WO2022021213A1 - 一种车辆防撞控制方法及控制系统 - Google Patents

一种车辆防撞控制方法及控制系统 Download PDF

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Publication number
WO2022021213A1
WO2022021213A1 PCT/CN2020/105804 CN2020105804W WO2022021213A1 WO 2022021213 A1 WO2022021213 A1 WO 2022021213A1 CN 2020105804 W CN2020105804 W CN 2020105804W WO 2022021213 A1 WO2022021213 A1 WO 2022021213A1
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WIPO (PCT)
Prior art keywords
transmitting device
state signal
conditions
external switch
collision avoidance
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PCT/CN2020/105804
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English (en)
French (fr)
Inventor
李恒
朱振然
冯璐琪
Original Assignee
苏州易信安工业技术有限公司
安海斯布希企业管理（上海）有限公司武汉分公司
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Application filed by 苏州易信安工业技术有限公司, 安海斯布希企业管理（上海）有限公司武汉分公司 filed Critical 苏州易信安工业技术有限公司
Priority to PCT/CN2020/105804 priority Critical patent/WO2022021213A1/zh
Priority to CN202080100528.XA priority patent/CN115605931A/zh
Publication of WO2022021213A1 publication Critical patent/WO2022021213A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the invention relates to the field of forklift collision avoidance, in particular to a vehicle collision avoidance control method and control system.
  • Forklift is an industrial handling vehicle, which refers to a wheeled handling vehicle for loading, unloading, stacking and short-distance transportation of palletized goods. It is often used for the transportation of large-scale objects in storage. As a transportation tool commonly used in industrial sites, forklifts have no doubts about their functional status. However, when the forklift is in operation, the vision of the forklift driver is often blocked by the goods loaded on the forklift, and the safety accident of the forklift hitting people is prone to occur.
  • an anti-collision alarm system is installed on the forklift. Specifically, the distance between the person and the forklift is measured by radio frequency ranging technology. When the distance is too close, the person can avoid collision. Call the police.
  • the present invention provides a vehicle collision avoidance control method and control system.
  • a pedestrian enters a safety isolation area, one or more false alarm prevention conditions are satisfied.
  • the phenomenon of false alarm will not occur when the distance is relatively short.
  • the present invention provides a vehicle collision avoidance control method, comprising:
  • a receiving device capable of communicating with a transmitting device carried by pedestrians is installed on the vehicle, wherein, when one or more preset conditions for preventing false alarms are met, the state signal sent by the transmitting device is the first state signal;
  • the receiving device receives the status signal sent by the transmitting device
  • the vehicle collision avoidance intervention function is disabled.
  • the first state signal here is equivalent to a special state or sign, and the mobile forklift is exempted from alarming or outputting a deceleration or stop signal to the transmitting device in this special state or sign.
  • the anti-collision control method further includes:
  • the transmitting device does not meet one or more preset conditions for preventing false alarms, if the distance between the receiving device and the transmitting device is less than the preset first safety distance threshold, the state sent by the transmitting device The signal is the second state signal;
  • the first vehicle collision avoidance intervention function is enabled.
  • the state signal sent by the transmitting device is the first state signal
  • the state signal sent by the transmitting device is: the third state signal
  • the second vehicle collision avoidance intervention function is enabled.
  • the first safety distance threshold is preferably greater than the second safety distance threshold
  • the second state signal is different from the third state signal
  • the execution action after the first vehicle collision avoidance intervention function is turned on is also different from The execution action after the second vehicle collision avoidance intervention function is turned on.
  • the execution of the first vehicle collision avoidance intervention function after the first vehicle collision avoidance intervention function is turned on is more urgent. For example, the alarm sound is more urgent. , or control the vehicle to decelerate at a faster speed, or control the vehicle to decelerate to a lower speed.
  • the first judgment method that meets the conditions for preventing false alarms includes:
  • the isolation area is preset based on the base station, and it is determined whether the transmitting device enters the isolation area through the base station ranging technology, and if so, it is determined that the transmitting device meets the conditions for preventing false alarms.
  • the base station can accurately determine whether the transmitting device enters the isolation area, and the regular shape, for example, refers to a shape with a center position, such as a square or a circle.
  • the second determination method that satisfies the conditions for preventing false alarms also includes:
  • a first external switch is set at the preset entrance of the isolation area, wherein the first external switch can act when the transmitting device enters the isolation area, and it is judged whether the first external switch acts.
  • the transmitting device satisfies the conditions for preventing false alarms.
  • a second external switch is arranged at the exit of the preset isolation area, wherein, the second external switch can act when the transmitting device leaves the isolation area, and it is judged whether the external switch acts, and if so, judge whether the external switch acts.
  • the transmitting device does not meet the conditions for preventing false alarms, otherwise it is determined that the transmitting device meets the conditions for preventing false alarms.
  • the method of arranging an external switch at the entrance and exit of the isolation area to determine whether the generator is in the isolation area is preferably applied when the isolation area has an unconventional shape.
  • the first external switch and/or the second external switch is a card reader for reading electronic tags. If you swipe your card at the entrance, it will be marked as exempt from the alarm, and if you swiped the card at the exit, it will be marked as a normal alarm.
  • the first external switch and/or the second external switch is a biometric identification switch
  • the collision avoidance control method includes:
  • the preset authority database is used to store the biometric information with authority and the corresponding identity information of the transmitting device;
  • the first external switch collects biometric information, and compares it with the biometric information in the authority database, and if it matches, acquires the corresponding transmitter identity information, and determines that the transmitter meets the requirements of preventing false alarms. condition;
  • the second external switch collects the biometric information, and compares it with the biometric information in the authority database, and if it matches, obtains the corresponding transmitter identity information, and determines that the transmitter does not meet the error prevention requirements. report conditions. If the biometric verification is passed at the entrance, it is marked as exempt from the alarm, and if the biometric verification at the exit is passed, it is marked as a return to normal alarm.
  • the third determination method that meets the conditions for preventing false alarms includes:
  • the current position coordinates of the transmitting device are determined by the positioning technology, and it is judged whether the current position coordinates enter the preset isolation area range, and if so, it is determined that the transmitting device meets the false alarm prevention conditions.
