KR20150010338A

KR20150010338A - Device For Detecting Tilt Of Forklift

Info

Publication number: KR20150010338A
Application number: KR20130085213A
Authority: KR
Inventors: 여준혁
Original assignee: 현대중공업 주식회사
Priority date: 2013-07-19
Filing date: 2013-07-19
Publication date: 2015-01-28

Abstract

The present invention relates to an apparatus for detecting a tilt of a forklift and, more specifically, to an apparatus for detecting a tilt of a forklift, which may guide a driver to safely carry out the work or drive the forklift by detecting a front and rear tilt or a left and right tilt of a vehicle by an angle sensor built in an MCU of the forklift, and generating an alarm when the detected tilt exceeds a preset range. To achieve this, the apparatus for detecting a tilt of a forklift includes: an MCU configured to detect a tilt of the forklift and determine whether the detected tilt is within a preset safety range, and including a tilt measuring module having the built-in angle sensor, and configured to receive information detected by the angle sensor and measure a tilt of the forklift, a tilt determining module configured to determine whether the measured tilt is within the preset safety range, a display control module configured to control the output of a result determined by the tilt determining module; and a tilt information display unit of a gauge configured to output tilt information determined by the MCU.

Description

[0001] The present invention relates to a device for detecting a tilt of a forklift,

The present invention relates to a forklift tilt sensor, and more particularly, to a tilt sensor for a forklift, which detects an inclination or a tilt of a vehicle by an angle sensor built in an MCU of a forklift and generates an alarm when the tilt exceeds a set range, The present invention relates to a forklift tilt detection device capable of guiding a safe operation or operation.

1 is a side view schematically showing a conventional forklift.

Referring to FIG. 1, a forklift is provided with a drive shaft 20 for supporting a drive wheel 30 on a vehicle body 10, and a hinge bracket (not shown) is installed on both sides of the drive shaft.

In addition, the mast 50 is configured to be tilted by being rotated forward or backward by the tilt cylinder 40, and a fork 70 capable of loading cargo is provided in front of the mast.

The fork 70 can be lifted or lowered by the lift cylinder 40, and the fork can be moved up and down to load or unload the cargo.

The conventional forklift having the above structure operates the tilt lever 60 connected to the pump motor installed inside the vehicle body when the cargo is moved on the fork and the tilt cylinder rotates about the rotation axis to rotate the tilt lever .

Since the forklift constructed as described above is constructed by separating the mast area for performing the operation and the vehicle area for performing the operation and the operation and the position of the center of gravity is different from the tolerance when the cargo is loaded on the fork, There is a very high risk that the forklift can be overturned by another right or left or up or down slope.

Therefore, in order to secure the stability of the forklift from the slope, KS / ISO has established the slope stability standard for the forklift.

However, since the conventional forklift is not provided with a device for providing tilt information of the vehicle, it is difficult to objectively determine the degree of inclination of the forklift in view of the driver. Therefore, the trolley is exposed to a potential danger, There is a problem that it is very vulnerable to safety accidents because the judgment of the driver depends on the skill of each driver.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a forklift vehicle which is equipped with an angle sensor in an MCU of a forklift and which detects an inclination state of a forklift vehicle from the angle sensor, And to provide a forklift tilt sensing device capable of guiding safe operation or driving.

According to an aspect of the present invention, there is provided a forklift tilt sensing apparatus including an angle sensor, a tilt measuring module that receives information sensed by the angle sensor and measures a tilt of the vehicle, A tilt determining module for determining whether the tilt is within a set safety range and a display control module for controlling the tilt determining module to output a result determined by the tilt determining module, And a slope information display unit for outputting slope information determined by the MCU.

The angle sensor is composed of a G-sensor, and senses acceleration values of the X-axis, the Y-axis, and the Z-axis, and transmits the acceleration values to the tilt measuring module.

The tilt measuring module measures the tilt in the forward and backward direction through the acceleration value with respect to the X axis and measures the tilt in the left and right direction through the acceleration value with respect to the Y axis. And if it is out of the safety range, it is determined to be in a warning state, and an alarm is transmitted to the display control module. The display control module transmits the alarm to the display control module, And outputs an icon of a normal state in the steady state and an alarm icon in a warning state in the case of the warning state.

In addition, the inclination determining module further includes a warning range set in consideration of the margin in the safety range. If the inclination of the vehicle is determined to fall within the warning range even if the inclination of the vehicle does not deviate from the safety range, And controls so that an icon of the attention state is outputted through the inclination information display section.

And the MCU controls the operation or the operation to be stopped immediately when the inclination of the vehicle further increases after the inclination determination module determines that the vehicle is in the warning state.

As described above, the forklift inclination detecting apparatus according to the present invention includes an angle sensor incorporated in an MCU of a forklift, judges a tilt state of a forklift vehicle from the angle sensor, generates an alarm when the tilt angle exceeds a set safe range, Or an excellent effect of guiding the operation occurs.

1 is a side view schematically showing a conventional forklift.
2 is a block diagram schematically illustrating a forklift tilt sensing apparatus according to a preferred embodiment of the present invention.
Figure 3 schematically shows the three-axis acceleration value sensing of a G sensor.
4 shows a tilt information display unit according to a preferred embodiment of the present invention.
FIG. 5 illustrates output of tilt state information according to a preferred embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

2 is a block diagram schematically illustrating a forklift tilt sensing apparatus according to a preferred embodiment of the present invention.

Referring to FIG. 2, the forklift tilt sensing apparatus according to the present invention includes an MCU 11 for detecting an inclination of a vehicle by incorporating an angle sensor and determining whether the detected inclination is within a safe range, And a tilt information display unit 12 for outputting information.

