阅读说明：本技术 一种用于叉车的车辆行驶安全防护系统 (Vehicle running safety protection system for forklift ) 是由 李恒 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种用于叉车的车辆行驶安全防护系统,包括设置于叉车前部的载货传感器和用于探测叉车的行驶方向信息的行驶方向传感器,所述载货传感器的输出端与控制器的输入端电连接,若所述载货传感器检测到货叉载货,则所述载货传感器向所述控制器发送载货信号,所述行驶方向传感器的输出端与所述控制器的输入端电连接,若所述行驶方向传感器探测到叉车向前行驶,则所述行驶方向传感器向所述控制器发送前向行驶信号,响应于载货信号和前向行驶信号,所述控制器发出第一控制指令。本发明的用于叉车的车辆行驶安全防护系统能够在叉车载货时保障避障系统有效运行。(The invention discloses a vehicle running safety protection system for a forklift, which comprises a cargo sensor arranged at the front part of the forklift and a running direction sensor used for detecting running direction information of the forklift, wherein the output end of the cargo sensor is electrically connected with the input end of a controller, if the cargo sensor detects that a fork is loaded, the cargo sensor sends a cargo signal to the controller, the output end of the running direction sensor is electrically connected with the input end of the controller, if the running direction sensor detects that the forklift runs forwards, the running direction sensor sends a forward running signal to the controller, and the controller sends a first control instruction in response to the cargo signal and the forward running signal. The vehicle running safety protection system for the forklift can ensure the effective operation of the obstacle avoidance system when the forklift carries cargo.)

1. A vehicle driving safety protection system for a forklift truck provided with a fork for carrying cargo and a response device for making a response action, characterized in that the vehicle driving safety protection system comprises:

cargo sensor: the cargo sensor is used for detecting cargo information of the fork;

a traveling direction sensor: the driving direction sensor is used for detecting the driving direction information of the forklift;

a controller: the controller is respectively electrically connected with the cargo loading sensor and the driving direction sensor, receives and analyzes the cargo loading information and the driving direction information, and sends a first control instruction to the response device if the cargo loading information is the cargo loading of the forklift and the driving direction information is a forward driving signal;

and after receiving the first control instruction, the response device makes a response action.

2. The vehicle driving safety protection system of claim 1, wherein the response device is an alarm module, and the alarm module sends out an alarm after receiving the first control command.

3. The vehicle driving safety protection system of claim 1, wherein the response device is an on-board control module, and the on-board control module controls the forward speed of the forklift to be reduced to be less than or equal to a first preset speed after receiving the first control command.

4. The vehicle driving safety protection system of claim 1, wherein the response device is an on-board control module, and after receiving the first control instruction, the on-board control module controls the forklift to stop advancing after a preset time or a preset distance, and/or controls the forklift to send out a warning after the preset time or the preset distance.

5. The vehicle driving safety system of claim 1, further comprising:

the position sensor is used for detecting height information of the fork and is electrically connected with the controller;

the forward obstacle detector is used for detecting obstacle information in front of the forklift and is electrically connected with the controller;

the controller is further used for receiving and analyzing a detection signal of the position sensor, and if the height information detected by the position sensor is greater than a first height threshold value, the controller controls the forward obstacle detector to work; and/or if the height information detected by the position sensor is smaller than a second height threshold value, the controller controls the forklift to stop advancing or performs speed limit control on the forklift.

6. The vehicle driving safety system of claim 2, further comprising:

the front obstacle detector is used for detecting obstacle information in front of the forklift, the obstacle information comprises distance information and angle information of obstacles, and the front obstacle detector is electrically connected with the controller;

the controller is used for receiving and analyzing the obstacle information, and if the angle information in the obstacle information is within a preset range and the distance information in the obstacle information is smaller than a preset value, and the forklift is running forward at the moment, the controller controls the warning module to give a warning.

7. The vehicle driving safety system of claim 1, further comprising a feedback device, the feedback device further comprising:

a tag device for storing a tag signal that can be read;

the reading device is used for reading the tag signal and sending a feedback signal to the controller according to the current distance value between the reading device and the tag device;

one of the tag device and the reading device is arranged on a forklift, and the other tag device and the reading device are arranged separately from the forklift;

the controller is also used for receiving and analyzing the feedback signal and sending a second control instruction to the response device;

the response device is a vehicle-mounted control module;

the controller sends the second control instruction to the vehicle-mounted control module after receiving the feedback signal, and the vehicle-mounted control module controls the forklift to move forwards; otherwise, the vehicle-mounted control module controls the forklift to stop or retreat.

