CN113173545A - Forklift safety anti-collision system and alarm mode thereof - Google Patents
Forklift safety anti-collision system and alarm mode thereof Download PDFInfo
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- CN113173545A CN113173545A CN202110590750.9A CN202110590750A CN113173545A CN 113173545 A CN113173545 A CN 113173545A CN 202110590750 A CN202110590750 A CN 202110590750A CN 113173545 A CN113173545 A CN 113173545A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Traffic Control Systems (AREA)
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Abstract
The invention discloses a forklift safety anti-collision system and an alarm mode thereof, and relates to the technical field of forklifts. The device passes through fork truck at the in-process that traveles, the distance between judgement fork truck and the barrier that can be accurate, whether the height that can monitor the barrier exceeds fork truck's chassis height simultaneously, can also judge whether the barrier is the live thing, when monitoring these barriers, can be timely play the early warning effect to the driver, make loudspeaker sound automatically simultaneously, remind the live thing, if when night, when meetting the barrier for the live thing, can make far and near light constantly switch, make it remind the live thing to leave in time, prevent the emergence collision condition.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a safety anti-collision system of a forklift and an alarm method thereof.
Background
The forklift is one of the commonly used carrying vehicles of people at present, and is various wheeled carrying vehicles for loading, unloading, stacking, short-distance transportation and heavy object carrying operation of finished pallet goods. The tray can be widely applied to ports, stations, airports, goods yards, factory workshops, warehouses, circulation centers, distribution centers and the like, can enter cabins, carriages and containers to carry out loading, unloading and carrying operations of tray goods, and is necessary equipment in tray transportation and container transportation.
But at present when the driver drives on fork truck, because the place ahead pile up neatly of fork truck has the goods, driver's field of vision can worsen like this, can't know the distance between fork truck and the barrier, the easy emergence collision condition like this does not carry out corresponding improvement to this defect.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a forklift safety anti-collision system and an alarm method thereof, and solves the problem that when a driver drives on a forklift at present, the distance between the forklift and an obstacle cannot be known because goods are stacked in front of the forklift, so that the driver has poor vision and is easy to collide.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a fork truck safety collision avoidance system, includes central processing unit, central processing unit's input passes through wire and monitoring system's output electric connection, and central processing unit's output passes through wire and processing system's input electric connection, realize two-way connection through the wire between central processing unit and the early warning system.
The monitoring system comprises a data acquisition module, wherein the output end of the data acquisition module is respectively electrically connected with the input ends of the image synthesis module, the height measurement module, the distance measurement module and the dynamic judgment module through wires, and the input end of the image synthesis module is electrically connected with the output ends of the front camera, the rear camera and the side camera through wires.
The processing system comprises a control module, wherein the input end of the control module is electrically connected with the output end of the signal receiving module through a wire, the input end of the signal receiving module is electrically connected with the output end of the brightness monitoring module through a wire, and the output end of the control module is electrically connected with the input ends of the automatic light module, the automatic horn module and the automatic brake module through wires respectively.
The early warning system comprises a threshold setting module, wherein the input end of the threshold setting module is electrically connected with the output end of the numerical value modification module through a wire, the output end of the threshold setting module is electrically connected with the input end of the data storage module through a wire, the output end of the data storage module is electrically connected with the input end of the data comparison module through a wire, the input end of the data comparison module is electrically connected with the output end of the data receiving module through a wire, and the output end of the data comparison module is electrically connected with the input end of the early warning module through a wire.
Preferably, the height measuring module is used for measuring the height of the obstacle, and the distance measuring module is used for measuring the distance between the obstacle and the forklift.
Preferably, the threshold setting module comprises a chassis height difference module, a distance safety difference module and a distance danger difference module.
Preferably, the chassis height difference module is a distance value between the forklift and the ground, the distance safety difference module is a safety distance range value between the obstacle and the forklift, and the distance danger difference module is a danger distance value between the obstacle and the forklift.
Preferably, the early warning module includes the data confirmation module, the output of data confirmation module passes through the wire respectively with voice module and acousto-optic warning module's input electric connection, voice module's output passes through the wire and the input electric connection of volume gradual change module, the input of acousto-optic warning module passes through the wire and reports the output electric connection of module apart from.
Preferably, the data confirmation module gradually changes the volume, and when the distance between the obstacle and the forklift is closer and closer, the volume of the sound and light alarm module is gradually increased.
