CN112744216A - Rear vehicle distance detection device and detection method based on industrial forklift intellectualization - Google Patents
Rear vehicle distance detection device and detection method based on industrial forklift intellectualization Download PDFInfo
- Publication number
- CN112744216A CN112744216A CN202011560575.0A CN202011560575A CN112744216A CN 112744216 A CN112744216 A CN 112744216A CN 202011560575 A CN202011560575 A CN 202011560575A CN 112744216 A CN112744216 A CN 112744216A
- Authority
- CN
- China
- Prior art keywords
- module
- forklift
- distance
- speed
- alarm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 206010063385 Intellectualisation Diseases 0.000 title claims abstract description 8
- 230000035484 reaction time Effects 0.000 claims abstract description 14
- 230000004044 response Effects 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000012360 testing method Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000004148 unit process Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a rear vehicle distance detection device and a detection method based on the intellectualization of an industrial forklift, comprising an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring speed parameters of the driving process of the forklift and distances between the speed parameters and rear obstacles, pedestrians and other vehicles; the calculation module is used for calculating the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the obstacle, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data acquired by the acquisition module; the comparison module is used for comparing the distance calculated by the calculation module with the distance of the obstacle behind the forklift acquired by the acquisition module; the alarm module is used for giving an alarm when the comparison module compares that the acquisition distance of the acquisition module is less than or equal to the distance calculated by the calculation module, and prompting the driver to decelerate in time; the braking module is used for giving an alarm at the alarm module, and after the conventional reaction time, performs deceleration braking on the forklift. The driver can conveniently operate and control the distance.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a rear vehicle distance detection device and a detection method based on the intellectualization of an industrial forklift.
Background
The forklift is an industrial transportation vehicle, which is various wheel type transportation vehicles for loading, unloading, stacking and short-distance transportation operation of finished pallet goods, the forklift often runs backwards during running, but due to the complexity of a storage environment, the traditional forklift is easy to cause driver driving fatigue during operation, meanwhile, when the forklift runs backwards, a driver needs to observe backwards and operate simultaneously, and is difficult to control the safety distance between the rear end of the forklift and a rear obstacle, so that the transportation operation has potential safety hazards, the existing distance prompt is a simple distance sensor and a fixed safety distance for comparison, although the safety distance of the driver can be integrated, the safety distance and the speed and other states of the forklift are not comprehensively considered, if the speed of the forklift is high, the safety distance needs to be increased, and the fixed alarm distance can not meet the safety running of the forklift, therefore, an intelligent rear vehicle distance detection device and method based on an industrial forklift are provided for solving the problems.
Disclosure of Invention
The invention aims to provide a rear vehicle distance detection device and a rear vehicle distance detection method based on the intellectualization of an industrial forklift, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a rear vehicle distance detection device based on industry fork truck is intelligent which characterized in that includes:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring speed parameters of a forklift in a running process and distances between the forklift and rear obstacles, pedestrians and other vehicles;
the calculation module is used for calculating the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the barrier, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data acquired by the acquisition module;
the comparison module is used for comparing the distance calculated by the calculation module with the distance of the obstacle behind the forklift acquired by the acquisition module;
the alarm module is used for giving an alarm when the comparison module compares that the acquisition distance of the acquisition module is less than or equal to the distance calculated by the calculation module, and is used for prompting a driver to perform deceleration and avoidance in time;
the braking module is used for giving an alarm by the alarm module and carrying out deceleration braking on the forklift after the conventional reaction time;
and the central processing unit is used for coordinating the modules to work, calling corresponding data according to the modules in the authority of the data calling command, and sending the control commands to the corresponding modules.
In an embodiment of the invention, the acquisition module comprises a distance measurement unit and a speed measurement unit, the distance measurement unit is used for acquiring the distance between the rear end of the forklift and a rear obstacle in real time, acquired data are transmitted to the comparison module for comparison, and the speed measurement unit is used for acquiring the running speed of the forklift wheels and sending the acquired data to the calculation module for calculation.
In a preferred embodiment, the distance measuring unit is one of a laser measuring sensor, an ultrasonic distance measuring sensor or a radar distance measuring sensor, and the speed measuring unit is one of a magnetoelectric wheel speed sensor or a hall wheel speed sensor.