  • the anti-collision control method further includes:
  • control to perform a collision avoidance intervention action on the vehicle includes:
  • Trigger an alarm device Trigger an alarm device
  • Trigger the deceleration mechanism of the vehicle Trigger the deceleration mechanism of the vehicle.
  • sound and light alarms are usually used to prompt forklift drivers and pedestrians.
  • the present invention proposes that the forklift can also be controlled to decelerate or stop, or the alarm and stop can be combined.
  • the present invention provides a vehicle collision avoidance control system, comprising:
  • a receiving device installed on the vehicle for receiving the status signal sent by the transmitting device
  • a distance measuring device for measuring the distance between the receiving device and the transmitting device
  • a writing device for performing a writing state signal operation on the transmitting device
  • an anti-false alarm condition judgment module for judging whether the transmitting device satisfies one or more preset anti-false alarm conditions
  • a controller configured to control the writing device to perform the writing action according to the following conditions: if the conditions for preventing false alarms are satisfied, then control the writing device to write a first state signal to the transmitting device;
  • the false alarm mechanism is used for turning off the vehicle collision avoidance intervention function when the state signal of the transmitting device is the first state signal.
  • the anti-false alarm condition judgment module includes a base station arranged in the isolation area, a first external switch arranged at the entrance of the isolation area and/or a second external switch arranged at the exit of the isolation area;
  • the system further includes a reset module for clearing the first state signal written to the transmitting device when the transmitting device enters a reset area or a reset switch is triggered.
  • the forklift will not issue an anti-collision alarm signal when one or more of the conditions for preventing false alarms are met;
  • the anti-collision alarm signal will be issued only when the conditions for preventing false alarms do not exist and the distance between people and vehicles is too close;
  • a reset mechanism is set for the anti-false alarm condition to prevent the false alarm condition from being falsely established.
  • FIG. 1 is a flowchart of a vehicle collision avoidance control method provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a vehicle collision avoidance control judgment flow diagram provided by an embodiment of the present invention.
  • FIG. 3 is a module block diagram of a vehicle collision avoidance control system provided by an embodiment of the present invention.
  • a vehicle collision avoidance control method includes the following procedures:
  • a receiving device capable of communicating with a transmitting device carried by pedestrians is installed on the vehicle, wherein when one or more preset conditions for preventing false alarms are satisfied, the state signal sent by the transmitting device is the first state signal.
  • the vehicle is a vehicle that needs to be monitored and prevented from colliding with pedestrians during its operation.
  • the following uses a forklift as an example to illustrate, but the present invention does not limit the vehicle type to a forklift;
  • the condition refers to the condition to prevent false collision avoidance alarm, that is, if the condition is met, it should be considered that there is no need to make an collision avoidance alarm.
  • people are safe in the isolation area of people and vehicles, even if the distance between the personnel and the forklift is very close, it is not necessary to alarm. condition.
  • the false alarm protection conditions are detailed below.
  • the receiving device receives the status signal sent by the transmitting device.
  • the receiving device and the transmitting device preferably communicate in a wireless manner, and then receive the status signal sent by the transmitting device.
  • the vehicle collision avoidance intervention function is disabled.
  • the vehicle collision avoidance intervention function Once the vehicle collision avoidance intervention function is turned off, it means that there is no need to detect the distance between people and vehicles to determine whether a collision avoidance intervention action is required, and the collision avoidance intervention action includes an alarm action and/or a forklift deceleration action.
  • the transmitting device when the transmitting device does not meet one or more pre-set conditions for preventing false alarms, if the distance between the receiving device and the transmitting device is less than the preset first safety distance threshold, the The state signal sent by the transmitting device is the second state signal;
  • the first vehicle collision avoidance intervention function is enabled.
  • the state signal sent by the transmitting device is the first state signal
  • the state signal sent by the transmitting device is: the third state signal
  • the second vehicle collision avoidance intervention function is enabled.
  • the vehicle collision avoidance intervention function may include only the first vehicle collision avoidance intervention function, or only the second vehicle collision avoidance intervention function, or at least the first vehicle collision avoidance intervention function and the second vehicle collision avoidance intervention function.
  • function that is, the present invention does not limit the vehicle collision avoidance intervention function may further include a third vehicle collision avoidance intervention function.
  • the first safety distance threshold is preferably greater than the second safety distance threshold (the second safety distance threshold is also called the emergency safety distance threshold below the second safety distance threshold).
  • the second safety distance threshold is also called the emergency safety distance threshold below the second safety distance threshold.
  • the second state signal is different from the third state signal, and correspondingly, the execution action after the first vehicle collision avoidance intervention function is turned on is also different from the execution action after the second vehicle collision avoidance intervention function is turned on ( Hereinafter, it is also called anti-collision warning action).
  • the anti-collision intervention action for the vehicle executed after the first vehicle anti-collision intervention function is turned on should be more urgent, for example, the alarm sound is more rapid, or the vehicle is controlled to be more urgent. Faster deceleration, or controlled deceleration of the vehicle to a lower vehicle speed, is described in detail below.
  • a specific judging process for vehicle collision avoidance is provided, referring to FIG. 2 , including the following steps: S1. Install a receiving device capable of communicating with a transmitting device carried by pedestrians on the vehicle.
  • the vehicle is a vehicle that needs to be monitored and prevented from colliding with pedestrians during its operation.
  • the following takes a forklift as an example to illustrate, but the present invention does not limit the vehicle type to a forklift, and the transmitting device can emit its own
  • the state signal includes a first state signal and a second state signal
  • the receiving device receives the state signal sent by the transmitting device
  • the first state signal and the second state signal serve as the basis for whether to perform vehicle collision avoidance intervention actions , as detailed below.
  • S2 Determine whether the transmitting device satisfies one or more pre-set conditions for preventing false alarms. If the conditions for preventing false alarms are met, the transmitting device sends a first state signal and executes S4; if the conditions for preventing false alarms are not met , then execute S3.