The MCU 11 plays a role of controlling the entire system related to the traveling and operation of the vehicle, particularly the forklift.

Since the MCU 11 is disposed inside the guide plate of the vehicle, the degree of tilt of the vehicle can be accurately detected when the angle sensor is incorporated.

Here, the angle sensor may be a sensor such as a gravity sensor (G-sensor) capable of sensing the angle of the mast. In the following embodiments, the G-sensor is applied to the angle measuring sensor.

The MCU 11 receives the angle information from the G sensor 111 and calculates a slope of the vehicle. The slope measuring module 112 measures a slope of the vehicle, And a display control module 114 for controlling the module 113 and the slope information display unit 12 to output the result determined by the slope determination module.

The tilt measurement module 112 receives the acceleration values of the three axes X, Y, and Z from the G sensor 111 to measure the tilt of the vehicle.

More specifically, the tilt measurement module 112 measures the tilt in the forward and backward direction through the acceleration value with respect to the X-axis, and measures the tilt in the left and right direction through the acceleration value with respect to the Y-axis. Here, the forward / backward direction means a traveling direction in which the forklift moves forward or backward, and the left / right direction means a lateral direction perpendicular to the forward / backward direction.

If the acceleration values of the X and Y axes are set to 0 when the inclination in the forward and backward direction and the left and right direction is 0, the X axis acceleration value is obtained when there is a forward and backward inclination, .

Therefore, the inclination in the longitudinal direction and the lateral direction can be measured through the acceleration value of the G sensor 111. [

The tilt determination module 113 determines whether the tilt measured by the tilt measurement module 112 is within the set safety range and transmits the result to the display control module 114.

Here, the safety range may be set to the forward / backward stability and the left / right stability criteria stipulated in the KS / ISO forklift stability criterion. Here, the front-rear stability and the left-right stability can be set by dividing into a time of running and a time of unloading work, respectively.

If the measured slope is within the set safety range, the slope determining module 113 determines that the measured slope is in a normal state and transmits the determined slope to the display control module 114. If the slope is out of the safe range, 114).

The display control module 114 plays a role of outputting slope information of the forklift through the slope information display part 12 of the guide plate.

The tilt information display unit 12 may be included in an electronic gauge plate of a forklift. The tilt information display unit 12 may include a front / rear tilt display unit 121 and a left / right tilt display unit 122, As shown in FIG.

FIG. 5 illustrates output of tilt state information according to a preferred embodiment of the present invention.

Referring to FIG. 5, when the steady state is determined from the slope determination module 113, an icon of a normal state is output, and when it is determined to be a warning state, an alarm icon of a warning state is output.

For example, if both the forward and backward tilt and the left and right tilt are in a normal state, an icon of a normal state is output from the front tilt display unit and the left and right tilt display unit. If the forward and backward tilt exceeds the safe range and is determined as a warning state, An alarm icon is output, and a steady-state icon is displayed on the left-right tilt display unit.

In this case, when the warning is determined to be out of the safe range, it is difficult for the driver to respond quickly. Therefore, even if the safety range is not exceeded, it is necessary to pay attention to the driver's operation and work in advance.

If the tilt determination module determines that the tilt of the vehicle corresponds to the attention range, an icon of the attention state distinguishable from the alarm is displayed on the tilt information display unit Output.

Here, the margin may be set in the range of 5 to 20%, and if the inclination is within the set margin range even if the inclination does not deviate from the safe range, it is determined to be in the caution state.

Meanwhile, the MCU can control the emergency stop of the forklift truck when it is detected that the inclination of the forklift is increased even after the forklift is determined to be in a warning state after exceeding the safety range.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

11: MCU 111: G sensor
112: tilt measurement module 113: tilt determination module
114: Display control module 12: Tilt information display part
121: front / rear tilt display section 122: left / right tilt display section

Claims

A slope measuring module for measuring a slope of the vehicle by receiving the information sensed by the angle sensor, an inclination determining module for determining whether the measured inclination falls within the set safety range, And a display control module for controlling the module to output a result determined by the module, the MCU detecting the inclination of the vehicle and determining whether the detected inclination is within a safe range;
And a tilt information display unit for outputting the tilt information determined by the MCU.

The method according to claim 1,
The angle sensor
A G-sensor;
Axis acceleration value of the X-axis, the Y-axis, and the Z-axis, and transmits the detected acceleration value to the tilt measurement module.

3. The method of claim 2,
The tilt measuring module
Measuring an inclination in an anteroposterior direction through an acceleration value with respect to the X-axis; measuring a tilt in a lateral direction through an acceleration value with respect to the Y-axis;
The inclination determination module
If the measured inclination is within the set safety range, it is determined to be a normal state and transmitted to the display control module; if the measured inclination is out of the safety range, it is determined to be in a warning state and the alarm is transmitted to the display control module;
The display control module
And outputting the tilt state information determined by the tilt determining module to the forward / backward tilt display unit and the left / right tilt display unit, respectively;
Wherein the controller is configured to output the icon of the normal state in the normal state and to output the alarm icon of the warning state in the warning state.

The method of claim 3,
The inclination determination module
Further comprising a warning range set in consideration of the margin in the safety range;
Wherein when the inclination of the vehicle is judged to fall within the range of attention even if the inclination of the vehicle does not deviate from the safety range, it is determined that the state of attention is distinguishable from the alarm and the icon of the state of caution is outputted through the inclination information display section .

The method of claim 3,
The MCU
Wherein when the tilt of the vehicle is further increased after the tilt determination module determines that the vehicle is in the warning state, the tilt determination module immediately controls the operation or the operation to be stopped in an emergency.