipment and connected to the sensing rod to receive a detection signal when an obstacle is detected from the sensing rod and notify the driver.

[0006] An LED light-emitting member is angle-adjustably coupled to the rear center of the body, a rotation axis is formed on one side of the LED light-emitting member, and a polygonal column-shaped shaft is formed on the other side, a first support member is formed on one side of the body to allow the rotation axis to rotate, and a second support member is formed on the other side to which the shaft is coupled.

[0007] The second support member has a through hole formed at a position facing the shaft, a guide groove formed on one side of the inner surface of the through hole, and a spring provided on the other side of the guide groove. An angle adjustment member is movably coupled to the through hole, with one side having a fixing groove having the same polygonal shape as the shaft and the other side protruding outward, and a locking projection is formed on one side of the outer surface of the angle adjustment member, positioned on one side of the spring and guided along the guide groove.

[0008] Patent Document 2 relates to a forklift driving control system using an object detection sensor, wherein

[0009] A forklift equipped with a driver's seat and operated by the operation of a worker seated in the driver's seat; and including an object detection sensor,

[0010] A drive unit provided inside the forklift to enable the forklift to move;

[0011] It includes a user operation unit that receives user input for operating the above-mentioned drive unit; and a control unit that controls the operation of the above-mentioned drive unit based on a numerical value received through the object detection sensor.

[0012] When the control unit receives first detection data indicating that an object is detected within a preset first distance from the object detection sensor, the drive unit, which causes the forklift to move at a first speed, controls the forklift to move at a second speed lower than the first speed.

[0013] When receiving second detection data in which an object is detected within a second distance set closer than the first distance from the object detection sensor, the drive unit that moves the forklift at a second speed controls the forklift to move at a third speed lower than the second speed.

[0014] When the control unit receives a first user input of pressing a first switch provided in the user operation unit, the control unit controls the drive unit, which causes the forklift to move at either a second speed or a third speed, to move the forklift at the first speed.

[0015] When a second user input is received by pressing a second switch provided in the user operation unit, the control unit controls the drive unit, which moves the forklift to either the second speed or the third speed, to stop the forklift, and when the control unit controls the speed to decrease the speed of the forklift, the control unit controls the speed based on the following [Equation 1].

[0016] [Mathematical Formula 1]

[0017]

[0018] In the above [Mathematical Formula 1], V represents the current speed (km / hour) of the forklift adjusted according to distance, Vmax represents the maximum allowable speed considering safety according to the working conditions of the work site, d represents the preset distance (m) between the object detected by the object detection sensor and the forklift, ds represents the minimum allowable distance (m) between the object and the forklift, and k represents the speed control constant, wherein k is determined according to the operator's proficiency, and is set so that the value of k decreases as the operator's proficiency increases, and the value of k increases as the operator's proficiency decreases.

[0019] The above control unit determines the speed control constant by the following [Equation 2], which causes the speed control constant value to gradually and continuously increase based on the continuous characteristics of a logarithmic function as driving experience increases.

[0020] [Mathematical Formula 2]

[0021]

[0022] In the above [Equation 2], Kmin represents the minimum speed control constant set for beginners, Kmax represents the maximum speed control constant set for skilled workers, and a represents the operator's driving experience (years) of the forklift. Prior art literature

[0023] Utility Model Registration No. 20 - 0493833 - 0000 Patent Registration No. 10 - 2623421 - 0000

[0024] doesn't exist. The problem to be solved

[0025] Among the prior art described above, Patent Document 1 provides a sensing rod having a sensing means at the rear of heavy equipment to notify when an obstacle is detected, and Patent Document 2 relates to providing a driving control system that controls the speed of a forklift based on the distance to an object measured through an object detection sensor.

[0026] In the case of Patent Document 1, the risk of safety accidents can be eliminated for heavy equipment operators through obstacle detection, but it is difficult to guarantee complete safety by merely giving a danger signal, and the risk of safety accidents is not reduced because there are frequent cases where the operator does not recognize the notification when concentrating on the work.

[0027] In the case of Patent Document 2, various sensors such as lidar sensors, ultrasonic sensors, and proximity sensors are placed at the front and rear of the forklift, so that as soon as an obstacle is detected, the driving speed of the forklift is automatically changed to a low speed or stopped to ensure safety.