  • the conditions for preventing false alarms refer to conditions for preventing false collision avoidance alarms, that is, if the conditions are met, it should be considered that there is no need to make collision avoidance alarms. It is very close, and it is also a situation that does not require the police. Regarding whether the above conditions for preventing false alarms are met, the following implementations are listed:
  • the base station is used as a reference to preset an isolation area, for example, a rectangular, square or circular area centered on the base station is a safe isolation area. Whether the transmitting device enters the isolation area, and if so, it is determined that the transmitting device satisfies the condition of preventing false alarms, and the transmitting device sends a first state signal.
  • Operational writing device optionally, the writing device is integrated with the transmitting device, for example, the writing device is a UWB (Ultra Wide Band, ultra-wideband) communication chip of the transmitting device, which can Write operations are performed on emitting devices such as electronic tags.
  • UWB Ultra Wide Band, ultra-wideband
  • a first external switch is set at the preset entrance of the isolation area.
  • you need to trigger the first external switch action such as swiping a card or fingerprint to open, and verifying that a legitimate user can open it later Door access for users to enter.
  • the first external switch can act when the transmitting device enters the isolation area, and it is determined whether the first external switch acts. If yes, it is determined that the transmitting device meets the conditions for preventing false alarms.
  • the first external switch is a card reader, which is used to read the information of an electronic tag (such as an electronic access control card). Only an authorized access control card can open the entrance of the isolation area.
  • the device When the device reads a legitimate user, it is equivalent to the action of the first external switch, and at the same time, it matches the identity of the user's transmitting device, and then writes the first state signal to the transmitting device.
  • the electronic tag read by the card reader can be integrated with the pedestrian's transmitting device.
  • the first external switch can also be a biometric identification switch, which is used to collect and identify biometric information such as fingerprints, iris, face prints, palm veins, etc.
  • a preset authority database is required for storing authorized information.
  • Biometric information and corresponding transmitter identity information that is, in the database, Zhang San's fingerprint is associated with Zhang San's personal information, including the ID number of the transmitter he should carry; the first external switch collects biometric information, and It is compared with the biometric information in the described authority database, if it matches, then obtains the corresponding transmitting device identity information (ID number), and can carry out the writing of the first state signal to the transmitting device according to the ID number of the identity device enter.
  • ID number transmitting device identity information
  • an anti-exit access control that is, once the first external switch is successfully triggered, they cannot exit the isolation area from the entrance. To leave the isolation area, they must pass the exit. Leave.
  • a second external switch is also provided at the exit of the isolation area.
  • the second external switch is activated, it indicates that the user leaves the isolation area, indicating that the The transmitting device does not meet the conditions for preventing false alarms, and needs to perform a normal anti-collision alarm judgment operation, as described in the following step S3 for details.
  • the second external switch is the same as the first external switch, and a card reader or a biometric identification switch can be selected. For details, please refer to the above description, which will not be repeated here.
  • the current position coordinates of the transmitting device are determined through a positioning technology.
  • a positioning technology For example, at least two base stations are used to locate the transmitting device respectively, and according to the angular relationship between the transmitting device and the two base stations, the The current position coordinates of the transmitting device can be determined; obviously, in addition to the above methods, a well-known positioning system such as GPS can also be used to obtain the current position coordinates of the transmitting device. It is judged whether the coordinates of the current position enter the preset isolation area, and if so, it is judged that the transmitting device satisfies the conditions for preventing false alarms.
  • a combination of two or three of the above three implementable methods can be used to determine whether the conditions for preventing false alarms are satisfied, that is, the base station ranging must be satisfied to determine that the transmitting device is in an isolated area. If the first external switch is activated and the second external switch is not activated, or at the same time, the position coordinates of the positioning must enter the preset isolation area range, and then it can be determined that the transmitting device meets the conditions for preventing false alarms, which can avoid In some special cases, for example, pedestrians A and B entering the isolation area through the action of the first external switch, their corresponding transmitters meet the conditions for preventing false alarms. If pedestrian A leaves the isolation area through the action of the second external switch , B leaves immediately after A, then the control system will not be able to make an accurate judgment on whether the launch device of pedestrian B still meets the conditions for preventing false alarms.
  • Step S3 is performed when the conditions for preventing false alarms are not met. Failure to meet the conditions for preventing false alarms does not mean that an alarm is required immediately, but indicates that the current pedestrian is not in the safety isolation area and needs to be monitored for normal collision avoidance, that is, monitoring. If the distance between it and the forklift is within the safe distance threshold, it is necessary to control the writing of a second state signal to the transmitting device.
  • a well-known range finder can be used, such as radio frequency ranging technology, or an infrared range finder, a photoelectric range finder, etc. can be used.
  • the This is achieved when the receiving mileage of the receiving device is equal to the preset safe distance threshold, that is, when the transmitting device enters the receiving mileage range, the receiving device can receive the status signal of the corresponding transmitting device, indicating that the following step S4 needs to be performed.
  • the receiving mileage of the receiving device is set equal to the preset safety distance threshold. Therefore, when the receiving device is in an area outside the receiving mileage range and the receiving device cannot receive any status information, the forklift does not Any collision avoidance intervention is required. Only when the receiving device receives the state information of the transmitting device, the forklift truck may need to perform an anti-collision intervention action.
  • the vehicle can be controlled to perform an anti-collision intervention action only when two conditions are met at the same time.
  • the first condition is that the launching device carried by the pedestrian does not meet the conditions for preventing false alarms.
  • the distance between the carrying transmitter) and the forklift (the receiver) is less than the safe distance threshold.
  • Specific anti-collision intervention actions include triggering an alarm device; and/or triggering a deceleration mechanism of the vehicle.
  • the alarm device can use sound and light alarm, and the deceleration mechanism can decelerate or stop the forklift.
  • the collision avoidance control method further includes:
  • Preset the reset area or reset switch determine whether the transmitting device enters the reset area or triggers the reset switch, and if so, determine that the transmitting device does not meet the false alarm prevention conditions, that is, clear the first a status signal.