In a preferred embodiment, the calculation module comprises a deceleration avoidance calculation, a parking avoidance calculation and a reaction distance calculation, the deceleration avoidance calculation is used for calculating a distance required by the current vehicle speed to decelerate to the vehicle speed of the turning avoidance obstacle, the parking avoidance calculation is used for calculating a distance required by the vehicle speed of the turning avoidance obstacle to park, and the reaction distance calculation is used for calculating a distance traveled by the current vehicle speed in a conventional reaction time.
The preferred embodiment, the brake module includes throttle control and brake control, reverse regulator is connected to the throttle control electricity, acts on the reset spring of accelerator pedal bottom surface through reverse regulator, makes the reset spring bounce-back and drives accelerator pedal bounce-back, reduces the speed of a motor vehicle, brake control is used for through magnetism pulling brake pedal, the fork truck of being convenient for further to slow down or even park.
In a preferred embodiment, the central controller is further connected with a timing unit for timing after the alarm module sends out the alarm signal, so that the brake module can control the forklift to safely decelerate when the operator does not safely decelerate, and the timing time of the timing module between the start of the alarm module and the start of the brake module is less than or equal to the set reaction time.
In an embodiment, the central processing unit is connected with a conversion module and a release module, the conversion module is connected with a power supply of the forklift to convert the power supply voltage of the forklift into a voltage capable of supplying power to the system, and the release module is connected with the alarm module and the brake module and used for releasing alarm and braking.
A rear vehicle distance detection method based on industrial forklift intellectualization comprises the following steps:
s1, the acquisition module acquires the distance from the rear end of the forklift to the obstacle and the real-time speed of the forklift in real time through the ranging unit;
s2, the calculation module calculates the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the obstacle, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data collected by the collection module, and sends the calculation result to the comparison module;
s3, the comparison module compares the calculation result of the calculation module with the distance between the rear end of the forklift and the obstacle, which is acquired by the acquisition module, and sends the comparison result to the central processing unit;
s4, the central processing unit processes according to the comparison result, if the calculation result of the calculation module is smaller than or equal to the distance from the rear end of the forklift to the obstacle, the alarm module gives an alarm, and the timing unit performs timing; otherwise, the forklift normally runs;
s4, after the alarm module gives an alarm, if the driver performs deceleration operation, the brake module is not started, and when the speed of the forklift is reduced to be capable of safely changing the direction to bypass the obstacle, the module contact alarm is removed; otherwise, when the timing unit finishes timing and the driver does not decelerate, the central processing unit controls the brake module to start;
and S5, starting the brake module, controlling to reduce the accelerator through the accelerator, preliminarily reducing the speed of the forklift, controlling to further reduce the forklift and even stop the forklift through the brake, and removing the module contact alarm after the forklift brakes.
In a preferred embodiment, in step S2, the distance between the current speed of the forklift and the speed reduced to the safe obstacle avoidance speed is calculated as
The distance required for the safe avoiding speed to be decelerated to the parking is
The distance traveled by the driver in response time is S3＝V0t, wherein V0The current speed of the forklift is V, the speed of safely avoiding the obstacle is a, the acceleration of the forklift is a, the set reaction time is t, and 3s is taken.
Compared with the prior art, the invention has the beneficial effects that: the distance detection and the running state of the forklift are comprehensively considered and detected, so that the safety distance of the forklift is conveniently and clearly controlled, the operation of a driver is facilitated, the automatic braking effect is achieved, and safety accidents are reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of an acquisition module according to the present invention;
FIG. 3 is a schematic diagram of a computing module according to the present invention;
fig. 4 is a schematic structural diagram of the brake module of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides a rear vehicle distance detection device based on industry fork truck is intelligent which characterized in that includes:
the acquisition module is used for acquiring speed parameters of the forklift in the running process and distances between the forklift and rear obstacles, pedestrians and other vehicles;
the calculation module is used for calculating the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the obstacle, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data acquired by the acquisition module;
the comparison module is used for comparing the distance calculated by the calculation module with the distance of the obstacle behind the forklift acquired by the acquisition module;
the alarm module is used for giving an alarm when the comparison module compares that the acquisition distance of the acquisition module is less than or equal to the distance calculated by the calculation module, and is used for prompting a driver to perform deceleration and avoidance in time;
the braking module is used for giving an alarm at the alarm module and carrying out deceleration braking on the forklift after the conventional reaction time;
and the central processing unit is used for coordinating the modules to work, calling corresponding data according to the modules in the authority of the data calling command, and sending the control commands to the corresponding modules.
