TWM572324U - Vehicle speed control anti-collision system and mobile working vehicle with the same - Google Patents

Abstract

A vehicle speed control collision avoidance system includes: a controller, a brake system coupled to a mobile work vehicle; and at least one sensing device coupled to the controller and mounted to the mobile work vehicle, each of the sensing The device comprises an ultrasonic ranging module and a micro processing unit, and the ultrasonic ranging module transmits a signal corresponding to the distance between the mobile working vehicle and the obstacle to the micro processing unit, and the micro processing unit calculates a distance value between the mobile work vehicle and the obstacle is transmitted to the controller; wherein the controller controls the braking system to make the mobile working vehicle run when the distance value is less than a deceleration distance The direction of movement slows down.

Description

Vehicle speed control anti-collision system and mobile work vehicle with the same

The present invention relates to an anti-collision system, in particular to a vehicle speed control collision avoidance system, and a mobile work vehicle having the same.

With the continuous advancement of technology, most of the vehicles are equipped with a reversing radar or a reversing developing device to assist the driver to look at the road environment behind the vehicle to avoid collision when the vehicle is reversing. To warn the driver that the vehicle is close to the obstacle located at the rear, but the driver cannot know the actual distance of the vehicle from the obstacle, or there is a chance of collision; even if the reverse developing device is installed, it is still determined when to decelerate and stop. It must rely on the driver's own judgment that when the driver's spirit is not continued or is distracted by an emergency, a collision may occur.

On the other hand, in the factory, warehouse and construction site environment, for example, cargo handling vehicles and aerial work vehicles are often used for cargo handling and high-altitude operations to increase work efficiency. Although these mobile work vehicles are not fast, the working environment is relatively narrow or easy to have a dead space in the line of sight, and it is easy to collide with walls, brackets or personnel, causing casualties, work safety incidents and property damage.

In view of this, the present invention proposes a vehicle speed control collision avoidance system for the lack of the above-mentioned conventional technology, and can effectively prevent the collision of the mobile work vehicle by controlling the vehicle speed.

One of the aims of the present invention is to provide a vehicle speed control collision avoidance system for detecting an obstacle in a travel path of a mobile work vehicle and decelerating or stopping according to the distance between the vehicle body and the obstacle.

Another object of the present invention is to provide a vehicle speed control collision avoidance system that alerts the driver to the working environment through the light or sound of the warning device.

In order to achieve the above object, the present invention provides a vehicle speed control collision avoidance system for a mobile work vehicle and a brake system connected to the mobile work vehicle to prevent the mobile work vehicle from colliding with at least one obstacle in the travel path. The system includes: a controller coupled to the brake system; and at least one sensing device coupled to the controller and mounted to the mobile work vehicle, each of the sensing devices including an ultrasonic ranging module and a a micro processing unit that transmits a signal corresponding to a distance between the mobile work vehicle and the obstacle to the micro processing unit, and the micro processing unit calculates a distance between the mobile work vehicle and the obstacle a distance value, the distance value is transmitted to the controller; and a warning device connected to the controller, when the distance between the mobile work vehicle and the obstacle is less than a predetermined distance, sending a warning signal; Wherein, when the distance value is less than a deceleration distance, the controller controls the braking system to make the moving speed of the mobile working vehicle in the traveling direction Down or stop.

In one embodiment of the present invention, the warning device is a buzzer, and the warning signal is a buzzer, and the buzzer emits a beep of different tones according to different distance values.

In one embodiment of the present invention, the warning device is a light-emitting device, and the warning signal is a light source emitted by the light-emitting device, and the light-emitting device emits light sources with different blinking frequencies according to different distance values.

In one embodiment of the present invention, the sensing device and the controller are connected by a communication protocol of a controller area network.