  • how to judge whether the transmitting device has entered the reset area can use the above-mentioned embodiment of judging whether the transmitting device has entered the isolation area, that is, using the base station or the external switch (swiping card or biometric identification) of the entrance and exit as the judgment basis, which will not be repeated here; It is used to judge whether to leave the above-mentioned safety isolation area. For example, it was originally set within 3 meters from the base station as the safety isolation area. When the distance from the base station is 5 meters, it is considered to leave the report-free base station.
  • Triggering of the reset switch can be achieved, for example, by charging the transmitter.
  • the transmitting device sends a first state signal
  • the relationship between the receiving device and the transmitting device is Whether the distance is less than the preset emergency safety distance threshold, if so, a third state signal is sent, and in this case, the control performs an anti-collision warning action for the vehicle.
  • the anti-collision intervention action is more urgent than the anti-collision warning function.
  • the deceleration ratio is larger or the acceleration of deceleration is larger (the deceleration can be completed in a short time), such as deceleration to 5km/h or deceleration to stop, and deceleration under the action of collision avoidance warning to 8km/h (no parking required); for another example, the set value of the emergency safety distance threshold is smaller than the safety distance threshold in step S3, for example, if the false alarm prevention condition is not met, if the distance between the person and the vehicle is less than 5 If the distance between the person and the vehicle is less than 2 meters, the anti-collision warning function will be executed only when the conditions for preventing false alarms are met.
  • a vehicle collision avoidance control system is provided, as shown in FIG. 3 , the collision avoidance control system includes:
  • a receiving device installed on the vehicle for receiving the status signal sent by the transmitting device
  • a distance measuring device for measuring the distance between the receiving device and the transmitting device
  • a writing device for performing a writing state signal operation on the transmitting device
  • An anti-false alarm condition judgment module is used to judge whether the transmitting device satisfies one or more preset anti-false alarm conditions.
  • the anti-false alarm condition judgment module includes a base station set in the isolation area, a first external switch at the entrance of the isolation area or a second external switch arranged at the exit of the isolation area;
  • a controller configured to control the writing device to perform a writing action according to the following conditions: if the false alarm prevention condition is satisfied, control the writing device to write a first state signal to the transmitting device; and
  • the false alarm mechanism is used for turning off the vehicle collision avoidance intervention function when the state signal of the transmitting device is the first state signal.