8. The vehicle-driving safeguard system according to claim 1, characterized in that the vehicle-driving safeguard system further comprises a backward obstacle detector for detecting obstacle information behind the forklift, an output of the backward obstacle detector being electrically connected to an input of the controller;

and the controller receives and analyzes a backward distance detection signal of the backward obstacle detector, and if a backward distance detection value is smaller than a preset early warning distance threshold value, the controller sends a third control instruction to the response device.

9. The vehicle driving safety system of claim 8, further comprising a rearward obstacle detector for detecting information about obstacles behind the forklift, an output of the rearward obstacle detector being electrically connected to the input of the controller;

the controller receives and analyzes the detection signal of the driving direction sensor and the backward distance detection signal of the backward obstacle detector, and if the detection signal of the driving direction sensor is a backward driving signal and the backward distance detection value is smaller than a preset early warning distance threshold value, the controller sends a third control instruction to the response device.

10. The vehicle driving safety system according to claim 1 or 5, further comprising a forward obstacle detector for detecting obstacle information in front of the forklift, an output end of the forward obstacle detector being electrically connected to an input end of the controller;

the controller receives a forward distance detection signal of the forward obstacle detector, and sends a control instruction of corresponding emergency degree to the response device according to the magnitude grade of the forward distance detection value, and the response device makes a response action of the corresponding emergency degree.

11. The vehicle driving safeguard system according to claim 1 or 5, characterized in that the vehicle driving safeguard system further comprises

The obstacle detection device comprises a forward obstacle detector, a controller and a controller, wherein the forward obstacle detector is an obstacle type identification sensor which is used for identifying whether the obstacle type is a person or not, and the output end of the obstacle type identification sensor is electrically connected with the input end of the controller;

the controller receives and analyzes the identification result of the obstacle type identification sensor, and if the identification result of the obstacle type identification sensor is that the obstacle type is a person, the controller sends a fourth control instruction to the response device, and the response device makes a response action of the corresponding emergency degree of the fourth control instruction; otherwise, the controller sends a fifth control instruction to the response device, and the response device makes a response action of the corresponding emergency degree of the fifth control instruction;

the urgency of the fourth control instruction is lower than the urgency of the fifth control instruction.

12. The vehicle driving safety protection system according to claim 1, further comprising a counting unit for counting the number of times of loading of the forklift truck, wherein the counting unit is electrically connected with the output end of the controller; the controller receives and analyzes the detection signal of the cargo sensor, and if the detection signal of the cargo sensor is converted from the forklift cargo loading into the forklift no-load, the controller triggers the counting unit to update the cargo loading times.

Technical Field

The invention relates to the field of forklift control, in particular to a vehicle running safety protection system for a forklift.

Background

Fork truck is an industrial handling vehicle, refers to the wheeled handling vehicle that carries out loading and unloading, stack and short distance transportation operation to finished pallet goods, is often used in the transportation of storage large-scale article. The forklift is a transportation tool commonly used in the industrial field, the functional status of the forklift is undoubted, but safety accidents are easy to happen because the vision of a forklift driver is often blocked by goods loaded on the forklift when the forklift works.

In order to prevent the occurrence of accidents that people or objects are collided by the forklift, an anti-collision alarm system is installed on the forklift in the prior art, the distance between a person and the forklift is measured by specifically utilizing a radio frequency ranging technology, and when the distance is too short, the person anti-collision alarm is realized.

However, in the prior art, a forklift sometimes carries goods in front or needs to lift a fork during running, so that a sensor of an anti-collision system is shielded by the goods and the fork and cannot work, and therefore, the existing forklift safety obstacle avoidance scheme has huge safety dead angles.

Disclosure of Invention

In order to solve the problems in the prior art, the invention at least provides a novel vehicle running safety protection system for a forklift, and the technical scheme is as follows:

the invention provides a vehicle driving safety protection system for a forklift, wherein the forklift is provided with a fork for loading goods and a response device for making a response action, and the vehicle driving safety protection system comprises:

cargo sensor: the cargo sensor is used for detecting cargo information of the fork;

a traveling direction sensor: the driving direction sensor is used for detecting the driving direction information of the forklift;

a controller: the controller is respectively electrically connected with the cargo loading sensor and the driving direction sensor, receives and analyzes the cargo loading information and the driving direction information, and sends a first control instruction to the response device if the cargo loading information is the cargo loading of the forklift and the driving direction information is a forward driving signal;

and after receiving the first control instruction, the response device makes a response action.

The forklift provided with the vehicle running safety protection system provided by the invention detects the cargo information of the fork through the cargo sensor and detects the running direction information of the forklift through the running direction sensor, and when the advancing forklift is found to be in a cargo state, the response device is controlled by the controller to make a response action, so that the possibility of danger of the forklift can be reduced even if the sight of a driver is shielded, and the running safety of the forklift is ensured.

