CN108364542A - Fork truck field test position detection and decision maker and its method - Google Patents
Fork truck field test position detection and decision maker and its method Download PDFInfo
- Publication number
- CN108364542A CN108364542A CN201810029999.0A CN201810029999A CN108364542A CN 108364542 A CN108364542 A CN 108364542A CN 201810029999 A CN201810029999 A CN 201810029999A CN 108364542 A CN108364542 A CN 108364542A
- Authority
- CN
- China
- Prior art keywords
- convex
- edge shape
- fork truck
- edge
- examination hall
- 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
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/16—Control of vehicles or other craft
- G09B19/167—Control of land vehicles
Landscapes
- Business, Economics & Management (AREA)
- Engineering & Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of fork truck field test position detections and decision maker and its method, including difference Big Dipper positioning movement station, difference Big Dipper earth station, data transmission module, wireless receiving module, video evidence obtaining module and host computer；The difference Big Dipper positioning movement station is arranged on the preset position and fork truck in fork truck examination hall, difference Big Dipper earth station is mounted near examination hall, the location coordinate information of coordinate value and fork truck for obtaining the preset position, and wireless receiving module is sent to by data transmission module, wireless receiving module is sent to host computer；The host computer judges that fork truck whether there is deduction of points behavior according to the coordinate value of each preset position on the location coordinate information of the fork truck and fork truck examination hall, if there are deduction of points behavior, carries out corresponding deduction of points operation and control video apparatus for obtaining evidence to carry out evidence obtaining of taking pictures.The present invention can accurate judgement fork truck crimping and fork truck outlet behavior, linkage video capture evidence obtaining, for examination judge foundation is provided.
Description
Technical field
It takes an examination technical field the invention belongs to fork truck, and in particular to a kind of fork truck field test position detection and decision maker
And its method.
Background technology
Fork truck is as the places such as harbour, harbour, warehouse important transportation tool, and safety work is most important, government function
Department more payes attention to the safety work of fork truck, also increasingly stringent to fork truck field test, on the one hand pursues and is commented in examination process
The precision sentenced, another aspect pursue the objective and fair of examination scoring, accomplish that deduction of points has foundation, looks on evidence.Fork truck place
It is a difficult point therein to the detection of fork truck position and judgement in examination process, the overwhelming majority relies on artificial judgment, inevitable shadow
Ring the objective, just of examination.How by the position in efficient, intuitive, the just judgement fork truck examination of information-based means, vehicle
Body, wheel crimping, outlet are most important.
The ground of a kind of fork truck training field as disclosed in CN 206388392U tracks real-time acquisition device, by fork truck
Bottom metal detection part is set, arrange a large amount of capacitive proximity sensor array in track both sides, fork truck is in motion process
In the tracks of fork truck are acquired by sensor array, while being examined by the way that photosensitive or infrared sensor is arranged on boundary
Driving is surveyed to deviate.But the device cannot achieve the accurate judgement to fork truck crimping, outlet, especially logical in the radian region in examination hall
It is difficult accurately to detect tire, the crimping of vehicle body and outlet to judge, while the program requires arrangement to cross photosensitive or infrared sensor
Number of sensors is more, system hardware equipment complexity is higher.
Therefore, it is necessary to develop a kind of fork truck field test position detection and decision maker and its method.
Invention content
The object of the present invention is to provide a kind of fork truck field test position detections and decision maker and its method, can accurately sentence
Disconnected fork truck crimping and fork truck outlet behavior, the evidence obtaining of linkage video capture, judge for examination and provide foundation.
Fork truck field test position detection of the present invention and decision maker, including difference Big Dipper positioning movement station, difference
Divide Big Dipper earth station, wireless receiving module, data transmission module, video evidence obtaining module and host computer；
The difference Big Dipper positioning movement station is arranged on the preset position and fork truck in fork truck examination hall, difference Big Dipper ground
It stands near examination hall, the location coordinate information of coordinate value and fork truck for obtaining the preset position, and pass through number
It is sent to wireless receiving module according to transmission module, wireless receiving module is sent to host computer；
The host computer judges according to the coordinate value of each preset position on the location coordinate information of the fork truck and fork truck examination hall
Fork truck whether there is deduction of points behavior, if there are deduction of points behavior, carry out corresponding deduction of points operate and send video capture instruct to
Video apparatus for obtaining evidence；
The video apparatus for obtaining evidence is based on video capture instruction and carries out evidence obtaining of taking pictures, and captured photo is sent to host computer
It preserves；
The deduction of points behavior includes fork truck crimping and fork truck outlet.