[0028] While such a stopping mechanism can be fully realized in electric forklifts that employ a method of stopping by electrically cutting off power and sending current in reverse to the drive motor, this method is not currently applicable to heavy equipment using diesel engines, as internal combustion engines require particularly large amounts of power.

[0029] In the case of heavy equipment equipped with internal combustion engines, the controller is designed to stop the engine upon detecting an obstacle; however, since the equipment continues to move due to momentum rather than stopping immediately after the engine is stopped, safety accidents involving collisions with obstacles will occur if the operator discovers an obstacle and fails to apply the brakes.

[0030] When momentum driving is performed while the engine of heavy equipment is stopped, if there is a distance between the heavy equipment and the obstacle and the momentum driving speed is low, it will be possible to avoid collision with the obstacle, but if the distance is short, collision cannot be prevented.

[0031] In addition, there are cases where the system is designed to stop simultaneously with the engine cutoff to prevent safety accidents caused by coasting; however, due to the nature of heavy equipment handling heavy objects, this sudden braking can cause the heavy objects to fall, which in turn becomes a cause of other safety accidents.

[0032] The current situation is not free from various problems, such as the inability to sufficiently guarantee safety, as there are instances where obstacles located in front and behind are detected simultaneously regardless of the driving direction, or obstacles occurring during the turning process are not detected. means of solving the problem

[0033] Accordingly, the present invention is designed to solve the above-mentioned problems and comprises a forklift (101) having a frame (106) having front wheels (102) and rear wheels (103), a driver's seat (104) in a central position, and an engine (105) mounted at the rear, and a fork (107) mounted at the front of the frame (106) to raise and lower heavy objects and to tilt;

[0034] AI-type detection cameras (110, 111, 112, 113) mounted on the front left and front right and rear left and rear right sides of the above frame (106) to detect obstacles;

[0035] A display (115) installed in the driver's seat (104) to visually display detection information from the above detection cameras (110, 111, 112, 113);

[0036] On the left, right, and rear of the above frame (106), there are warning lamps (116, 117, 118) that display red and blue lines or flash red and blue lines to visually indicate a dangerous condition;

[0037] A controller (120) for determining an obstacle detected by the detection cameras (110, 111, 112, 113), displaying it on a display (115), activating warning lamps (116, 117, 118), and stopping the engine (105) when it is determined to be an obstacle;

[0038] A connector (121) connecting the above detection cameras (110, 111, 112, 113), the display (115), and the controller (120);

[0039] A front driving sensor (121), a rear driving sensor (122), and a steering sensor (123) that are applied to a controller (120) so that only the detection cameras (110, 111, 112, 113) located in the direction in which the forklift (101) is moving operate to prevent the risk of errors and confusion;

[0040] Includes an auxiliary braking means (125) that secures braking force by operating a brake pedal (124) via a controller (120) to prevent the forklift (101) from driving by inertia and colliding with an obstacle when an obstacle is detected and the engine (105) stops;

[0041] By stopping the heavy equipment through engine shutdown and braking upon the detection of an obstacle during driving or turning, it is possible to achieve the objective of preventing safety accidents caused by collisions with obstacles as well as those resulting from the falling of heavy objects being handled. Effects of the invention

[0042] The present invention has the effect of preventing safety accidents caused by collisions with obstacles by cutting off engine power upon detection of an obstacle or person in electrically operated heavy equipment, as well as in heavy equipment equipped with an internal combustion engine, and by operating the brake pedal using an electric cylinder to perform braking.

[0043] The present invention has various effects, such as enhancing safety assurance by detecting obstacles in the direction in which heavy equipment is traveling to eliminate concerns about confusion caused by detecting obstacles in the non-travel direction due to continuous detection, and by comprehensively determining the driving and steering status and speed of the heavy equipment as well as the distance to the detected obstacles to enable efficient braking. Brief explanation of the drawing

[0044] FIG. 1 is an exemplary diagram illustrating heavy equipment to which a safety braking device for heavy equipment, which is the technology of the present invention, is applied. FIG. 2 is an overall configuration diagram illustrating a safety braking device for heavy equipment to which the technology of the present invention is applied. FIG. 3 is a configuration diagram showing a brake pedal of a safety braking device for heavy equipment to which the technology of the present invention is applied. FIG. 4 is a configuration diagram illustrating the operating state of a brake pedal of a safety braking device for heavy equipment to which the technology of the present invention is applied. FIG. 5 is a configuration diagram illustrating the state of operation of the brake pedal of a safety braking device for heavy equipment to which the technology of the present invention is applied. FIG. 6 is an example photograph of the operating state of heavy equipment to which the safety braking device for heavy equipment, which is the technology of the present invention, is applied. Specific details for implementing the invention

[0045] The preferred configuration and operation of the present invention for achieving the above objective are described below in relation to the attached drawings.