Preferably, a fork truck safety collision avoidance system, its alarm mode includes the following step:
s1, monitoring: the forklift comprises a front camera, a rear camera, a side camera, a data acquisition module, a height measurement module, a distance measurement module and a dynamic judgment module, wherein the front camera and the rear camera monitor the front view image and the rear view image of the forklift, the side camera monitors the view images of two sides of the forklift in the running process of the forklift, the image synthesis module synthesizes the images monitored by the front camera and the rear camera and the side camera after monitoring, a driver can conveniently watch the images, then the data acquisition module acquires the monitored images, the height measurement module, the distance measurement module and the dynamic judgment module monitor the condition of an obstacle according to the acquired images, the height measurement module can measure the height of the obstacle, the distance measurement module measures the distance between the obstacle and the forklift, and the dynamic judgment module judges whether the obstacle is a living object or not;
s2, early warning: the method comprises the steps that numerical values of all parameters are set in a threshold setting module, the parameters can be modified by a numerical value modification module, a chassis height difference module is a distance numerical value between a forklift and the ground, a distance safety difference module is a safety distance range value between an obstacle and the forklift, a distance danger difference module is a danger distance value between the obstacle and the forklift, the distance safety difference module is set and stored in a data storage module, a data receiving module receives monitored data, after the data receiving module receives the monitored data, a data comparison module compares the monitored data with the set data, and if the monitored data and the set data exist in the process of coming out, the data comparison module transmits signals to an early warning module to send out early warning work;
s3, after early warning is sent out, the signal receiving module receives data, the brightness monitoring module can monitor brightness, judge whether daytime or night at the moment, if at night, and when the barrier is a living object, the control module transmits a signal to the automatic light module, the automatic light module controls light to work, the continuous switching of far and near light is enabled to remind the living object, meanwhile, the automatic horn module can automatically send out horn sound, the warning effect is further played, when the distance between the barrier and a forklift is a danger range value set in the danger difference module, and when the height of the barrier exceeds the distance set in the chassis height difference module, the automatic brake module can automatically perform a brake function, and the collision condition is prevented.
Preferably, in step S2, when the early warning is given, the data confirmation module confirms the data coming in and going out, the voice module prompts the driver in a voice form after confirmation, the volume gradual change module is the voice content, namely, the distance between the obstacle and the forklift, and the sound and light alarm module can give out sound and light alarm to better remind the driver, and when the distance between the obstacle and the forklift is closer and closer, the distance broadcast module gradually increases the sound of the alarm.
Advantageous effects
The invention provides a safety anti-collision system of a forklift and an alarm method thereof. Compared with the prior art, the method has the following beneficial effects:
1. the safe anti-collision system of the forklift and the alarming mode thereof are characterized in that the output end of a data acquisition module is respectively electrically connected with the input ends of an image synthesis module, a height measuring module, a distance measuring module and a dynamic judgment module through leads, the input end of the image synthesis module is electrically connected with the output ends of a front camera, a rear camera and a side camera through leads, when the forklift is in the driving process, the distance between the forklift and an obstacle can be accurately judged, whether the height of the obstacle exceeds the height of a chassis of the forklift or not can be monitored, whether the obstacle is a living object or not can be judged, when the obstacle is monitored, the early warning effect can be timely played for a driver, if the distance between the obstacle and the forklift is a dangerous distance, the forklift can be automatically braked and stopped, and simultaneously, a horn can be automatically sounded to remind the living object, and if the obstacle is a living object at night, the far and near light can be switched continuously, so that the living things can be reminded of leaving in time, and the collision condition is prevented.
2. This fork truck safety collision avoidance system and alarm mode thereof, the output through data confirmation module passes through the wire respectively with voice module and acousto-optic warning module's input electric connection, voice module's output passes through the wire and the input electric connection of volume gradual change module, the output electric connection of acousto-optic warning module's input through wire and distance report module, when fork truck meets the barrier in the driving, can indicate the driver with the form of pronunciation, report the distance between barrier and the fork truck to the driver, still can remind the driver with the form of reputation simultaneously, when more and more near along with the barrier, the volume of sound can grow gradually, and then the security performance has been improved.
Drawings
FIG. 1 is a schematic frame diagram of the present invention;
FIG. 2 is a schematic block diagram of the monitoring system of the present invention;
FIG. 3 is a schematic block diagram of a processing system of the present invention;
FIG. 4 is a schematic block diagram of the early warning system of the present invention;
fig. 5 is a schematic frame diagram of the early warning module of the present invention.