Fork truck field test position detection of the present invention and determination method, using fork truck place as described in the present invention
Examination position detection and decision maker, method include：
Establish examination hall convex-edge shape model and examination hall fan ring collection：
Examination hall edge line is cut into eight convex-edge shapes and two as vertex using the interior outside of examination hall edge line and circular arc starting point
Ring is fanned, this eight convex-edge shapes form examination hall crimping convex-edge shape collection, and ring collection is fanned in two fan ring composition examination halls
The interior outer point line of examination hall edge line is extended a meter to over-the-counter, examination hall edge line outer point and extended line vertex
Eight convex-edge shapes are formed, this eight convex-edge shapes form outlet convex-edge shape collection；
Establish fork truck convex-edge shape model：
The orthographic projection of the vehicle body of fork truck in the horizontal plane is vehicle body convex-edge shape, the orthographic projection of four tires of fork truck in the horizontal plane
For tire convex-edge shape, the orthographic projection of the pallet fork of fork truck in the horizontal plane is pallet fork convex-edge shape, and it is convex that these three convex-edge shapes form fork truck
Side shape collection；
Obtain the coordinate value that each convex-edge shape and examination hall fan ring in the convex-edge shape model of examination hall concentrate each vertex of each fan ring：
Difference Big Dipper positioning movement station is arranged in apex to be measured, positioning movement station by the difference Big Dipper obtains the vertex
Coordinate value, and be sent to host computer；
Obtain the coordinate value that fork truck convex-edge shape concentrates each vertex of each convex-edge shape：
Difference Big Dipper positioning movement station is arranged on fork truck, based on difference Big Dipper positioning movement station institute in fork truck moving process
The data of acquisition calculate the coordinate value that fork truck convex-edge shape concentrates each vertex of each convex-edge shape, and are sent to host computer；
Deduction of points judges and collects evidence：
The runway of simulation and fork truck are subjected to crash tests in the system of host computer, and based on traversal formula separation shaft algorithm and time
Go through formula centrifugation criterion come judge fork truck whether live conductor or outlet behavior, if judging, there are fork truck crimping or fork truck outlets
When, then it carries out corresponding deduction of points and operates and send video capture and instruct to give video apparatus for obtaining evidence；The video apparatus for obtaining evidence is based on
Video capture instruction carries out evidence obtaining of taking pictures, and captured photo is sent to host computer and is preserved；
The traversal formula separation shaft algorithm is：Take the convex-edge shape of the convex-edge shape and place convex-edge shape collection of fork truck convex-edge shape concentration, base
The position relationship of two convex-edge shapes is calculated in traversal formula separation shaft algorithm, until each convex-edge shape that fork truck convex-edge shape is concentrated is equal
Until operation being completed with each convex-edge shape that place convex-edge shape is concentrated；
The traversal formula centrifuges criterion：The fan ring for taking convex-edge shape and examination hall the fan ring collection that fork truck convex-edge shape concentrates, based on from
Heart criterion come judge fork truck convex-edge shape concentrate convex-edge shape and examination hall fan ring collection middle fan ring between position relationship, until fork truck
Until each fan ring that each convex-edge shape that convex-edge shape is concentrated is concentrated with examination hall fan ring completes operation.
The convex-edge shape of the convex-edge shape and place convex-edge shape collection that take fork truck convex-edge shape to concentrate, is calculated based on separation shaft algorithm
The method of the position relationship of two convex-edge shapes is：
Whether detect between the convex-edge shape A of place convex-edge shape collection and the convex-edge shape B of fork truck convex-edge shape concentration has overlapping,
The central point of each edge of the convex-edge shape A and convex-edge shape B that need to detect crash tests is found first, and is simulated a line and made
For axis, a parallel axes straight line for being parallel to it is then simulated according to axis respectively, then finds convex-edge shape A and convex-edge shape B
On each vertex perpendicular to the parallel axes straight line point, finally by convex-edge shape A and convex-edge shape B perpendicular to the parallel axes straight line
Point is connected, and whether detection two lines have overlapping, are not overlapped as long as there is the vertical point on a parallel axes straight line to connect, then
It obtains not colliding between convex-edge shape A and convex-edge shape B.
The fan ring of the convex-edge shape for taking fork truck convex-edge shape to concentrate and examination hall fan ring collection, judges to pitch based on centrifugation criterion
The method of position relationship between the convex-edge shape that vehicle convex-edge shape is concentrated and examination hall fan ring collection middle fan ring is as follows：
The fan ring includes Inner arc and external arc；
When judging the position relationship between convex-edge shape and Inner arc, each edge is found in convex-edge shape first from the circle with Inner arc
Then this point and the center of circle of Inner arc are attached to obtain the length of this line segment by the nearest point of the heart, then by the length of this line segment
Degree is compared with the radius of Inner arc, if this line segment length is more than the radius of Inner arc, then it represents that the convex-edge shape and inner circle
It is not collided between arc, otherwise, it means that having collision between the convex-edge shape and Inner arc；
When judging the position relationship between convex-edge shape and external arc, each edge is found in convex-edge shape first from the circle with external arc
Then this point and the center of circle of external arc are attached to obtain the length of this line segment by the nearest point of the heart, then by the length of this line segment
Degree is compared with the radius of external arc, if this line segment length is more than the radius of external arc, then it represents that the convex-edge shape and outer circle
It is not collided between arc, otherwise, it means that having collision between the convex-edge shape and external arc.