Further, the collection module includes the unit of finding a distance and tests the speed the unit, and the unit of finding a distance is used for gathering the interval of fork truck rear end and rear barrier in real time to transmit the data acquisition to the comparison module and be used for the contrast, the unit of testing a speed is used for gathering the driving speed of fork truck wheel, and will gather data transmission and calculate to the calculation module.
Further, the distance measuring unit is one of a laser measuring sensor, an ultrasonic distance measuring sensor or a radar distance measuring sensor, and the speed measuring unit is one of a magnetoelectric wheel speed sensor or a Hall wheel speed sensor.
Further, the calculation module comprises deceleration evasion calculation, parking evasion calculation and reaction distance calculation, the deceleration evasion calculation is used for calculating the distance required by the current vehicle speed for decelerating to the vehicle speed of the turning evasive obstacle, the parking evasion calculation is used for calculating the distance required by the vehicle speed of the turning evasive obstacle to parking, and the reaction distance calculation is used for calculating the distance traveled by the current vehicle speed in the conventional reaction time.
Furthermore, the braking module includes throttle control and brake control, and the backward regulator is connected to the throttle control electricity, acts on the reset spring of accelerator pedal bottom surface through the backward regulator, makes the reset spring bounce-back and drives accelerator pedal bounce-back, reduces the speed of a motor vehicle, and brake control is used for through magnetism pulling brake pedal, is convenient for further speed reduction fork truck and even parks.
Furthermore, the central controller is also connected with a timing unit for timing after the alarm module sends out an alarm signal, so that the brake module can control the forklift to safely decelerate when the operator does not safely decelerate, and the timing time of the timing module between the start of the alarm module and the start of the brake module is less than or equal to the set reaction time.
Furthermore, the central processing unit is connected with the conversion module and the release module, the conversion module is connected with a power supply of the forklift to convert the power supply voltage of the forklift into voltage capable of supplying power for a system, and the release module is connected with the alarm module and the brake module and used for releasing alarm and braking.
A rear vehicle distance detection method based on industrial forklift intellectualization comprises the following steps:
s1, the acquisition module acquires the distance from the rear end of the forklift to the obstacle and the real-time speed of the forklift in real time through the ranging unit;
s2, the calculation module calculates the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the obstacle, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data collected by the collection module, and sends the calculation result to the comparison module;
s3, the comparison module compares the calculation result of the calculation module with the distance between the rear end of the forklift and the obstacle, which is acquired by the acquisition module, and sends the comparison result to the central processing unit;
s4, the central processing unit processes according to the comparison result, if the calculation result of the calculation module is smaller than or equal to the distance from the rear end of the forklift to the obstacle, the alarm module gives an alarm, and the timing unit performs timing; otherwise, the forklift normally runs;
s4, after the alarm module gives an alarm, if the driver performs deceleration operation, the brake module is not started, and when the speed of the forklift is reduced to be capable of safely changing the direction to bypass the obstacle, the module contact alarm is removed; otherwise, when the timing unit finishes timing and the driver does not decelerate, the central processing unit controls the brake module to start;
and S5, starting the brake module, controlling to reduce the accelerator through the accelerator, preliminarily reducing the speed of the forklift, controlling to further reduce the forklift and even stop the forklift through the brake, and removing the module contact alarm after the forklift brakes.
Further, in step S2, the method for calculating the distance from the current speed of the forklift to the speed of decelerating to safely avoid the obstacle is that
The distance required for the safe avoidance speed to decelerate to a stop is
The distance traveled by the driver in reaction time is S3＝V0t, wherein V0The current speed of the forklift is V, the speed of safely avoiding the obstacle is a, the acceleration of the forklift is a, the set reaction time is t, and 3s is taken.