In the figure: 1. a central processing unit; 2. a monitoring system; 21. an image synthesis module; 22. front and rear cameras; 23. a camera is arranged on the side; 24. a data acquisition module; 25. a height measurement module; 26. a distance measurement module; 27. a dynamic judgment module; 3. a processing system; 31. a control module; 32. a signal receiving module; 33. a brightness monitoring module; 34. an automatic light module; 35. an automatic horn module; 36. an automatic braking module; 4. an early warning system; 41. a threshold setting module; 411. a chassis height difference module; 412. a distance safety difference module; 413. a distance risk difference module; 42. a numerical modification module; 43. a data storage module; 44. a data comparison module; 45. a data receiving module; 46. an early warning module; 461. a data confirmation module; 462. a voice module; 463. a sound and light alarm module; 464. a distance broadcasting module; 465. and a volume gradient module.
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, the present invention provides a technical solution: the utility model provides a fork truck safety collision avoidance system, includes central processing unit 1, central processing unit 1's input passes through wire and monitoring system 2's output electric connection, and central processing unit 1's output passes through wire and processing system 3's input electric connection, realizes two-way connection through the wire between central processing unit 1 and the early warning system 4.
Referring to fig. 2, in the embodiment of the present invention, the monitoring system 2 includes a data acquisition module 24, an output end of the data acquisition module 24 is electrically connected to input ends of the image synthesis module 21, the height measurement module 25, the distance measurement module 26 and the dynamic determination module 27 through wires, an input end of the image synthesis module 21 is electrically connected to output ends of the front-back camera 22 and the side camera 23 through wires, the height measurement module 25 is used for measuring a height condition of an obstacle, and the distance measurement module 26 is used for measuring a distance between the obstacle and the forklift.
Referring to fig. 3, in the embodiment of the present invention, the processing system 3 includes a control module 31, an input end of the control module 31 is electrically connected to an output end of the signal receiving module 32 through a wire, an input end of the signal receiving module 32 is electrically connected to an output end of the brightness monitoring module 33 through a wire, and an output end of the control module 31 is electrically connected to input ends of the automatic light module 34, the automatic horn module 35, and the automatic brake module 36 through wires, respectively.
Referring to fig. 4, in the embodiment of the present invention, the early warning system 4 includes a threshold setting module 41, an input end of the threshold setting module 41 is electrically connected to an output end of the numerical modification module 42 through a conductive wire, an output end of the threshold setting module 41 is electrically connected to an input end of the data storage module 43 through a conductive wire, an output end of the data storage module 43 is electrically connected to an input end of the data comparison module 44 through a conductive wire, an input end of the data comparison module 44 is electrically connected to an output end of the data receiving module 45 through a conductive wire, an output end of the data comparison module 44 is electrically connected to an input end of the early warning module 46 through a conductive wire, the threshold setting module 41 includes a chassis height difference module 411, a distance safety difference module 412 and a distance risk difference module 413, the chassis height difference module 411 is a distance value between the forklift and the ground, the distance safety difference module 412 is a safety distance range value between the obstacle and the forklift, the distance risk difference module 413 is a value of a dangerous distance between the obstacle and the forklift.
Referring to fig. 5, in the embodiment of the present invention, the early warning module 46 includes a data confirmation module 461, an output end of the data confirmation module 461 is electrically connected to input ends of the voice module 462 and the sound and light alarm module 463 through wires, an output end of the voice module 462 is electrically connected to an input end of the volume gradual change module 465 through wires, an input end of the sound and light alarm module 463 is electrically connected to an output end of the distance broadcast module 464 through wires, the data confirmation module 461 changes the volume gradually, and when the distance between the obstacle and the forklift becomes closer and closer, the volume of the sound and light alarm module 463 gradually increases.