If the external arc for the fan ring that convex-edge shape or examination hall fan ring that vehicle body convex-edge shape is concentrated with examination hall crimping convex-edge shape are concentrated
Between have collision, then it represents that fork truck crimping；
If being touched between the Inner arc for the fan ring that convex-edge shape or examination hall fan ring that tire convex-edge shape and outlet convex-edge shape are concentrated are concentrated
It hits, then it represents that fork truck outlet；
If between the external arc for the fan ring that convex-edge shape or examination hall fan ring that pallet fork convex-edge shape and examination hall crimping convex-edge shape are concentrated are concentrated
There is collision, then it represents that fork truck crimping；
If being touched between the Inner arc for the fan ring that convex-edge shape or examination hall fan ring that pallet fork convex-edge shape and outlet convex-edge shape are concentrated are concentrated
It hits, then it represents that fork truck outlet.
Beneficial effects of the present invention：
（1）Hardware platform includes difference Big Dipper localizer station, wireless collection transmission module, video capture three parts, compact-sized, smart
Refining；
（2）Travel route of the fork truck in examination hall can effectively be recorded；
（3）Can outlet behavior of the accurate judgement fork truck vehicle body in examination hall, linkage video capture evidence obtaining, for examination judge carry
For foundation；
（4）Can crimping behavior of the accurate judgement fork truck tire in examination hall, linkage video capture evidence obtaining, for examination judge carry
For foundation.
（5）Can crimping and outlet behavior of the accurate judgement fork of forklift truck in examination hall, linkage video capture evidence obtaining, be
Examination, which is judged, provides foundation；
（6）Entire decision process is automation, without artificial control, reduces artificial workload, can largely improve work
Make efficiency.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the illustraton of model that ring collection is fanned in examination hall convex-edge shape collection and examination hall in the present invention；
Fig. 3 is fork truck convex-edge shape aggregation model figure in the present invention；
Fig. 4 is camber block collision detection schematic diagram of the present invention（It does not collide）；
Fig. 5 is camber block collision detection schematic diagram of the present invention（It has collided）；
Fig. 6 is camber block of the present invention and fan ring collision detection schematic diagram（It does not collide）；
Fig. 7 is camber block of the present invention and fan ring collision detection schematic diagram（It has collided）；
Fig. 8 is one of the flow chart of the present invention；
Fig. 9 is the two of the flow chart of the present invention；
In figure, 1, video collect evidence module, 2, host computer, 3, wireless receiving module, 4, data transmission module, 5, difference Big Dipper ground
Stand, 6, the difference Big Dipper position movement station, 7, inside cord, 8, out conductor, 9, extended line, 10, axis, 11, parallel axes straight line, 12,
Examination hall edge line.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
Fork truck field test position detection as shown in Figure 1 and decision maker, including difference Big Dipper positioning movement station 6, poor
Divide Big Dipper earth station 5, data transmission module 4, wireless receiving module 3, host computer 2 and video evidence obtaining module 1.
The difference Big Dipper positions movement station 6（Band double antenna）Preset position in fork truck examination hall is set（That is examination hall chimb
Each vertex of convex-edge shape and examination hall fan ring collection middle fan ring, demarcates the coordinate value on each vertex in shape model）On fork truck, institute
It states high point position of the difference Big Dipper earth station 5 near the examination hall, obtains the coordinate value and fork truck of the preset position
Location coordinate information（Position and direction information including fork truck）, and wireless receiving module is sent to by data transmission module 4
3, wireless receiving module 3 is sent to host computer 2, wherein wireless receiving module 3 is mounted on examination monitoring room.
The host computer 2 is according to the coordinate value of each preset position on the location coordinate information of the fork truck and fork truck examination hall
Judge that fork truck whether there is deduction of points behavior, the deduction of points behavior includes fork truck crimping and fork truck outlet.If there are deduction of points behavior,
It carries out corresponding deduction of points and operates and send video capture and instruct to give video apparatus for obtaining evidence.
The video apparatus for obtaining evidence includes the multiple cameras arranged around examination hall zone circular, and the quantity of camera can basis
Actual conditions increase or decrease, and video apparatus for obtaining evidence is based on video capture instruction and carries out evidence obtaining of taking pictures, and by captured photo
It is sent to the preservation of host computer 2.
Fork truck field test position detection of the present invention and determination method, using fork truck place as described in the present invention
Examination position detection and decision maker, method include：
（One）Establish examination hall convex-edge shape model and examination hall fan ring collection：
Examination hall edge line is cut into eight convex-edge shapes as vertex using the interior outside of examination hall edge line 12 and circular arc starting point（Scheme
Convex-edge shape x1, convex-edge shape x2, convex-edge shape x3, convex-edge shape x4, convex-edge shape x5, convex-edge shape x6, convex-edge shape x7 in 2 and convex-edge shape
x8）With two fan rings（That is the fan ring y1 in Fig. 2 and fan ring y2）, this eight convex-edge shapes composition examination hall crimping convex-edge shape collection, two
It fans ring composition examination hall and fans ring collection.