  • the actuator for enabling the vehicle collision avoidance intervention function may specifically include a sound and light alarm and/or a forklift deceleration mechanism, and the sound and light alarm may be controlled by an on-board controller of the forklift (different from the above-mentioned controller) and/or forklift reduction gear.
  • the vehicle collision avoidance control system provided by the embodiments of the present invention further includes a functional module that executes each step of the above method embodiments, such as enabling the first vehicle collision avoidance intervention function according to corresponding conditions. And/or the steps of the collision avoidance intervention function of the second vehicle, such as multiple implementations for determining that the conditions for preventing false alarms are met, will not be repeated here.
  • the system further includes a reset module for clearing the first state signal written to the transmitting device when the transmitting device enters a reset area or a reset switch is triggered .
  • tire running data can also be uploaded to the system server wirelessly.
  • the vehicle collision avoidance control system provided by the above embodiment performs vehicle collision avoidance control
  • only the division of the above functional modules is used as an example for illustration.
  • the above functions can be allocated by different The function module is completed, that is, the internal structure of the vehicle collision avoidance control system is divided into different function modules, so as to complete all or part of the functions described above.
  • the embodiment of the vehicle collision avoidance control system provided by this embodiment and the vehicle collision avoidance control method provided by the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the entire content of the method embodiment is by reference. The embodiment of the vehicle collision avoidance control system is introduced, which will not be repeated here.

Abstract

本发明公开了一种车辆防撞控制方法及控制系统，所述控制方法包括：在车辆上安装能够与供行人携带的发射装置通信的接收装置，其中，在满足预设的一个或多个防误报条件时，所述发射装置发出的状态信号为第一状态信号；所述接收装置接收所述发射装置发出的状态信号；当所述接收装置接收到的状态信号为第一状态信号时，车辆防撞干预功能被关闭。本发明的车辆防撞控制方法通过排除可能会产生误报的因素，提高防撞控制的精确性，减少误报，提高作业效率。

Description

一种车辆防撞控制方法及控制系统 技术领域
本发明涉及叉车防撞领域，特别涉及一种车辆防撞控制方法及控制系统。
背景技术
叉车是工业搬运车辆，是指对成件托盘货物进行装卸、堆垛和短距离运输作业的轮式搬运车辆，常用于仓储大型物件的运输。叉车作为工业现场常用的一种运输工具，其功能地位毋庸置疑，但是由于叉车在作业时，叉车驾驶员的视觉经常受叉车上装载的货物的阻挡，容易发生叉车撞人的安全事故。
为了防止发生叉车撞人的事故，现有技术中在叉车上安装了防撞报警系统，具体利用无线电射频测距技术测得人员与叉车之间的距离，当距离过近，则实现人员防撞报警。
但是现有技术中的这种防撞报警方式常常会出现误报现象。比如，作业区域中通常会设置人车隔离区、办公区等，当人员处于这些安全区域内时，就不应该启动防撞报警，就是说即使叉车与隔离区内的人员距离很近，叉车也不应该进入报警状态。但是，现有的叉车防撞报警系统在距离上很近，但是实际没有安全风险的情形下，会造成大量的误报，从而影响使用效果，误报后需要反复核查现场环境，大大降低了叉车作业效率。
发明内容
为了解决现有技术的问题，本发明提供了一种车辆防撞控制方法及控制系统，在行人进入安全隔离区域时，即满足一个或多个防误报条件，在此前提下，即使与车辆距离较近也不会发生误报警的现象，技术方案如下：
一方面，本发明提供了一种车辆防撞控制方法，包括：
在车辆上安装能够与供行人携带的发射装置通信的接收装置，其中，在满足预设的一个或多个防误报条件时，所述发射装置发出的状态信号为第一状态 信号；
所述接收装置接收所述发射装置发出的状态信号；
当所述接收装置接收到的状态信号为第一状态信号时，车辆防撞干预功能被关闭。
这里的第一状态信号就相当于一个特别状态或标志，行动叉车对处于该特别状态或标志的发射装置免于报警或输出减速或停车信号。
进一步地，所述防撞控制方法还包括：
所述发射装置在不满足预设的一个或多个防误报条件时，若所述接收装置与发射装置之间的距离小于预设的第一安全距离阈值，则所述发射装置发出的状态信号为第二状态信号；
当所述接收装置接收到的状态信号为第二状态信号时，第一车辆防撞干预功能被开启。