The working principle is as follows: when the forklift safety monitoring system is used, the distance from the rear end of the forklift to an obstacle and the real-time speed of the forklift are collected in real time through the distance measuring unit through the collecting module, the calculating module calculates the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoid the obstacle, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by a driver in response time according to the data collected by the collecting module, the calculating result is sent to the comparing module, the calculating result of the calculating module is compared with the distance from the rear end of the forklift to the obstacle collected by the collecting module by the comparing module, the comparing result is sent to the central processor, the central processor processes according to the comparing result, if the calculating result of the calculating module is smaller than or equal to the distance from the rear end of the forklift to the obstacle, the alarming module sends out an alarm; otherwise, the forklift normally runs, after the alarm module gives an alarm, if the driver performs deceleration operation, the brake module is not started, and when the speed of the forklift is reduced to be capable of safely changing the direction to bypass the obstacle, the module contact alarm is removed; otherwise, when the timing of timing unit end and driver did not slow down, central processing unit control braking module starts, reduce the throttle through throttle control, preliminary speed reduction fork truck speed, rethread brake control further speed reduction fork truck and even park, relieve module contact alarm after the fork truck braking to detect the safe distance of clearly and definitely controlling fork truck and carry out the comprehensive consideration with fork truck state of going itself and detect, make things convenient for the driver to operate, and have the automatic braking effect, reduce the incident.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a rear vehicle distance detection device based on industry fork truck is intelligent which characterized in that includes:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring speed parameters of a forklift in a running process and distances between the forklift and rear obstacles, pedestrians and other vehicles;
the calculation module is used for calculating the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the barrier, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data acquired by the acquisition module;
the comparison module is used for comparing the distance calculated by the calculation module with the distance of the obstacle behind the forklift acquired by the acquisition module;
the alarm module is used for giving an alarm when the comparison module compares that the acquisition distance of the acquisition module is less than or equal to the distance calculated by the calculation module, and is used for prompting a driver to perform deceleration and avoidance in time;
the braking module is used for giving an alarm by the alarm module and carrying out deceleration braking on the forklift after the conventional reaction time;
and the central processing unit is used for coordinating the modules to work, calling corresponding data according to the modules in the authority of the data calling command, and sending the control commands to the corresponding modules.
2. The intelligent rear vehicle distance detection device based on the industrial forklift as claimed in claim 1, wherein: the collection module includes the unit of finding range and tests the speed the unit, the unit of finding range is used for gathering the interval of fork truck rear end and rear barrier in real time to transmit the data acquisition to the contrast module and be used for the contrast, the unit of testing the speed is used for gathering the speed of going of fork truck wheel, and calculates data acquisition transmission to the calculation module.
3. The intelligent rear vehicle distance detection device based on the industrial forklift as claimed in claim 2, wherein: the range unit is one of laser surveying sensor, ultrasonic ranging sensor or radar range sensor, the unit that tests the speed is one of the fast sensor of magnetoelectric wheel formula or the fast sensor of hall formula wheel.
4. The intelligent rear vehicle distance detection device based on the industrial forklift as claimed in claim 1, wherein: the calculation module comprises deceleration evasion calculation, parking evasion calculation and reaction distance calculation, wherein the deceleration evasion calculation is used for calculating the distance required by the current vehicle speed to be decelerated to the vehicle speed of the turning evasive obstacle, the parking evasive calculation is used for calculating the distance required by the vehicle speed of the turning evasive obstacle to be parked, and the reaction distance calculation is used for calculating the distance traveled by the current vehicle speed in the conventional reaction time.
5. The intelligent rear vehicle distance detection device based on the industrial forklift as claimed in claim 1, wherein: the brake module includes throttle control and brake control, the backward regulator is connected to throttle control electricity, acts on the reset spring of accelerator pedal bottom surface through the backward regulator, makes the reset spring bounce-back and drives accelerator pedal bounce-back, reduces the speed of a motor vehicle, brake control is used for through magnetism inhale pulling brake pedal, is convenient for further speed reduction fork truck and even parks.
6. The intelligent rear vehicle distance detection device based on the industrial forklift as claimed in claim 1, wherein: the central controller is also connected with a timing unit and is used for timing after the alarm module sends out an alarm signal, so that the brake module can control the forklift to safely decelerate when an operator does not safely decelerate, and the timing time of the timing module between the start of the alarm module and the start of the brake module is less than or equal to the set reaction time.
7. The intelligent rear vehicle distance detection device based on the industrial forklift as claimed in claim 1, wherein: the central processing unit is connected with the conversion module and the releasing module, the conversion module is connected with a power supply of the forklift to convert the power supply voltage of the forklift into voltage capable of supplying power for a system, and the releasing module is connected with the alarm module and the braking module and used for releasing alarm and braking.