The interior outer point line of examination hall edge line is extended into a to over-the-counter（In the present embodiment, a 1.0m）Rice, examination hall side
Edge line outer point forms eight convex-edge shapes with 9 vertex of extended line（Convex-edge shape z1, convex-edge shape z2, convex-edge shape z3 in i.e. Fig. 2,
Convex-edge shape z4, convex-edge shape z5, convex-edge shape z6, convex-edge shape z7 and z8）, this eight convex-edge shapes composition outlet convex-edge shape collection.
（Two）Establish fork truck convex-edge shape model：
The orthographic projection of the vehicle body of fork truck in the horizontal plane is vehicle body convex-edge shape（That is convex-edge shape q2 in Fig. 3）, four tires of fork truck
Orthographic projection in the horizontal plane is tire convex-edge shape（That is the convex-edge shape q1 in Fig. 3）, the positive throwing of the pallet fork of fork truck in the horizontal plane
Shadow is pallet fork convex-edge shape（That is the convex-edge shape q3 in Fig. 3）, these three convex-edge shapes composition fork truck convex-edge shape collection；
（Three）Obtain the coordinate value that each convex-edge shape and examination hall fan ring in the convex-edge shape model of examination hall concentrate each vertex of each fan ring：
Difference Big Dipper positioning movement station is arranged in apex to be measured, positioning movement station by the difference Big Dipper obtains the vertex
Coordinate value, and be sent to host computer.
（Four）Obtain the coordinate value that fork truck convex-edge shape concentrates each vertex of each convex-edge shape：
Difference Big Dipper positioning movement station is arranged on fork truck, based on difference Big Dipper positioning movement station institute in fork truck moving process
The data of acquisition calculate the coordinate value that fork truck convex-edge shape concentrates each vertex of each convex-edge shape, and are sent to host computer.
（Five）Deduction of points judges and collects evidence：
As shown in Figure 8 and Figure 9, the runway of simulation and fork truck are subjected to crash tests in the system of host computer 2, and based on traversal
Formula separation shaft algorithm and traversal formula centrifugation criterion come judge fork truck whether live conductor or outlet behavior, if judging, there are fork trucks
When crimping or fork truck outlet, then carry out corresponding deduction of points and operate and send video capture and instruct to give video apparatus for obtaining evidence；It is described to regard
Frequency apparatus for obtaining evidence is based on video capture instruction and carries out evidence obtaining of taking pictures, and captured photo is sent to host computer 2 and is preserved.
The traversal formula separation shaft algorithm is：Take the chimb of the convex-edge shape and place convex-edge shape collection of fork truck convex-edge shape concentration
Shape calculates the position relationship of two convex-edge shapes based on traversal formula separation shaft algorithm, until each that fork truck convex-edge shape is concentrated is convex
Until each convex-edge shape that side shape is concentrated with place convex-edge shape completes operation.
The traversal formula centrifuges criterion：Take the fan ring of the convex-edge shape that fork truck convex-edge shape is concentrated and examination hall fan ring collection, base
Judge the position relationship between the convex-edge shape that fork truck convex-edge shape is concentrated and examination hall fan ring collection middle fan ring in centrifugation criterion, until
Until each fan ring that each convex-edge shape that fork truck convex-edge shape is concentrated is concentrated with examination hall fan ring completes operation.
Wherein, the convex-edge shape of the convex-edge shape and place convex-edge shape collection that take fork truck convex-edge shape to concentrate, is calculated based on separation shaft
The method of position relationship that method calculates two convex-edge shapes is：
Whether have overlapping, specially if detecting between the convex-edge shape A of place convex-edge shape collection and the convex-edge shape B of fork truck convex-edge shape concentration：
The central point of each edge of the convex-edge shape A and convex-edge shape B that need to detect crash tests is found first, and is simulated a line and made
For axis 10, a parallel axes straight line 11 for being parallel to it is then simulated according to axis respectively, then finds convex-edge shape A and chimb
The point of each vertex on shape B perpendicular to the parallel axes straight line 11（Such as a1, a2, a3, a4, b1, b2, the b3 in Fig. 4 and Fig. 5,
b4）, finally convex-edge shape A is connected with convex-edge shape B perpendicular to the point of the parallel axes straight line 11, whether detection two lines have weight
It is folded, it is not overlapped, is then obtained between convex-edge shape A and convex-edge shape B as long as there is the vertical point on a parallel axes straight line 11 to connect
Do not collide.The line between a1 and a2 and the line between b1 and b2 are overlapped in Fig. 4, but the company between a3 and a4
Line between line and b3 and b4 is not be overlapped, so not having collision between convex-edge shape A and convex-edge shape B.In Figure 5, a1 and
The line between line and b1 and b2 between a2 is overlapped, and the line between line and b3 and b4 between a3 and a4 is also
It is overlapped, and so on point on the parallel axes straight line of the axis of each edge of convex-edge shape A and convex-edge shape B connect and can all weigh
It is folded, it finally can be obtained and collided between convex-edge shape A and convex-edge shape B, if convex-edge shape A is the chimb that outlet convex-edge shape is concentrated
Shape can obtain fork truck tire outlet at this time if convex-edge shape B is tire convex-edge shape.