以及
在所述发射装置发出的状态信号为第一状态信号的情况下，若所述接收装置与发射装置之间的距离小于预设的第二安全距离阈值，则所述发射装置发出的状态信号为第三状态信号；
当所述接收装置接收到的状态信号为第三状态信号时，第二车辆防撞干预功能被开启。
其中，所述第一安全距离阈值优选大于第二安全距离阈值，所述第二状态信号不同于第三状态信号，对应地，所述第一车辆防撞干预功能开启后的执行动作也不同于所述第二车辆防撞干预功能开启后的执行动作，具体地，所述第一车辆防撞干预功能开启后的执行的对车辆的防撞干预动作要更紧急，比如说，报警声音更急促，或者控制车辆以更快的速度减速，或者控制车辆减速至更低的车速。
第一种满足防误报条件的判定方法包括：
以基站为基准预设隔离区域，通过基站测距技术，判断所述发射装置是否进入所述隔离区域，若是，则判定所述发射装置满足防误报条件。对于隔离区域为常规形状的情况，基站能够精准地确定发射装置是否进入该隔离区域，所述常规形状比如指代具有中心位置的形状，如方形或圆形。
第二种满足防误报条件的判定方法还包括：
在预设的隔离区域入口设置第一外部开关，其中，所述第一外部开关在发射装置进入所述隔离区域时能够发生动作，判断所述第一外部开关是否发生动作，若是，则判定所述发射装置满足防误报条件。
进一步地，在预设的隔离区域出口设置第二外部开关，其中，所述第二外部开关在发射装置离开所述隔离区域时能够发生动作，判断所述外部开关是否发生动作，若是，则判定所述发射装置不满足防误报条件，否则判定所述发射装置满足防误报条件。在隔离区域出入口设置外部开关来判断发生装置是否处于隔离区域的方式，优选应用在隔离区域为非常规形状的情况下。
可选地，所述第一外部开关和/或第二外部开关为用于读取电子标签的读卡器。入口处刷卡则标志为免于报警，出口处刷卡则标志为恢复正常报警。
可选地，所述第一外部开关和/或第二外部开关为生物特征识别开关，所述防撞控制方法包括：
预设权限数据库，用于存储具有权限的生物特征信息及对应的发射装置身份信息；
所述第一外部开关采集生物特征信息，并将其与所述权限数据库中的生物特征信息进行比对，若匹配，则获取对应的发射装置身份信息，并判定所述发射装置满足防误报条件；
所述第二外部开关采集生物特征信息，并将其与所述权限数据库中的生物特征信息进行比对，若匹配，则获取对应的发射装置身份信息，并判定所述发射装置不满足防误报条件。入口处通过生物识别验证则标志为免于报警，出口处通过生物识别验证则标志为恢复正常报警。
第三种满足防误报条件的判定方法包括：
通过定位技术确定发射装置的当前位置坐标，判断所述当前位置坐标是否进入预设的隔离区域范围，若是，则判定所述发射装置满足防误报条件。
进一步地，所述防撞控制方法还包括：
预设复位区域或者复位开关；
判断发射装置是否进入所述复位区域或者触发所述复位开关，若是，则判定所述发射装置不满足防误报条件。这种复位机制对于避免出现发射装置满足 假成立的防误报条件，具有至关重要的作用。
进一步地，所述控制对所述车辆作出防撞干预动作包括：
触发报警装置；及/或
触发所述车辆的减速机构。现有技术中通常是采用声光报警提示叉车驾驶员和行人，本发明提出还可以控制叉车减速或停车，也可以报警和停车相结合。
另一方面，本发明提供了一种车辆防撞控制系统，包括：
供行人携带的发射装置，用于发出状态信号；
安装在车辆上的接收装置，用于接收所述发射装置发出的状态信号；
用于测量所述接收装置与发射装置之间距离的测距装置；
用于对所述发射装置进行写入状态信号操作的写入装置；
防误报条件判断模块，用于判断所述发射装置是否满足预设的一个或多个防误报条件；以及
控制器，用于根据以下条件控制写入装置执行写入动作：若满足防误报条件，则控制所述写入装置对所述发射装置写入第一状态信号；
防误报警机构，用于在所述发射装置的状态信号为第一状态信号的情况下，关闭车辆防撞干预功能。
进一步地，所述防误报条件判断模块包括设置在隔离区域内的基站、设置在隔离区域入口的第一外部开关和/或设置在隔离区域出口的第二外部开关；
所述系统还包括复位模块，用于在所述发射装置进入复位区域或者复位开关被触发的情况下，清除对所述发射装置写入的第一状态信号。
本发明提供的车辆防撞控制方法及控制系统能够产生以下有益效果：
a.在满足一种或多种防误报条件的情况下，叉车不会发出防撞报警信号；
b.同时满足不存在防误报条件且人车距离过近时，才会发出防撞报警信号；
c.防误报条件形式灵活多样；
d.对防误报条件设置复位机制，防止防误报条件的假成立。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明 的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的车辆防撞控制方法的流程图；
图2是本发明实施例提供的车辆防撞控制判断流程示意图；
图3是本发明实施例提供的车辆防撞控制系统的模块框图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、装置、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本发明的一个实施例中，提供了一种车辆防撞控制方法，参见图1，所述方法包括以下流程：
M1、在车辆上安装能够与供行人携带的发射装置通信的接收装置，其中，在满足预设的一个或多个防误报条件时，所述发射装置发出的状态信号为第一状态信号。
具体地，所述车辆为需要在其作业时监控防止与行人相撞的车辆，以下以叉车为例进行举例说明，但是本发明并不限定该车辆类型为叉车；具体地，所述防误报条件指代防止误防撞报警的条件，即若满足该条件，应当认为无需作出防撞报警，比如人员在人车隔离区是安全的，即使人员与叉车的距离很近， 也属于无需报警的情况。所述防误报条件在下文中详述。
M2、所述接收装置接收所述发射装置发出的状态信号。
具体地，所述接收装置与所述发射装置优选采用无线方式进行通信，进而接收所述发射装置发出的状态信号。
M3、当所述接收装置接收到的状态信号为第一状态信号时，车辆防撞干预功能被关闭。
这里的车辆防撞干预功能一旦关闭，即指无需检测人车之间的距离来判断是否需要作出防撞干预动作，所述防撞干预动作包括报警动作和/或叉车减速动作。
如图1所示，所述发射装置在不满足预设的一个或多个防误报条件时，若所述接收装置与发射装置之间的距离小于预设的第一安全距离阈值，则所述发射装置发出的状态信号为第二状态信号；
当所述接收装置接收到的状态信号为第二状态信号时，第一车辆防撞干预功能被开启。
在所述发射装置发出的状态信号为第一状态信号的情况下，若所述接收装置与发射装置之间的距离小于预设的第二安全距离阈值，则所述发射装置发出的状态信号为第三状态信号；
当所述接收装置接收到的状态信号为第三状态信号时，第二车辆防撞干预功能被开启。
可选地，车辆防撞干预功能可以仅包括第一车辆防撞干预功能，也可以仅包括第二车辆防撞干预功能，也可以至少包括第一车辆防撞干预功能和第二车辆防撞干预功能，即本发明不限定所述车辆防撞干预功能可以还包括第三车辆防撞干预功能。
其中，所述第一安全距离阈值优选大于第二安全距离阈值(第二安全距离阈值以下又称紧急安全距离阈值)，比如，在不满足预设的一个或多个防误报条件时，检测到人车相距10米时即需要作出防撞干预动作，而在满足预设的一个或多个防误报条件时，检测到人车相距3米时才需要作出防撞干预动作。