[0046] FIG. 1 is an exemplary diagram illustrating heavy equipment to which the safety braking device for heavy equipment, which is the technology of the present invention, is applied; FIG. 2 is an overall configuration diagram illustrating the safety braking device for heavy equipment to which the technology of the present invention is applied; FIG. 3 is a configuration diagram illustrating a specific brake pedal of the safety braking device for heavy equipment to which the technology of the present invention is applied; FIG. 4 is a configuration diagram illustrating the operating state of the brake pedal of the safety braking device for heavy equipment to which the technology of the present invention is applied; FIG. 5 is a configuration diagram illustrating the state of the brake pedal of the safety braking device for heavy equipment to which the technology of the present invention is applied being operated by the foot; and FIG. 6 is an example photograph illustrating the operating state of heavy equipment to which the safety braking device for heavy equipment, which is the technology of the present invention, is applied.

[0047] The safety braking device (100) for heavy equipment of the present invention may be applied to various types of heavy equipment such as excavators and forklifts, but the present invention provides an example of application to a forklift (101) that mainly lifts and moves heavy objects and performs loading and unloading operations.

[0048] The above forklift (101) is equipped with a frame (106) having a front wheel (102) and a rear wheel (103), a driver's seat (104) in the center, and an engine (105) mounted at the rear, and a fork (107) for raising and lowering a heavy object is provided at the front of the frame (106) so that it can be raised and lowered in the up and down direction while tilting.

[0049] AI-type detection cameras (110, 111, 112, 113) for detecting obstacles are mounted on the front left and front right sides and the rear left and rear right sides of the frame (106), and a display (115) is installed in the driver's seat (104) to visually display the detection information of the detection cameras (110, 111, 112, 113).

[0050] The above-mentioned AI-type detection cameras (110, 111, 112, 113) perform the function of detecting safety-related matters, such as obstacles like people and objects, fire, collisions, falls, and situations where protective clothing is not worn, through the camera by an AI model that has verified or learned on-site images and videos. They are applied to industrial sites, high-altitude work sites, and heavy equipment, and have the function of having the AI ​​vision camera judge and report dangerous situations.

[0051] In addition to applying the above detection cameras (110, 111, 112, 113) as AI-type detection cameras, they may also be configured by equipping various sensors including LiDAR sensors, and may be implemented in various forms, such as by using a combination of detection cameras and sensors.

[0052] Warning lamps (116, 117, 118) are installed on the left, right, and rear of the above frame (106) to visually indicate a dangerous condition by displaying red and blue lines or flashing red and blue lines, so that when an obstacle is detected, it is displayed on the ground.

[0053] The above detection cameras (110, 111, 112, 113) detect an obstacle, display it on a display (115), activate a warning lamp (116, 117, 118), and include a controller (120) for stopping the engine (105) when an obstacle is detected.

[0054] It is natural that the above detection cameras (110, 111, 112, 113), the display (115), and the controller (120) are connected through a connector (121). It is also natural that the obstacles to be detected by the detection cameras (110, 111, 112, 113) are set and input as vehicles, heavy equipment, people, animals, or other objects that hinder driving through touch input on the display (115). The distance and direction to the obstacle are set in advance so that the detection information of the detection cameras (110, 111, 112, 113) can be quickly determined and transmitted to the controller (120), thereby enabling the operation of the warning lamps (116, 117, 118) and stopping the engine (105).

[0055] The above display (115) allows an operator to set the obstacle detection range, set the type of obstacle, set the shipment of heavy objects (products), set the braking force, set the volume, time, and guidance message of the warning lamps (116, 117, 118) through an operation button or touchscreen, or to select activation or deactivation.

[0056] In addition to displaying the detection of an obstacle visually via a warning light (116, 117, 118), it may be permissible to separately install an alarm so that the user or surroundings can audibly confirm and be notified.