The fan ring of the convex-edge shape for taking fork truck convex-edge shape to concentrate and examination hall fan ring collection, judges to pitch based on centrifugation criterion
The method of position relationship between the convex-edge shape that vehicle convex-edge shape is concentrated and examination hall fan ring collection middle fan ring is as follows：
The fan ring includes Inner arc and external arc；
When judging the position relationship between convex-edge shape and Inner arc, each edge is found in convex-edge shape first from the circle with Inner arc
Then this point and the center of circle of Inner arc are attached to obtain the length of this line segment by the nearest point of the heart, then by the length of this line segment
Degree is compared with the radius of Inner arc, if this line segment length is more than the radius of Inner arc, then it represents that the convex-edge shape and inner circle
It is not collided between arc, otherwise, it means that having collision between the convex-edge shape and Inner arc；
When judging the position relationship between convex-edge shape and external arc, each edge is found in convex-edge shape first from the circle with external arc
Then this point and the center of circle of external arc are attached to obtain the length of this line segment by the nearest point of the heart, then by the length of this line segment
Degree is compared with the radius of external arc, if this line segment length is more than the radius of external arc, then it represents that the convex-edge shape and outer circle
It is not collided between arc, otherwise, it means that having collision between the convex-edge shape and external arc.
Such as：When the radius r of circle in Fig. 6 is less than the center of circle to convex-edge shape closest approach（That is C points）Distance d when, then it represents that circle
It is not collided with the convex-edge shape.When the radius r of circle in Fig. 7 is more than or equal to the center of circle to convex-edge shape closest approach（That is C points）Away from
When from d, then it represents that circle has been collided with convex-edge shape.
In the present invention, if the fan ring that convex-edge shape or examination hall fan ring that vehicle body convex-edge shape is concentrated with examination hall crimping convex-edge shape are concentrated
External arc between have collision, then it represents that fork truck crimping；I.e. vehicle body convex-edge shape drops into the out conductor 8 of examination hall edge line 12 and interior
Region between side line 7, then it represents that fork truck crimping.
If between the Inner arc for the fan ring that convex-edge shape or examination hall fan ring that tire convex-edge shape and outlet convex-edge shape are concentrated are concentrated
There is collision, then it represents that fork truck outlet；I.e. tire convex-edge shape drops into the lateral area of the out conductor 8 of examination hall edge line 12, then table
Show fork truck outlet.
If the external arc for the fan ring that convex-edge shape or examination hall fan ring that pallet fork convex-edge shape is concentrated with examination hall crimping convex-edge shape are concentrated
Between have collision, then it represents that fork truck crimping；I.e. pallet fork convex-edge shape drops between the out conductor 8 of examination hall edge line and inside cord 7
Region, then it represents that fork truck crimping.
If between the Inner arc for the fan ring that convex-edge shape or examination hall fan ring that pallet fork convex-edge shape and outlet convex-edge shape are concentrated are concentrated
There is collision, then it represents that fork truck outlet；I.e. pallet fork convex-edge shape drops into the lateral area of the out conductor 8 of field edge line, then it represents that fork
Vehicle outlet.
Claims (5)
1. a kind of fork truck field test position detection and decision maker, it is characterised in that：Movement station is positioned including the difference Big Dipper
（6）, difference Big Dipper earth station（5）, data transmission module（4）, wireless receiving module（3）, video collect evidence module（1）And host computer
（2）；
The difference Big Dipper positions movement station（6）It is arranged on the preset position and fork truck in fork truck examination hall, the difference Big Dipper
Earth station（5）Near examination hall, the location coordinate information of coordinate value and fork truck for obtaining the preset position, and
Pass through data transmission module（4）It is sent to wireless receiving module（3）, wireless receiving module（3）It is sent to host computer（2）；
The host computer（2）Sentenced according to the coordinate value of each preset position on the location coordinate information of the fork truck and fork truck examination hall
Disconnected fork truck whether there is deduction of points behavior, if there are deduction of points behavior, carries out corresponding deduction of points and operates and send video capture instruction
Give video apparatus for obtaining evidence；
The video apparatus for obtaining evidence is based on video capture instruction and carries out evidence obtaining of taking pictures, and captured photo is sent to host computer
（2）It preserves；
The deduction of points behavior includes fork truck crimping and fork truck outlet.