另外，所述第二状态信号不同于第三状态信号，对应地，所述第一车辆防撞干预功能开启后的执行动作也不同于所述第二车辆防撞干预功能开启后的执 行动作(以下又称防撞预警动作)，具体地，所述第一车辆防撞干预功能开启后的执行的对车辆的防撞干预动作要更紧急，比如说，报警声音更急促，或者控制车辆以更快的速度减速，或者控制车辆减速至更低的车速，在下文中详述。
在本发明的一个实施例中，提供了一种车辆防撞的具体判断流程，参见图2，包括以下步骤：S1、在车辆上安装能够与供行人携带的发射装置通信的接收装置。
具体地，所述车辆为需要在其作业时监控防止与行人相撞的车辆，以下以叉车为例进行举例说明，但是本发明并不限定该车辆类型为叉车，所述发射装置能够发出其自身的状态信号，包括第一状态信号和第二状态信号，所述接收装置接收所述发射装置发出的状态信号，所述第一状态信号和第二状态信号作为是否作出车辆防撞干预动作的依据，具体如下详述。
S2、判断所述发射装置是否满足预设的一个或多个防误报条件，若满足防误报条件，则所述发射装置发出第一状态信号，并执行S4；若不满足防误报条件，则执行S3。
具体地，所述防误报条件指代防止误防撞报警的条件，即若满足该条件，应当认为无需作出防撞报警，比如人员在人车隔离区是安全的，即使人员与叉车的距离很近，也属于无需报警的情况。针对是否满足上述防误报条件，列举如下几种判定的实施方式：
作为第一种可实施的方式，以基站为基准预设隔离区域，比如以基站为中心的矩形、正方形或者圆形区域为安全隔离区域，通过现有技术中的基站测距技术，可以判断所述发射装置是否进入所述隔离区域，若是，则判定所述发射装置满足防误报条件，则所述发射装置发出第一状态信号，具体地，需要预设一个能够对所述发射装置进行写操作的写入装置，可选地，所述写入装置与所述发射装置集成为一体，比如所述写入装置为所述发射装置的UWB(Ultra Wide Band，超宽带)通信芯片，其可以对比如电子标签的发射装置进行写操作。当所述发射装置的当前状态信号为第一状态信号时，即表明无需报警，即使人车之间的距离很近。
作为第二种可实施的方式，在预设的隔离区域入口设置第一外部开关，要想进入隔离区域，就需要触发第一外部开关动作，比如刷卡或者指纹打开，验 证是合法用户以后可以打开门禁供用户进入。其中，所述第一外部开关在发射装置进入所述隔离区域时能够发生动作，判断所述第一外部开关是否发生动作，若是，则判定所述发射装置满足防误报条件。比如，所述第一外部开关为读卡器，用于读取电子标签(比如电子式门禁牌)的信息，只有授权的门禁牌能够使所述隔离区域的入口打开，则当所述读卡器读取到合法用户时，就相当于第一外部开关发生动作，同时会匹配该用户的发射装置身份，然后对该发射装置进行第一状态信号的写入。在本发明一个优选实施例中，所述读卡器读取的电子标签可以与行人的发射装置集成为一体。再比如，所述第一外部开关还可以为生物特征识别开关，用于采集并识别比如指纹、虹膜、脸纹、掌静脉等生物特征信息，具体需要预设权限数据库，用于存储具有权限的生物特征信息及对应的发射装置身份信息，即在数据库中，张三的指纹关联张三的个人信息，包括其应携带的发射装置的ID号；所述第一外部开关采集生物特征信息，并将其与所述权限数据库中的生物特征信息进行比对，若匹配，则获取对应的发射装置身份信息(ID号)，根据身份装置的ID号可以对该发射装置进行第一状态信号的写入。
为了防止行人在成功触发第一外部开关后，不进入隔离区域，优选设置防退出的门禁，即一旦成功触发第一外部开关，则无法从入口退出隔离区域，要想离开隔离区域，必须通过出口离开。
对应于第二种可实施的方式，同理在该隔离区域出口还设置有第二外部开关，相反的是，若所述第二外部开关发生动作，表明用户离开所述隔离区域，则表明所述发射装置不满足防误报条件，需要执行正常的防撞报警判断操作，详见以下步骤S3所述。同理，所述第二外部开关如第一外部开关一样，可选用读卡器或者生物特征识别开关，具体参见上述说明，在此不再赘述。
作为第三种可实施的方式，通过定位技术确定发射装置的当前位置坐标，比如，采用至少两个基站分别对发射装置进行定位，根据所述发射装置与两个基站之间的角度关系，就可以确定发射装置的当前位置坐标；显然，除了以上方式，还可以采用GPS等公知的定位系统得到发射装置的当前位置坐标。判断所述当前位置坐标是否进入预设的隔离区域范围，若是，则判定所述发射装置满足防误报条件。
需要说明的是，为了增强安全性，可以采用结合以上三种可实施的方式中的两种或者三种来判断是否满足防误报条件，即又要满足基站测距判断该发射装置在隔离区域内，又要满足第一外部开关动作，第二外部开关没动作，或者同时要满足定位的位置坐标进入预设的隔离区域范围，才可以判定所述发射装置满足防误报条件，这样可以避免出现一些特殊情况，比如，通过第一外部开关动作而进入隔离区域的行人A和B，其对应的发射装置均满足防误报条件，若行人A在通过第二外部开关动作而离开隔离区域时，B紧随A离开，那么控制系统将无法对行人B的发射装置是否还满足防误报条件作出准确的判断，这种情况下，就需要双重防误报条件来进行判断。
S3、判断所述接收装置与发射装置之间的距离是否大于预设的安全距离阈值，若是，则所述发射装置发出第一状态信号，并执行S4，否则所述发射装置发出第二状态信号，并执行S4。
步骤S3是在不满足防误报条件时执行的，不满足防误报条件不代表需要立即报警，而是表明当前行人不处在安全隔离区域，需要对其进行正常的防撞监控，即监测其与叉车之间的距离，若在安全距离阈值内，则需要控制对所述发射装置写入第二状态信号。具体地，可以通过公知的测距仪，最常见的比如无线电射频测距技术，或者采用比如红外测距仪、光电测距仪等，在本发明的一个优选实施例中，可以通过设置所述接收装置的接收里程等于预设的安全距离阈值来实现，即当所述发射装置进入该接收里程范围，所述接收装置能够接收到对应的发射装置的状态信号，则表明需要执行以下步骤S4。
S4、利用所述接收装置接收所述发射装置的状态信号。
具体地，设置所述接收装置的接收里程等于预设的安全距离阈值，因此，当接收装置处于所述接收里程范围以外的区域，所述接收装置接收不到任何状态信息，则所述叉车不需要作出任何防撞干预动作。只有当所述接收装置接收到发射装置的状态信息时，叉车才有可能需要作出防撞干预动作。
S5、若所述发射装置的状态信号为第二状态信号，则控制对所述车辆作出防撞干预动作。
在本发明实施例中，需要同时满足两个条件时才会控制所述车辆作出防撞干预动作，第一个条件是行人携带的发射装置不满足防误报条件，第二个条件 是行人(携带的发射装置)与叉车(上的接收装置)之间的距离小于安全距离阈值。
具体的防撞干预动作包括触发报警装置；及/或触发所述车辆的减速机构。其中，所述报警装置可以采用声光报警，所述减速机构能够使叉车减速或者停车。
在本发明的一个实施例中，所述防撞控制方法还包括：
预设复位区域或者复位开关；判断发射装置是否进入所述复位区域或者触发所述复位开关，若是，则判定所述发射装置不满足防误报条件，即清除对所述发射装置写入的第一状态信号。
其中，如何判断发射装置是否进入复位区域可以采用上述判断发射装置是否进入隔离区域的实施例，即采用基站或者出入口的外部开关(刷卡或生物识别)作为判断依据，在此不再赘述；也可以采用判断是否离开上述的安全隔离区域，比如原先设定距基站3米以内为安全隔离区域，当距基站5米以外时，则认为离开免报基站，此时需要清除对所述发射装置写入的第一状态信号；或者通过定位技术，确定所述发射装置当前所在区域已离开上述安全隔离区域，则认为离开免报基站，此时需要清除对所述发射装置写入的第一状态信号。所述复位开关的触发可以通过比如对发射装置充电来实现。