Further, a fork truck safety collision avoidance system, its alarm mode includes the following step:
s1, monitoring: in the running process of the forklift, the front camera 22 and the rear camera 22 monitor the front view image and the rear view image of the forklift, the side camera 23 monitors the view images of two sides of the forklift, after monitoring, the image synthesis module 21 synthesizes the images monitored by the front camera 22 and the rear camera 23, so that a driver can conveniently watch the images, then the data acquisition module 24 acquires the monitored images, then the height measurement module 25, the distance measurement module 26 and the dynamic judgment module 27 monitor the condition of an obstacle according to the acquired images, the height measurement module 25 can measure the height of the obstacle, the distance measurement module 26 measures the distance between the obstacle and the forklift, and the dynamic judgment module 27 judges whether the obstacle is a living object or not;
s2, early warning: the numerical values of all parameters are set in a threshold setting module 41, a numerical value modification module 42 can modify the parameters, a chassis height difference module 411 is a distance value between a forklift and the ground, a distance safety difference module 412 is a safety distance range value between an obstacle and the forklift, a distance danger difference module 413 is a danger distance value between the obstacle and the forklift, the distance safety difference module is set and stored in a data storage module 43, a data receiving module 45 receives monitored data, after the monitoring data are received, a data comparison module 44 compares the monitored data with the set data, and if the monitored data and the set data exist in and out, the data comparison module 44 transmits signals to an early warning module 46 to send out early warning work;
s3, after the early warning is sent, the signal receiving module 32 receives the data, the brightness monitoring module 33 can monitor the brightness, determine whether it is daytime or nighttime, if it is nighttime, and the obstacle is a living object, the control module 31 transmits the signal to the automatic light module 34, the automatic light module 34 controls the light to work, so that the light can be continuously switched to remind the living object, meanwhile, the automatic horn module 35 can automatically send out the horn sound, further playing a role in reminding, when the distance between the obstacle and the forklift is the dangerous range value set in the dangerous difference module 413, and when the height of the obstacle exceeds the distance set in the chassis height difference module 411, the automatic brake module 36 can automatically perform the braking function, so as to prevent the collision.
Further, in step S2, when an early warning is issued, the data confirmation module 461 confirms the data coming in and going out, the voice module 462 prompts the driver in a voice form after confirmation, the volume gradual change module 465 is the content of voice, that is, the distance between the obstacle and the forklift, and the sound and light alarm module 463 can issue a sound and light alarm to better remind the driver, and when the distance between the obstacle and the forklift becomes closer and closer, the distance broadcast module 464 gradually increases the sound of the alarm.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
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 (8)
1. The utility model provides a fork truck safety collision avoidance system, includes central processing unit (1), its characterized in that: the input end of the central processing unit (1) is electrically connected with the output end of the monitoring system (2) through a wire, the output end of the central processing unit (1) is electrically connected with the input end of the processing system (3) through a wire, and the central processing unit (1) is in bidirectional connection with the early warning system (4) through a wire;
the monitoring system (2) comprises a data acquisition module (24), the output end of the data acquisition module (24) is electrically connected with the input ends of the image synthesis module (21), the height measurement module (25), the distance measurement module (26) and the dynamic judgment module (27) through leads respectively, and the input end of the image synthesis module (21) is electrically connected with the output ends of the front camera (22) and the rear camera (23) through leads;
the processing system (3) comprises a control module (31), the input end of the control module (31) is electrically connected with the output end of a signal receiving module (32) through a lead, the input end of the signal receiving module (32) is electrically connected with the output end of a brightness monitoring module (33) through a lead, and the output end of the control module (31) is electrically connected with the input ends of an automatic light module (34), an automatic horn module (35) and an automatic brake module (36) through leads respectively;
early warning system (4) are including threshold value setting module (41), the output electric connection of the input of threshold value setting module (41) through wire and numerical value modification module (42), and the input electric connection of wire and data storage module (43) is passed through to the output of threshold value setting module (41), the input electric connection of wire and data comparison module (44) is passed through to the output of data storage module (43), the output electric connection of wire and data receiving module (45) is passed through to the input of data comparison module (44), and the input electric connection of wire and early warning module (46) is passed through to the output of data comparison module (44).
2. The forklift safety collision avoidance system of claim 1, wherein: the height measuring module (25) is used for measuring the height condition of the obstacle, and the distance measuring module (26) is used for measuring the distance between the obstacle and the forklift.
3. The forklift safety collision avoidance system of claim 1, wherein: the threshold setting module (41) comprises a chassis height difference module (411), a distance safety difference module (412) and a distance danger difference module (413).
4. A forklift safety collision avoidance system according to claim 3, wherein: chassis difference of height module (411) is the distance value between fork truck and the ground, apart from safe poor module (412) for the safe distance range value between barrier and the fork truck, apart from dangerous poor module (413) for the dangerous distance value between barrier and the fork truck.