Compared with the prior art, the speed control anti-collision system of the present invention is connected with the brake system of the mobile work vehicle. When the mobile work vehicle is detected to be close to the obstacle in the travel path, the mobile work vehicle and the obstacle can be used according to the mobile work vehicle and the obstacle. The distance is controlled to control the braking system of the mobile work vehicle, so that the moving speed of the mobile working vehicle is reduced or stopped in the traveling direction. On the other hand, the light or sound of the warning device can be simultaneously reminded to the driver to pay attention to the working environment, thereby achieving the lifting movement. Operational safety of the work vehicle.

1‧‧‧Speed control collision avoidance system

2‧‧‧ Controller

3, 21, 31‧‧‧ sensing devices

4‧‧‧Ultrasonic ranging module

5‧‧‧Microprocessing unit

6‧‧‧Warning device

10‧‧‧ brake system

20‧‧‧Header

30‧‧‧ Aerial work vehicle

301‧‧‧ body

302‧‧‧Loading platform

Figure 1 is a schematic diagram of the creation of a vehicle speed control collision avoidance system.

2 is a side view of a first preferred embodiment of a mobile work vehicle having a vehicle speed control collision avoidance system.

Figure 3 is a plan view of the first preferred embodiment of Figure 2.

4 is a side view of a second preferred embodiment of a mobile work vehicle having a vehicle speed control collision avoidance system.

Figure 5 is a plan view of the second preferred embodiment of Figure 4.

The embodiments of the present invention are described below by way of specific embodiments, and those skilled in the art can readily understand the advantages and effects of the present invention from the disclosure of the present disclosure.

The structures, proportions, sizes, etc. shown in the drawings of the present specification are only used in conjunction with the disclosure of the specification for understanding and reading by those skilled in the art. The qualifications that can be implemented in this creation, the modification of any structure, the adjustment of the size or the change of the proportional relationship, in the absence of substantial changes in the technical content, should also be regarded as the scope of the creation of this creation, which is described first.

A schematic diagram of a first preferred embodiment of the present vehicle speed control collision avoidance system is shown in FIG. 1. In this example, the vehicle speed control collision avoidance system 1 is provided for a mobile work vehicle such as a stacker and an aerial work vehicle, and is connected and moved. The brake system 10 of the work vehicle prevents the mobile work vehicle from colliding with an obstacle in the travel path. The vehicle speed control collision avoidance system 1 includes a controller 2, a sensing device 3, and a warning device 6. The controller 2 is coupled to the brake system 10 of the mobile work vehicle, and the sensing device 3 is mounted on the mobile work vehicle and connected to the controller 2, The sensing device 3 includes an ultrasonic ranging module 4 and a micro processing unit 5, and the ultrasonic ranging module 4 transmits a signal corresponding to the distance between the mobile working vehicle and the obstacle to the micro processing unit 5, and the micro processing unit 5 calculates After the distance value between the mobile work vehicle and the obstacle is released, the distance value is transmitted to the controller 2.

When the distance between the mobile work vehicle and the obstacle is less than a predetermined distance, for example, the distance value is less than 3.5 meters, the warning device 6 connected to the controller 2 sends a warning signal to alert the driver. If the distance value is less than a deceleration distance, for example, the distance value is less than 1.5 meters, the controller 2 controls the braking system 10 to reduce the moving speed of the mobile working vehicle in the traveling direction when the mobile working vehicle will collide with an obstacle. For example, when the distance value is less than twenty centimeters, the controller 2 controls the braking system 10 to reduce the moving speed to zero, thereby preventing the mobile working vehicle from colliding with the obstacle. The above-mentioned predetermined distance, deceleration distance, and distance value for starting deceleration to zero may be determined according to different types of mobile work vehicle vehicles, or the driver may set the value by himself.

In this example, the sensing device 3 and the controller 2 are connected by a communication protocol of a Controller Area Network (CAN or CAN bus). Of course, the present invention Those with ordinary knowledge in the field can also arbitrarily choose, for example, Local Interconnect Network (LIN), Media Oriented Systems Transport (MOST), FlexRay, and Automotive Ethernet as the interface. None of them hindered the implementation of this case.