为了进一步说明第一状态信号与第二状态信号的区别，在本发明的一个实施例中，若在所述发射装置发出第一状态信号的情况下，判断所述接收装置与发射装置之间的距离是否小于预设的紧急安全距离阈值，若是，则发出第三状态信号，在此情况下，控制对所述车辆作出防撞预警动作。对于防撞预警作用与防撞干预动作两者的区别，可以视防撞干预动作较防撞预警作用更为紧急，比如防撞干预动作为报警同时控制叉车减速或停车，而防撞预警作用仅报警，或者，防撞干预动作下的减速比例更大或减速的加速度更大(能够在较短的时间内完成减速)，比如减速至5km/h或减速至停车，而防撞预警作用下减速至8km/h(可以不停车)；再比如，所述紧急安全距离阈值的设置值较步骤S3中的安全距离阈值更小，比如，在不满足防误报条件下，若人车距离小于5米就要执行防撞干预动作，在满足防误报条件下，若人车距离小于2米才执行防撞预警作用。
在本发明的一个实施例中，提供了一种车辆防撞控制系统，如图3所示，所述防撞控制系统包括：
供行人携带的发射装置，用于发出状态信号；
安装在车辆上的接收装置，用于接收所述发射装置发出的状态信号；
用于测量所述接收装置与发射装置之间距离的测距装置；
用于对所述发射装置进行写入状态信号操作的写入装置；
防误报条件判断模块，用于判断所述发射装置是否满足预设的一个或多个防误报条件，具体地，所述防误报条件判断模块包括设置在隔离区域内的基站、设置在隔离区域入口的第一外部开关或设置在隔离区域出口的第二外部开关；
控制器，用于根据以下条件控制写入装置执行写入动作：若满足防误报条件，则控制所述写入装置对所述发射装置写入第一状态信号；以及
防误报警机构，用于在所述发射装置的状态信号为第一状态信号的情况下，关闭车辆防撞干预功能。具体地，开启车辆防撞干预功能的执行机构具体可以包括声光报警器和/或叉车减速机构，可以通过(不同于上述控制器的)叉车的车载控制器来实现控制所述声光报警器和/或叉车减速机构。
同理于上述车辆防撞控制方法实施例，本发明实施例提供的车辆防撞控制系统还包括执行上述方法实施例各步骤的功能模块，比如根据相应的条件执行开启第一车辆防撞干预功能和/或第二车辆防撞干预功能的步骤，比如判定满足防误报条件的多种实施方式，再此不再赘述。
在本发明的一个优选实施例中，所述系统还包括复位模块，用于在所述发射装置进入复位区域或者复位开关被触发的情况下，清除对所述发射装置写入的第一状态信号。在本发明的一个实施例中，还可以通过无线方式上传轮胎运行数据至系统服务器。
需要说明的是：上述实施例提供的车辆防撞控制系统在进行车辆防撞控制时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将车辆防撞控制系统的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，本实施例提供的车辆防撞控制系统实施例与上述实施例提供的车辆防撞控制方法属于同一构思，其具体实现过程详见方法实施例，对方法实施例的全部内容通过引用 的方式引入本车辆防撞控制系统实施例，这里不再赘述。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种车辆防撞控制方法，其特征在于，包括：
    在车辆上安装能够与供行人携带的发射装置通信的接收装置，其中，在满足预设的一个或多个防误报条件时，所述发射装置发出的状态信号为第一状态信号；
    所述接收装置接收所述发射装置发出的状态信号；
    当所述接收装置接收到的状态信号为第一状态信号时，车辆防撞干预功能被关闭。
  2. 根据权利要求1所述的防撞控制方法，其特征在于，还包括：
    所述发射装置在不满足预设的一个或多个防误报条件时，若所述接收装置与发射装置之间的距离小于预设的第一安全距离阈值，则所述发射装置发出的状态信号为第二状态信号；
    当所述接收装置接收到的状态信号为第二状态信号时，第一车辆防撞干预功能被开启。
  3. 根据权利要求1所述的防撞控制方法，其特征在于，还包括：
    在所述发射装置发出的状态信号为第一状态信号的情况下，若所述接收装置与发射装置之间的距离小于预设的第二安全距离阈值，则所述发射装置发出的状态信号为第三状态信号；
    当所述接收装置接收到的状态信号为第三状态信号时，第二车辆防撞干预功能被开启。
  4. 根据权利要求1所述的防撞控制方法，其特征在于，满足防误报条件的判定方法包括：
    以基站为基准预设隔离区域，通过基站测距技术，判断所述发射装置是否进入所述隔离区域，若是，则判定所述发射装置满足防误报条件；
    或者，
    通过定位技术确定发射装置的当前位置坐标，判断所述当前位置坐标是否进入预设的隔离区域范围，若是，则判定所述发射装置满足防误报条件。
  5. 根据权利要求1所述的防撞控制方法，其特征在于，满足防误报条件的判定方法包括：
    在预设的隔离区域入口设置第一外部开关，其中，所述第一外部开关在发射装置进入所述隔离区域时能够发生动作，判断所述第一外部开关是否发生动作，若是，则判定所述发射装置满足防误报条件；及/或
    在预设的隔离区域出口设置第二外部开关，其中，所述第二外部开关在发射装置离开所述隔离区域时能够发生动作，判断所述外部开关是否发生动作，若是，则判定所述发射装置不满足防误报条件，否则判定所述发射装置满足防误报条件。
  6. 根据权利要求5所述的防撞控制方法，其特征在于，所述第一外部开关和/或第二外部开关为用于读取电子标签的读卡器。
  7. 根据权利要求5所述的防撞控制方法，其特征在于，所述第一外部开关和/或第二外部开关为生物特征识别开关，满足防误报条件的判定方法包括：
    预设权限数据库，用于存储具有权限的生物特征信息及对应的发射装置身份信息；
    所述第一外部开关采集生物特征信息，并将其与所述权限数据库中的生物特征信息进行比对，若匹配，则获取对应的发射装置身份信息，并判定所述发射装置满足防误报条件；和/或所述第二外部开关采集生物特征信息，并将其与所述权限数据库中的生物特征信息进行比对，若匹配，则获取对应的发射装置身份信息，并判定所述发射装置不满足防误报条件。
  8. 根据权利要求1所述的防撞控制方法，其特征在于，还包括：
    预设复位区域或者复位开关；
    判断发射装置是否进入所述复位区域或者触发所述复位开关，若是，则所 述发射装置发出的第一状态信号被清除。
  9. 一种车辆防撞控制系统，其特征在于，包括：
    供行人携带的发射装置，用于发出状态信号；
    安装在车辆上的接收装置，用于接收所述发射装置发出的状态信号；
    用于测量所述接收装置与发射装置之间距离的测距装置；
    用于对所述发射装置进行写入状态信号操作的写入装置；
    防误报条件判断模块，用于判断所述发射装置是否满足预设的一个或多个防误报条件；以及
    控制器，用于根据以下条件控制写入装置执行写入动作：若满足防误报条件，则控制所述写入装置对所述发射装置写入第一状态信号；
    防误报警机构，用于在所述发射装置的状态信号为第一状态信号的情况下，关闭车辆防撞干预功能。
  10. 根据权利要求9所述的防撞控制系统，其特征在于，所述防误报条件判断模块包括设置在隔离区域内的基站、设置在隔离区域入口的第一外部开关和/或设置在隔离区域出口的第二外部开关；或者，
    所述系统还包括复位模块，用于在所述发射装置进入复位区域或者复位开关被触发的情况下，清除对所述发射装置写入的第一状态信号。
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