5. The forklift safety collision avoidance system of claim 1, wherein: the early warning module (46) comprises a data confirmation module (461), the output end of the data confirmation module (461) is electrically connected with the input ends of a voice module (462) and a sound-light alarm module (463) through wires respectively, the output end of the voice module (462) is electrically connected with the input end of a volume gradual change module (465) through wires, and the input end of the sound-light alarm module (463) is electrically connected with the output end of a distance broadcast module (464) through wires.
6. The forklift safety collision avoidance system of claim 5, wherein: the data confirmation module (461) is provided with gradually changed volume, and the volume of the acousto-optic alarm module (463) is gradually increased when the distance between the obstacle and the forklift is closer and closer.
7. The forklift safety collision avoidance system according to any one of claims 1 to 6, wherein the alarm mode comprises the following steps:
s1, monitoring: in the running process of the forklift, front and rear cameras (22) monitor front and rear visual field images of the forklift, side cameras (23) monitor visual field images on two sides of the forklift, after monitoring, an image synthesis module (21) synthesizes the images monitored by the front and rear cameras (22) and the side cameras (23) to facilitate a driver to watch, a data acquisition module (24) acquires the monitored images, a height measurement module (25), a distance measurement module (26) and a dynamic judgment module (27) monitor the condition of an obstacle according to the acquired images, the height measurement module (25) can measure the height of the obstacle, the distance measurement module (26) measures the distance between the obstacle and the forklift, and the dynamic judgment module (27) judges whether the obstacle is a living object or not;
s2, early warning: the method comprises the steps that numerical values of all parameters are set in a threshold setting module (41), a numerical value modification module (42) can modify the parameters, a chassis height difference module (411) is a distance value between a forklift and the ground, a distance safety difference module (412) is a safety distance range value between an obstacle and the forklift, a distance danger difference module (413) is a danger distance value between the obstacle and the forklift, the distance danger difference module is set and stored in a data storage module (43), a data receiving module (45) receives monitored data, after receiving, a data comparison module (44) compares the monitored data with the set data, and if the monitored data and the set data exist, the data comparison module (44) transmits signals to an early warning module (46) to send out early warning work;
s3, after early warning is sent out, the signal receiving module (32) receives data, the brightness monitoring module (33) can monitor brightness, judge whether daytime or night at the moment, if at night, and when the barrier is a living object, the control module (31) transmits the signal to the automatic light module (34), the automatic light module (34) controls light work, make the continuous switching of far and near light make it remind the living object, automatic horn module (35) can send out the horn sound automatically simultaneously, further play the role of reminding, when the distance between barrier and fork truck is the danger range value set up in the danger difference module (413) of distance, and when the height of barrier surpassed the distance set up in chassis difference of height module (411), automatic brake module (36) can carry out the brake function automatically, prevent the collision condition.
8. The forklift safety anti-collision early warning method according to claim 7, characterized in that: in step S2, when an early warning is given, the data confirmation module (461) confirms the data coming in and going out, the voice module (462) prompts the driver in a voice form after confirmation, the volume gradual change module (465) is the voice content, that is, the distance between the obstacle and the forklift, and the sound and light alarm module (463) can give out sound and light alarm to better remind the driver, and when the distance between the obstacle and the forklift becomes closer and closer, the distance broadcast module (464) gradually increases the alarm sound.
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| CN108001349A (en) * | 2017-12-27 | 2018-05-08 | 广东博鑫工业科技有限公司 | A kind of fork truck system of anticollision |
| CN108594820A (en) * | 2018-05-04 | 2018-09-28 | 中国矿业大学 | A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method |
| CN211468301U (en) * | 2019-09-29 | 2020-09-11 | 江西瑞华科工贸有限公司 | Engineering machine tool safety monitoring device |
| CN110817749A (en) * | 2019-10-29 | 2020-02-21 | 义乌市深研智能科技有限公司 | Forklift anti-collision control system |
| CN211688129U (en) * | 2019-12-25 | 2020-10-16 | 上海瑞迈企业管理咨询有限公司 | Anticollision type fork truck |
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| CN114932762B (en) * | 2022-03-03 | 2024-05-07 | 汇源印刷包装科技（天津）股份有限公司 | Safety precaution system of full-automatic ink jet numbering machine |
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