2 and 3 are a side view and a plan view, respectively, showing a first preferred embodiment of a mobile work vehicle having a vehicle speed control collision avoidance system. In this example, the mobile work vehicle is a stacker 20, and the stacker 20 has a vehicle body, a plurality of wheels and a brake system for carrying the vehicle body, and a vehicle speed control collision avoidance system is disposed on the stacker 20, wherein the warning device is a bee Sounder. When the driver operates the stacker 20, the situation of the left and right sides of the stacker 20 is generally less noticeable. Therefore, the sensing devices 21 of the speed control collision avoidance system are respectively installed on the left and right sides of the body of the stacker 20. And rear.

When there is an obstacle around the stacker 20 and the distance from the car body is less than 2.5 meters, the buzzer will start to beep to alert the driver, but there is no risk of collision. Therefore, the controller does not control the braking system to decelerate; if the distance from the obstacle is less than 1 meter during the driver's continued operation, the buzzer's tone will be changed to a short time, and the controller will control the braking system. The rotation of the wheel of the brake system stacker 20 causes the speed of the stacker 20 to decrease in the direction of travel, reducing the risk of collision; and when the distance from the obstacle is less than 20 cm, because there is already a collision Danger, the tone of the beep is extremely urgent, and the controller controls the braking system so that the moving speed of the stacker 20 in the traveling direction drops to zero. In other words, for example, when the stacker 20 is reversing, when the obstacle is almost hit, the stacker 20 cannot continue to reversing, and only the forward or the steering can be selected to continue driving; if the stacker 20 is about to turn right, it is about to When the obstacle is hit, the controller controls the brake system to stop the wheel from rotating. When the driver operates the left turn or reverses, the vehicle can continue to drive.

4 and 5 are a side view and a plan view, respectively, showing a second preferred embodiment of a mobile work vehicle having a vehicle speed control collision avoidance system. In this example, the mobile work vehicle is the aerial work vehicle 30, and the same portions as in the previous example will not be described again in this example, and only the difference will be described. The vehicle speed control collision avoidance system is disposed in the aerial work vehicle 30, wherein the warning device is a light-emitting device such as an LED light bulb. Because the turning angle of the general aerial work vehicle 30 is small, in this example, the sensing devices 31 are respectively installed on the front and rear sides of the vehicle body 301, in addition to preventing the collision between the vehicle body 301 and the obstacles in the traveling route, and also avoiding the loading platform. 302 collides with a higher obstacle.

When an obstacle appears around the aerial work vehicle 30 and the distance from the vehicle body 301 is less than 1 meter, the light-emitting device will start to emit a flashing light source to alert the operator; if the operator is in the process of operation, with the obstacle When the distance is less than 0.5 meters, the blinking frequency of the illuminating device will increase, and the controller will control the braking system, so that the moving speed of the aerial working vehicle 30 in the traveling direction is reduced, and the risk of collision is reduced; and when the distance from the obstacle is less than At 20 cm, because there is already a risk of collision, the flashing frequency of the illuminating device will rise to the highest, and the controller controls the braking system or the lifting device to reduce the moving speed of the stacker 20 in the traveling direction to zero, or let the ride The carrier platform 302 stops moving in the direction of movement. In addition, in addition to decelerating or stopping the aerial work vehicle 30, the vehicle speed control collision avoidance system can be set to be reset by the operator or wait 10 seconds after the aerial work vehicle 30 is stopped to continue to operate the aerial work vehicle 30, thereby increasing work safety. Sex.

In summary, the vehicle speed control collision avoidance system provided by the present invention and the mobile work vehicle having the same can detect obstacles in the moving work vehicle approaching the travel path, according to the mobile work vehicle and the obstacle The distance, the warning signal is set or the brake system is controlled, so that the moving speed of the mobile work vehicle in the traveling direction is lowered or stopped, and the driver can be reminded to pay attention to the condition of the driving path, so that the safety of the mobile working vehicle can be greatly improved. .