[0057] In the case of the above detection cameras (110, 111, 112, 113), it is acceptable to have both the front and rear cameras operate simultaneously, but it is preferable to have only the detection cameras (110, 111, 112, 113) located in the direction in which the forklift (101) is moving operate so that when moving forward, the detection camera mounted at the front operates, and when moving backward, the detection camera mounted at the rear operates, thereby preventing the risk of errors and confusion.

[0058] To this end, the controller (120) receives information from the front driving sensor (121), the rear driving sensor (122), and the steering sensor (123) to receive information from the detection cameras (110, 111, 112, 113) located in the driving direction, and receives turning information in the left and right directions through the steering sensor (123) to simultaneously receive and verify obstacles located in the turning direction along with the front and rear.

[0059] When the engine (105) is stopped due to obstacle detection, the forklift (101) is driven by inertia to prevent collision with the obstacle and is stopped, thereby ensuring safety. It further includes an auxiliary braking means (125) for securing braking power by operating the brake pedal (124) by the controller (120).

[0060] The above auxiliary braking means (125) is configured such that an electric cylinder (130) is installed in the brake pedal (124) which is installed between the accelerator pedal and the inching pedal in the driver's seat (104), so that even if the driver does not operate the brake pedal (124), if an obstacle is detected and the engine (105) stops, the driver can press the brake pedal (124) through the controller (120) to perform braking operation.

[0061] The above electric cylinder (130) is installed in the middle of a brake lever (136) that has a push rod (135) connected to a master cylinder via a return spring (134) and has a pedal (133) at the bottom and is mounted by a hinge (132) in the operating space (131) of the driver's seat (104).

[0062] A cylinder bracket (137) is installed on the upper part of the above operating space (131) to connect one end of the cylinder body (140), and the rod (141) drawn out from the cylinder body (140) is connected to an adapter (142) provided on the brake rod (136) so that the rod (141) is extended to enable braking operation.

[0063] The above electric cylinder (130) is preferably configured so that the controller (120) receives the speed of the forklift (101), the weight information of the heavy object being handled, and the distance information between the frame (106) and the obstacle, and adjusts the braking force to prevent the heavy object from falling due to sudden stopping, thereby eliminating the risk of secondary safety accidents.

[0064] The usage state of the safety device (100) for heavy equipment to which the technology of the present invention as described above is applied is as follows.

[0065] When the forklift (101) is operated, the surrounding conditions of the forklift (101) are displayed on the display (115) through the detection cameras (110, 111, 112, 113) mounted on the front right and left and rear right and left sides of the frame (106).

[0066] Of course, since the operator has already set the range and type of obstacles to be detected by the detection cameras (110, 111, 112, 113) through the display (115), when the operator performs the work, obstacles that are dangerous factors are detected in the front and rear directions of the operating forklift (101).

[0067] The obstacle information detected in this way is transmitted to the controller (120), and when it is recognized as a risk factor, the engine (106) is stopped so that the engine (106) is stopped even if the operator is pressing the accelerator, and at the same time, the danger is indicated by flashing a blue line, a red line, or both blue and red lines through the warning lamps (116, 117, 118), and the danger state is also indicated through voice guidance, etc.

[0068] In addition, the controller (120) receives information from the front driving sensor (121), the rear driving sensor (122), and the steering sensor (123) to detect obstacles in front when the forklift (101) moves forward, and to detect obstacles in the rear when it moves backward. When the forklift is moving forward and backward and turning, the controller receives information from the steering sensor (123) to detect and apply obstacles in the direction of driving and the turning position, thereby further eliminating concerns about confusion that may be caused by duplicate detection.

[0069] In the case of the steering sensor (123), it is natural to set the steering angle in advance so that obstacles in the forward or rear driving direction are detected during fine turning, and when turning is made in a range of 10° or more to change the actual direction, obstacles in both the driving direction and the turning direction are detected.

[0070] When the controller (120) stops the engine of the forklift (101) upon detection of an obstacle, the controller (120) activates the auxiliary braking means (125) to apply braking, thereby preventing the forklift (101) from driving and colliding with the obstacle due to momentum.

[0071] In the case of the above auxiliary braking means (125), an electric cylinder (130) is installed on the brake lever (136) constituting the brake pedal (124), so that the controller (120) operates the electric cylinder (130), and even if the user does not step on the brake pedal (124), the rod (141) of the electric cylinder (130) moves to perform the action of pressing the brake pedal (124) through the adapter (142), thereby enabling braking.