2. a kind of fork truck field test position detection and determination method, it is characterised in that：Using fork truck as described in claim 1
Field test position detection and decision maker, method include：
Establish examination hall convex-edge shape model and examination hall fan ring collection：
With examination hall edge line（12）Interior outside and circular arc starting point be vertex by examination hall edge line（12）It is cut into eight chimbs
Shape and two fan rings, this eight convex-edge shapes form examination hall crimping convex-edge shape collection, and ring collection is fanned in two fan ring composition examination halls
By examination hall edge line（12）Interior outer point line extend a meters to over-the-counter, examination hall edge line outer point and extended line
（9）Vertex forms eight convex-edge shapes, this eight convex-edge shapes form outlet convex-edge shape collection；
Establish fork truck convex-edge shape model：
The orthographic projection of the vehicle body of fork truck in the horizontal plane is vehicle body convex-edge shape, the orthographic projection of four tires of fork truck in the horizontal plane
For tire convex-edge shape, the orthographic projection of the pallet fork of fork truck in the horizontal plane is pallet fork convex-edge shape, and it is convex that these three convex-edge shapes form fork truck
Side shape collection；
Obtain the coordinate value that each convex-edge shape and examination hall fan ring in the convex-edge shape model of examination hall concentrate each vertex of each fan ring：
The difference Big Dipper is positioned into movement station（6）It is arranged in apex to be measured, movement station is positioned by the difference Big Dipper（6）It obtains
The coordinate value on the vertex, and it is sent to host computer（2）；
Obtain the coordinate value that fork truck convex-edge shape concentrates each vertex of each convex-edge shape：
The difference Big Dipper is positioned into movement station（6）It is arranged on fork truck, based on the positioning movement of the difference Big Dipper in fork truck moving process
It stands（6）The data acquired calculate the coordinate value that fork truck convex-edge shape concentrates each vertex of each convex-edge shape, and are sent to upper
Machine（2）；
Deduction of points judges and collects evidence：
In host computer（2）System in the runway of simulation and fork truck be subjected to crash tests, and be based on traversal formula separation shaft algorithm
With traversal formula centrifuge criterion come judge fork truck whether live conductor or outlet behavior, if judging, there are fork truck crimpings or fork truck to go out
When line, then carry out corresponding deduction of points and operate and send video capture and instruct to give video apparatus for obtaining evidence；The video apparatus for obtaining evidence base
Evidence obtaining of taking pictures is carried out in video capture instruction, and captured photo is sent to host computer（2）It preserves；
The traversal formula separation shaft algorithm is：Take the convex-edge shape of the convex-edge shape and place convex-edge shape collection of fork truck convex-edge shape concentration, base
The position relationship of two convex-edge shapes is calculated in traversal formula separation shaft algorithm, until each convex-edge shape that fork truck convex-edge shape is concentrated is equal
Until operation being completed with each convex-edge shape that place convex-edge shape is concentrated；
The traversal formula centrifuges criterion：The fan ring for taking convex-edge shape and examination hall the fan ring collection that fork truck convex-edge shape concentrates, based on from
Heart criterion come judge fork truck convex-edge shape concentrate convex-edge shape and examination hall fan ring collection middle fan ring between position relationship, until fork truck
Until each fan ring that each convex-edge shape that convex-edge shape is concentrated is concentrated with examination hall fan ring completes operation.
3. fork truck field test position detection according to claim 2 and determination method, it is characterised in that：It is described to take fork truck
The convex-edge shape for the convex-edge shape and place convex-edge shape collection that convex-edge shape is concentrated, the position that two convex-edge shapes are calculated based on separation shaft algorithm are closed
The method of system is：
Whether detect between the convex-edge shape A of place convex-edge shape collection and the convex-edge shape B of fork truck convex-edge shape concentration has overlapping,
The central point of each edge of the convex-edge shape A and convex-edge shape B that need to detect crash tests is found first, and is simulated a line and made
For axis（10）, then respectively according to axis（10）Simulate a parallel axes straight line for being parallel to it（11）, then find chimb
Each vertex on shape A and convex-edge shape B is perpendicular to the parallel axes straight line（11）Point, it is finally that convex-edge shape A and convex-edge shape B is vertical
In the parallel axes straight line（11）Point be connected, detection two lines whether have overlapping, as long as there is a parallel axes straight line（11）On
Vertical point connect and be not overlapped, then obtain not colliding between convex-edge shape A and convex-edge shape B.