However, the above is only the preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto. Any simple equivalent changes and modifications made according to the scope of the patent application and the contents of the specification should still be It is within the scope of this creation. After the description of the preferred embodiment of the present invention, those skilled in the art should be able to understand that the present case is a novel, progressive and industrially practical creation, which has profound development value.

Claims (10)

A vehicle speed control collision avoidance system is provided for a mobile work vehicle and coupled to a brake system of the mobile work vehicle to prevent the mobile work vehicle from colliding with at least one obstacle in the travel path, the system comprising: a controller And connecting the above-mentioned brake system; at least one sensing device connected to the controller and mounted on the mobile work vehicle, each of the sensing devices includes an ultrasonic ranging module and a micro processing unit, the ultrasonic measuring Transmitting, by the module, a signal corresponding to the distance between the mobile work vehicle and the obstacle to the micro processing unit, the micro processing unit calculates a distance value between the mobile work vehicle and the obstacle, and transmits the distance And a warning device connected to the controller, sending a warning signal when the distance between the mobile work vehicle and the obstacle is less than a predetermined distance; wherein the controller is at the distance When the value is less than a deceleration distance, the braking system is controlled to lower or stop the moving speed of the mobile working vehicle in the traveling direction. The vehicle speed control collision avoidance system according to claim 1, wherein the warning device is a buzzer, the warning signal is a buzzer, and the buzzer emits different tones according to different distance values. sound. The vehicle speed control collision avoidance system of claim 1, wherein the warning device is a light-emitting device, and the warning signal is a light source emitted by the light-emitting device, and the light-emitting device emits different blinking frequencies according to different distance values. light source. The vehicle speed control collision avoidance system according to claim 1, wherein the sensing device and the controller are connected by a communication protocol of a controller area network. A mobile work vehicle having a vehicle speed control collision avoidance system for preventing at least one obstacle in a collision travel path, the mobile work vehicle comprising: a vehicle body; a plurality of wheels carrying the vehicle body; and a brake system for Braking the wheel to reduce the moving speed of the mobile work vehicle in the traveling direction; and a vehicle speed control collision avoidance system comprising: a controller connecting the brake system; connecting the controller and installing At least one sensing device of the vehicle body, each of the sensing devices includes an ultrasonic ranging module and a micro processing unit, and the ultrasonic ranging module transmits a distance between the vehicle body and the obstacle a signal to the micro processing unit, the micro processing unit calculates a distance value between the vehicle body and the obstacle, transmits the distance value to the controller; and a warning device connected to the controller, when the vehicle Sending a warning signal when the distance between the body and the obstacle is less than a predetermined distance; wherein the controller controls when the distance value is less than a deceleration distance Brake system described above, so that the mobile work vehicle stops or decrease in the moving speed of the traveling direction. The mobile work vehicle with a vehicle speed control collision avoidance system according to claim 5, wherein the warning device is a buzzer, the warning signal is a buzzer, and the buzzer is different according to the distance value. Make a beep of different tones. The mobile work vehicle with a vehicle speed control anti-collision system according to claim 5, wherein the warning device is a light-emitting device, and the warning signal is a light source emitted by the light-emitting device. The illuminating device emits light sources of different flicker frequencies according to different distance values. A mobile work vehicle having a vehicle speed control collision avoidance system according to claim 5, wherein the sensing device and the controller are connected by a communication protocol of a controller area network. A mobile work vehicle having a vehicle speed control collision avoidance system according to claim 5, wherein the mobile work vehicle is a stacker. A mobile work vehicle having a vehicle speed control collision avoidance system according to claim 5, wherein the mobile work vehicle is an aerial work vehicle.