8. A rear vehicle distance detection method based on industrial forklift intellectualization is characterized by comprising the following steps:
s1, the acquisition module acquires the distance from the rear end of the forklift to the obstacle and the real-time speed of the forklift in real time through the ranging unit;
s2, the calculation module calculates the sum of the distance from the current speed of the forklift to the speed of decelerating to safely avoiding the obstacle, the distance from the safe avoiding speed to decelerating to parking and the distance traveled by the driver in response time according to the data collected by the collection module, and sends the calculation result to the comparison module;
s3, the comparison module compares the calculation result of the calculation module with the distance between the rear end of the forklift and the obstacle, which is acquired by the acquisition module, and sends the comparison result to the central processing unit;
s4, the central processing unit processes according to the comparison result, if the calculation result of the calculation module is smaller than or equal to the distance from the rear end of the forklift to the obstacle, the alarm module gives an alarm, and the timing unit performs timing; otherwise, the forklift normally runs;
s4, after the alarm module gives an alarm, if the driver performs deceleration operation, the brake module is not started, and when the speed of the forklift is reduced to be capable of safely changing the direction to bypass the obstacle, the module contact alarm is removed; otherwise, when the timing unit finishes timing and the driver does not decelerate, the central processing unit controls the brake module to start;
and S5, starting the brake module, controlling to reduce the accelerator through the accelerator, preliminarily reducing the speed of the forklift, controlling to further reduce the forklift and even stop the forklift through the brake, and removing the module contact alarm after the forklift brakes.
9. The intelligent rear vehicle distance detection method based on the industrial forklift as claimed in claim 8, wherein: in step S2, the method for calculating the distance from the current speed of the forklift to the speed of decelerating to safely avoid the obstacle is
The distance required for the safe avoiding speed to be decelerated to the parking is
The distance traveled by the driver in response time is S3＝V0t, wherein V0The current speed of the forklift is V, the speed of safely avoiding the obstacle is a, the acceleration of the forklift is a, the set reaction time is t, and 3s is taken.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011560575.0A CN112744216A (en) | 2020-12-25 | 2020-12-25 | Rear vehicle distance detection device and detection method based on industrial forklift intellectualization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011560575.0A CN112744216A (en) | 2020-12-25 | 2020-12-25 | Rear vehicle distance detection device and detection method based on industrial forklift intellectualization |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112744216A true CN112744216A (en) | 2021-05-04 |
Family
ID=75645874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011560575.0A Pending CN112744216A (en) | 2020-12-25 | 2020-12-25 | Rear vehicle distance detection device and detection method based on industrial forklift intellectualization |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112744216A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114596688A (en) * | 2022-02-11 | 2022-06-07 | 山东临工工程机械有限公司 | Fatigue driving prevention device for loader and fatigue early warning method thereof |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070058242A (en) * | 2005-12-01 | 2007-06-08 | 두산인프라코어 주식회사 | A control system for sensing the rear an obstacle of a forklift truck |
| US20070132563A1 (en) * | 2005-12-08 | 2007-06-14 | Balbale Uzmaa H | Speed-sensitive rear obstacle detection and avoidance system |
| CN102435993A (en) * | 2011-11-30 | 2012-05-02 | 上海博泰悦臻电子设备制造有限公司 | Vehicle-mounted radar system and detection method thereof |
| CN203543829U (en) * | 2013-09-10 | 2014-04-16 | 凯傲宝骊(江苏)叉车有限公司 | Reversing sensor alarm device for forklift |
| CN104057944A (en) * | 2014-06-26 | 2014-09-24 | 云南昆船智能装备有限公司 | Semi-automatic driving control system and method for forklift |
| US20170158128A1 (en) * | 2015-12-07 | 2017-06-08 | Metal Industries Research & Development Centre | Alarm method for reversing a vehicle by sensing obstacles using structured light |
| CN107176567A (en) * | 2016-12-19 | 2017-09-19 | 林德（中国）叉车有限公司 | A kind of forklift door frame avoiding collision and device |
| CN109250656A (en) * | 2018-10-11 | 2019-01-22 | 广东白云学院 | Collision avoidance system, control method and the fork truck of fork truck |
| US20190088148A1 (en) * | 2018-07-20 | 2019-03-21 | Cybernet Systems Corp. | Autonomous transportation system and methods |