4. fork truck field test position detection according to claim 2 or 3 and determination method, it is characterised in that：It is described to take
The fan ring of the convex-edge shape that fork truck convex-edge shape is concentrated and examination hall fan ring collection judges what fork truck convex-edge shape was concentrated based on centrifugation criterion
The method of position relationship between convex-edge shape and examination hall fan ring collection middle fan ring is as follows：
The fan ring includes Inner arc and external arc；
When judging the position relationship between convex-edge shape and Inner arc, each edge is found in convex-edge shape first from the circle with Inner arc
Then this point and the center of circle of Inner arc are attached to obtain the length of this line segment by the nearest point of the heart, then by the length of this line segment
Degree is compared with the radius of Inner arc, if this line segment length is more than the radius of Inner arc, then it represents that the convex-edge shape and inner circle
It is not collided between arc, otherwise, it means that having collision between the convex-edge shape and Inner arc；
When judging the position relationship between convex-edge shape and external arc, each edge is found in convex-edge shape first from the circle with external arc
Then this point and the center of circle of external arc are attached to obtain the length of this line segment by the nearest point of the heart, then by the length of this line segment
Degree is compared with the radius of external arc, if this line segment length is more than the radius of external arc, then it represents that the convex-edge shape and outer circle
It is not collided between arc, otherwise, it means that having collision between the convex-edge shape and external arc.
5. fork truck field test position detection according to claim 2 or 3 and determination method, it is characterised in that：
If between the external arc for the fan ring that convex-edge shape or examination hall fan ring that vehicle body convex-edge shape and examination hall crimping convex-edge shape are concentrated are concentrated
There is collision, then it represents that fork truck crimping；
If being touched between the Inner arc for the fan ring that convex-edge shape or examination hall fan ring that tire convex-edge shape and outlet convex-edge shape are concentrated are concentrated
It hits, then it represents that fork truck outlet；
If between the external arc for the fan ring that convex-edge shape or examination hall fan ring that pallet fork convex-edge shape and examination hall crimping convex-edge shape are concentrated are concentrated
There is collision, then it represents that fork truck crimping；
If being touched between the Inner arc for the fan ring that convex-edge shape or examination hall fan ring that pallet fork convex-edge shape and outlet convex-edge shape are concentrated are concentrated
It hits, then it represents that fork truck outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029999.0A CN108364542A (en) | 2018-01-12 | 2018-01-12 | Fork truck field test position detection and decision maker and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029999.0A CN108364542A (en) | 2018-01-12 | 2018-01-12 | Fork truck field test position detection and decision maker and its method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108364542A true CN108364542A (en) | 2018-08-03 |
Family
ID=63011341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810029999.0A Pending CN108364542A (en) | 2018-01-12 | 2018-01-12 | Fork truck field test position detection and decision maker and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108364542A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109934516A (en) * | 2019-05-01 | 2019-06-25 | 重庆韦娜软件有限公司 | Lifting examination pressing ring scoring apparatus, method and computer readable storage medium |
| CN112232990A (en) * | 2019-06-30 | 2021-01-15 | 中国海员工会天津港(集团)有限公司委员会 | Electronic judging system for competition of gantry crane |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102368280A (en) * | 2011-10-21 | 2012-03-07 | 北京航空航天大学 | Virtual assembly-oriented collision detection method based on AABB (Axis Aligned Bounding Box)-OBB (Oriented Bounding Box) mixed bounding box |
| CN103000067A (en) * | 2012-12-28 | 2013-03-27 | 苏州苏迪智能系统有限公司 | Right angle turning detection system and detecting method thereof |
| CN103136984A (en) * | 2011-11-25 | 2013-06-05 | 王恩惠 | Driving test system based on global position system (GPS) |
| CN203480727U (en) * | 2013-05-17 | 2014-03-12 | 石家庄华燕交通科技有限公司 | Driver yard driving test checking system by using GPS technology |
| CN203644261U (en) * | 2013-12-24 | 2014-06-11 | 中煤地（西安）视讯科技有限公司 | Intelligent automobile driver examination taking system based on differential GPS |
| CN105512377A (en) * | 2015-11-30 | 2016-04-20 | 腾讯科技（深圳）有限公司 | Real time virtual scene cylinder collider and convex body collision detection method and system |
| CN205656791U (en) * | 2016-03-18 | 2016-10-19 | 温州市特种设备检测研究院 | Fork truck system of taking an examination based on difference GPS location |
| CN106448332A (en) * | 2016-09-12 | 2017-02-22 | 中国石油化工股份有限公司 | Forklift safety protection and intelligent training and examination system |