[0072] When a signal is input to the electric cylinder (130) by the controller (120), the cylinder bracket (138) installed in the operating space (131) and the cylinder body (140) are connected, and the rod (141) of the cylinder body (140) is connected to the adapter (142) provided on the brake rod (136), so even if the electric cylinder (130) operates the brake rod (136) by extending or contracting, the force is transmitted normally by the hinge (138, 142).

[0073] In this way, braking operation is performed by transmitting power to the master cylinder through the push rod (135) connected to the brake pedal (124) that receives power from the electric cylinder (130), and when the forklift (101) is stopped and then operated to restart, the power applied to the electric cylinder (130) is removed and the brake pedal (124) returns to its original position by the restoring force of the restoring spring (134).

[0074] The above brake pedal (124) operates independently of the electric cylinder (130) when the user (worker) brakes, and when the user does not brake and is controlled by the controller (120), the operation of the electric cylinder (130) is operated through the adapter (142), thereby enabling independent operation.

[0075] As described above, the controller (120) receives information from the detection cameras (110, 111, 112, 113), the front driving sensor (121), the rear driving sensor (122), and the steering sensor (123). When an obstacle is detected, the engine (105) is stopped, and at the same time, the electric cylinder (130) is operated to operate the brake pedal (124) to perform braking. Additionally, the danger situation is visually recognized and warned through the warning lamps (116, 117, 118), thereby ensuring safety.

[0076] Although the present invention exemplifies the operation of the brake pedal by an electric cylinder, it is obvious that it can be replaced with a hydraulic cylinder operated by hydraulics used in the operation of heavy equipment, and if necessary, the use of a pneumatic cylinder may also be considered.

[0077] The present invention, as described above, has advantages such as preventing safety accidents that may occur due to collisions with obstacles and accidents caused by the falling of heavy objects being handled, by stopping the heavy equipment through braking operation along with engine stoppage when an obstacle is detected during driving and turning. Explanation of the symbols

[0078] 100; Safety braking system for heavy equipment 101; Forklift 110,111,112,113; detection camera 115; Display 116,117,118; Warning lamp 120; controller 121; connector 121; Front driving sensor 122; Rear driving sensor 123; Steering sensor 124; Brake pedal 125; auxiliary braking means 130; electric cylinder 136; Brake lever 137; Cylinder bracket 138; hinge 140; cylinder body 141; Load

Claims

Claim 1 A forklift (101) comprising a frame (106) having front wheels (102) and rear wheels (103), a driver's seat (104) in a central position, and an engine (105) mounted at the rear, and a fork (107) mounted at the front of the frame (106) to raise and lower heavy objects and to tilt; AI-type detection cameras (110, 111, 112, 113) mounted on the front left, front right, rear left, and rear right sides of the frame (106) to detect obstacles; a display (115) installed in the driver's seat (104) to visually display detection information from the detection cameras (110, 111, 112, 113); warning lamps (116, 117, 118) on the left, right, and rear sides of the frame (106) to visually display a dangerous condition by displaying red and blue lines or flashing red and blue lines; and the A controller (120) for determining an obstacle detected by a detection camera (110, 111, 112, 113), displaying it on a display (115), activating a warning lamp (116, 117, 118), and stopping the engine (105) when an obstacle is detected; a connector (121) connecting the detection camera (110, 111, 112, 113), the display (115), and the controller (120); a front driving sensor (121), a rear driving sensor (122), and a steering sensor (123) that are applied to the controller (120) so that only the detection camera (110, 111, 112, 113) located in the direction in which the forklift (101) is moving operates to prevent the risk of errors and confusion; and when an obstacle is detected and the engine (105) is stopped, the forklift (101) travels by inertia and collides with the obstacle. A safety braking device for heavy equipment characterized by including an auxiliary braking means (125) that secures braking force by operating a brake pedal (124) by a controller (120) to prevent. Claim 2 In claim 1; the auxiliary braking means (125) is installed in the middle of a brake lever (136) having a push rod (135) that has a pedal (133) at the bottom and a return spring (134) and is connected to a master cylinder by means of a return spring (134) and a brake pedal (124) installed between an accelerator pedal and an inching pedal provided in the driver's seat (104); and a cylinder bracket (137) is installed on the upper part of the operating space (131) to connect one end of a cylinder body (140), and a rod (141) drawn out from the cylinder body (140) is connected to an adapter (142) provided in the brake rod (136) to perform braking operation.

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