| CN109501802A (en) * | 2018-11-24 | 2019-03-22 | 浙江大学台州研究院 | Active brake system based on Electric booster |
| CN110936937A (en) * | 2019-03-21 | 2020-03-31 | 湖南三一港口设备有限公司 | Automatic braking method and system |
| CN110979181A (en) * | 2019-12-26 | 2020-04-10 | 安徽合力股份有限公司 | Electric fork-lift safety protection control system |
-
2020
- 2020-12-25 CN CN202011560575.0A patent/CN112744216A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070058242A (en) * | 2005-12-01 | 2007-06-08 | 두산인프라코어 주식회사 | A control system for sensing the rear an obstacle of a forklift truck |
| US20070132563A1 (en) * | 2005-12-08 | 2007-06-14 | Balbale Uzmaa H | Speed-sensitive rear obstacle detection and avoidance system |
| CN102435993A (en) * | 2011-11-30 | 2012-05-02 | 上海博泰悦臻电子设备制造有限公司 | Vehicle-mounted radar system and detection method thereof |
| CN203543829U (en) * | 2013-09-10 | 2014-04-16 | 凯傲宝骊(江苏)叉车有限公司 | Reversing sensor alarm device for forklift |
| CN104057944A (en) * | 2014-06-26 | 2014-09-24 | 云南昆船智能装备有限公司 | Semi-automatic driving control system and method for forklift |
| US20170158128A1 (en) * | 2015-12-07 | 2017-06-08 | Metal Industries Research & Development Centre | Alarm method for reversing a vehicle by sensing obstacles using structured light |
| CN107176567A (en) * | 2016-12-19 | 2017-09-19 | 林德（中国）叉车有限公司 | A kind of forklift door frame avoiding collision and device |
| US20190088148A1 (en) * | 2018-07-20 | 2019-03-21 | Cybernet Systems Corp. | Autonomous transportation system and methods |
| CN109250656A (en) * | 2018-10-11 | 2019-01-22 | 广东白云学院 | Collision avoidance system, control method and the fork truck of fork truck |
| CN109501802A (en) * | 2018-11-24 | 2019-03-22 | 浙江大学台州研究院 | Active brake system based on Electric booster |
| CN110936937A (en) * | 2019-03-21 | 2020-03-31 | 湖南三一港口设备有限公司 | Automatic braking method and system |
| CN110979181A (en) * | 2019-12-26 | 2020-04-10 | 安徽合力股份有限公司 | Electric fork-lift safety protection control system |
Non-Patent Citations (1)
| Title |
|---|
| 吕健等: "叉车用安全装置的开发", 《中国安全生产科学技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114596688A (en) * | 2022-02-11 | 2022-06-07 | 山东临工工程机械有限公司 | Fatigue driving prevention device for loader and fatigue early warning method thereof |
| CN114596688B (en) * | 2022-02-11 | 2023-12-15 | 山东临工工程机械有限公司 | Fatigue driving prevention device for loader and fatigue early warning method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106553645B (en) | automatic parking control system and control method based on the system | |
| CN103935264B (en) | A kind of electric vehicle driver demand torque calculation method | |
| CN106843231B (en) | Unmanned vehicle, control method of unmanned vehicle and control device of unmanned vehicle | |
| CN105644557A (en) | Braking and steering assisting system and method considering collision avoidance intention of driver | |
| CN104590037B (en) | Energy feedback control method for full electric vehicle | |
| CN201932143U (en) | Automobile running early warning and anti-collision avoiding system | |
| CN103171554A (en) | System and method for controlling inter-vehicle distance using side and rear sensor | |
| CN101992740A (en) | Anti-collision control system and control method thereof | |
| CN103764472A (en) | Method for assisting a driver of a motor vehicle | |
| CN202358094U (en) | Anti-collision system of electric motor car | |
| WO2014048042A1 (en) | Electric vehicle collision avoidance system and automatic braking method | |
| CN103481820A (en) | Auxiliary parking system having safety monitoring function and method thereof | |
| CN112109546A (en) | Freight vehicle speed control system and method | |
| CN110588768A (en) | Vehicle capable of automatically controlling running | |
| CN112744216A (en) | Rear vehicle distance detection device and detection method based on industrial forklift intellectualization | |
| CN210852627U (en) | Vehicle capable of automatically controlling running | |
| CN205554112U (en) | Miss intelligence anticollision initiative control system that steps on gas | |
| CN202847629U (en) | Automotive anti-collision system based on radar speed measurement | |
| CN114873521A (en) | Fork truck intelligence urgent danger prevention auxiliary system | |
| CN109501802A (en) | Active brake system based on Electric booster | |
| CN111376905A (en) | Parking control method, device and system for transport tool, transport tool and vehicle | |
| CN201800702U (en) | Vehicle brake control system | |
| CN115009272B (en) | Vehicle full-autonomous obstacle crossing method based on laser radar obstacle classification and identification | |
| CN113022552B (en) | Automatic parking system based on laser radar and V2I technology and control method | |
| CN112849131B (en) | Vehicle tire burst control method and system and automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210504 |