| CN106601077A (en) * | 2016-12-19 | 2017-04-26 | 上海司南卫星导航技术股份有限公司 | Vehicle location judging method and vehicle location judging system |
| CN206226609U (en) * | 2016-11-09 | 2017-06-06 | 安徽三联交通应用技术股份有限公司 | A kind of motor vehicle driving examination vehicle gets over line line ball automatic evidence-collecting evaluation system |
| CN206311763U (en) * | 2016-12-02 | 2017-07-07 | 安徽敏瑞智能科技有限公司 | Cargo location detection means in a kind of fork truck examination |
-
2018
- 2018-01-12 CN CN201810029999.0A patent/CN108364542A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102368280A (en) * | 2011-10-21 | 2012-03-07 | 北京航空航天大学 | Virtual assembly-oriented collision detection method based on AABB (Axis Aligned Bounding Box)-OBB (Oriented Bounding Box) mixed bounding box |
| CN103136984A (en) * | 2011-11-25 | 2013-06-05 | 王恩惠 | Driving test system based on global position system (GPS) |
| CN103000067A (en) * | 2012-12-28 | 2013-03-27 | 苏州苏迪智能系统有限公司 | Right angle turning detection system and detecting method thereof |
| CN203480727U (en) * | 2013-05-17 | 2014-03-12 | 石家庄华燕交通科技有限公司 | Driver yard driving test checking system by using GPS technology |
| CN203644261U (en) * | 2013-12-24 | 2014-06-11 | 中煤地（西安）视讯科技有限公司 | Intelligent automobile driver examination taking system based on differential GPS |
| CN105512377A (en) * | 2015-11-30 | 2016-04-20 | 腾讯科技（深圳）有限公司 | Real time virtual scene cylinder collider and convex body collision detection method and system |
| CN205656791U (en) * | 2016-03-18 | 2016-10-19 | 温州市特种设备检测研究院 | Fork truck system of taking an examination based on difference GPS location |
| CN106448332A (en) * | 2016-09-12 | 2017-02-22 | 中国石油化工股份有限公司 | Forklift safety protection and intelligent training and examination system |
| CN206226609U (en) * | 2016-11-09 | 2017-06-06 | 安徽三联交通应用技术股份有限公司 | A kind of motor vehicle driving examination vehicle gets over line line ball automatic evidence-collecting evaluation system |
| CN206311763U (en) * | 2016-12-02 | 2017-07-07 | 安徽敏瑞智能科技有限公司 | Cargo location detection means in a kind of fork truck examination |
| CN106601077A (en) * | 2016-12-19 | 2017-04-26 | 上海司南卫星导航技术股份有限公司 | Vehicle location judging method and vehicle location judging system |
Non-Patent Citations (1)
| Title |
|---|
| 戴维•吉尔里: "《HTML5 2D游戏编程核心技术》", 30 November 2016, 机械工业出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109934516A (en) * | 2019-05-01 | 2019-06-25 | 重庆韦娜软件有限公司 | Lifting examination pressing ring scoring apparatus, method and computer readable storage medium |
| CN109934516B (en) * | 2019-05-01 | 2023-11-14 | 重庆驿锋智慧科技有限公司 | Hoisting examination clamping ring scoring device and method and computer readable storage medium |
| CN112232990A (en) * | 2019-06-30 | 2021-01-15 | 中国海员工会天津港(集团)有限公司委员会 | Electronic judging system for competition of gantry crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6571545B2 (en) | Object detection apparatus and object detection method | |
| JP2019009919A (en) | Patrol inspection support system and patrol inspection support control program | |
| CN102980896B (en) | High ferro overhead contact line device auricle fracture detection method | |
| US20080193009A1 (en) | Tracking method and tracking apparatus | |
| CN109829908B (en) | Binocular image-based method and device for detecting safety distance of ground object below power line | |
| CN109521757A (en) | Static-obstacle thing recognition methods and device | |
| CN108364466A (en) | A kind of statistical method of traffic flow based on unmanned plane traffic video | |
| CN108364542A (en) | Fork truck field test position detection and decision maker and its method | |
| CN104571103B (en) | Navigation positioning method for tour inspection robot of transformer substation | |
| CN113379712B (en) | Steel bridge bolt disease detection method and system based on computer vision | |
| CN206200973U (en) | A kind of intelligent barrier avoiding detects robot | |
| CN107406073A (en) | Will be by the method and apparatus for the nominal trajectory that vehicle crosses for the monitoring in terms of collisionless | |
| CN106568441A (en) | Beidou-based electric power patrol inspection device | |
| CN106741890A (en) | A kind of high-speed railway safety detecting system based on the dual-purpose unmanned plane of empty rail | |
| CN107505617A (en) | A kind of radar target method of testing | |
| CN105445729A (en) | Unmanned plane three-dimensional flight track precision detection method and system | |
| CN111558210A (en) | Ball picking method of full-automatic ball picking robot and full-automatic ball picking robot | |
| CN109061669A (en) | Clearance Detection and its method | |
| CN110412987A (en) | Double excitation positioning navigation method and robot | |
| CN105511486B (en) | It is a kind of based on different electric power sag detection method and system with aerial images | |
| CN104880611B (en) | The outer electromagnetic radiation automatic measurement carriage device of electric automobile and measuring method | |
| CN106975207B (en) | Based on the detection method for catching the football revolving speed grabbed to marker | |
| CN112477533A (en) | Dual-purpose transport robot of facility agriculture rail | |
| CN114730192A (en) | Object moving system | |
| CN113305037A (en) | Method for improving radial positioning precision of rim weld seam through turntable deceleration |
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: 20180803 |