The response action can be speed control or parking, or can be voice warning and the like to the pedestrian, so that the forklift actively or the passerby passively performs necessary safety action to ensure the driving safety of the forklift.

Furthermore, the response device is a warning module, and the warning module sends out a warning after receiving the first control instruction and prompts pedestrians to pay attention to avoiding the forklift.

Optionally, the response device is an on-board control module, and the on-board control module controls the forward speed of the forklift to be reduced to be less than or equal to a first preset speed after receiving the first control instruction, wherein the first preset speed is a very low safe speed, for example, 2m/s, even if the forklift at the speed is accidentally touched by goods or suddenly approaching pedestrians, the forklift is difficult to hurt, and a driver has enough reaction time to brake, so that the forklift can immediately stop moving when the driver of the forklift brakes.

Optionally, the response device is a vehicle-mounted control module, after receiving the first control instruction, the vehicle-mounted control module controls the forklift to stop advancing after the forklift runs for a preset time or a preset distance, and/or the vehicle-mounted control module controls the forklift to send a warning after the forklift runs for a preset time or a preset distance, and the advancing distance of the forklift is limited, so that the possibility of collision accidents is reduced.

Further, the vehicle driving safety protection system further comprises:

the position sensor is used for detecting height information of the fork and is electrically connected with the controller;

the forward obstacle detector is used for detecting obstacle information in front of the forklift and is electrically connected with the controller;

the controller is further used for receiving and analyzing a detection signal of the position sensor, and if the height information detected by the position sensor is greater than a first height threshold value, the controller controls the forward obstacle detector to work; and/or if the height information detected by the position sensor is smaller than a second height threshold value, the controller controls the forklift to stop advancing or performs speed limit control on the forklift.

Even can shelter from fork truck driver's sight when the fork lifts up, because the position that sets up to the obstacle detector is lower, so this moment to the obstacle detector can survey the barrier in fork truck the place ahead, driver or controller can judge the road conditions through to the obstacle detector.

Optionally, the vehicle driving safety protection system further comprises:

the front obstacle detector is used for detecting obstacle information in front of the forklift, the obstacle information comprises distance information and angle information of obstacles, and the front obstacle detector is electrically connected with the controller;

the controller is used for receiving and analyzing the obstacle information, judging that the obstacle is a pallet fork which is not lifted if angle information in the obstacle information is within a preset range and distance information in the obstacle information is smaller than a preset value, and controlling the warning module to give a warning if the forklift runs forward.

Further, the vehicle driving safety protection system further comprises a feedback device, and the feedback device further comprises:

a tag device for storing a tag signal that can be read;

the reading device is used for reading the tag signal and sending a feedback signal to the controller according to the current distance value between the reading device and the tag device;

one of the tag device and the reading device is arranged on a forklift, and the other tag device and the reading device are arranged separately from the forklift;

the controller is also used for receiving and analyzing the feedback signal and sending a second control instruction to the response device;

the response device is a vehicle-mounted control module;

the controller sends the second control instruction to the vehicle-mounted control module after receiving the feedback signal, and the vehicle-mounted control module controls the forklift to move forwards; otherwise, the vehicle-mounted control module controls the forklift to stop or retreat.

The label device and the reading device are respectively arranged on the body of the forklift guide person and on the forklift, and the forklift can move forward only when the forklift guide person on the ground determines that the road condition is good and guides the forklift within a preset distance, so that the forklift collision accident caused by the fact that the sight of a driver is shielded can not occur.

Furthermore, the vehicle running safety protection system also comprises a backward obstacle detector for detecting obstacle information behind the forklift, and the output end of the backward obstacle detector is electrically connected with the input end of the controller;

the controller receives and analyzes a backward distance detection signal of the backward obstacle detector, and if a backward distance detection value is smaller than a preset early warning distance threshold value, the controller sends a third control instruction to the response device, and the response device makes a danger avoiding response to prevent the forklift from colliding with a backward obstacle.

Optionally, the vehicle driving safety protection system further comprises a backward obstacle detector for detecting obstacle information behind the forklift, and an output end of the backward obstacle detector is electrically connected with an input end of the controller;

the controller receives and analyzes the detection signal of the driving direction sensor and the backward distance detection signal of the backward obstacle detector, and if the detection signal of the driving direction sensor is a backward driving signal and the backward distance detection value is smaller than a preset early warning distance threshold value, the controller sends a third control instruction to the response device, and the response device makes a danger avoiding response.

When the forklift moves backwards, a driver is inconvenient to observe the backward road condition, so that the danger coefficient is higher at the moment; this scheme can effectively reduce the danger coefficient when fork truck retreats.

Furthermore, the vehicle driving safety protection system also comprises a forward obstacle detector for detecting obstacle information in front of the forklift, and the output end of the forward obstacle detector is electrically connected with the input end of the controller;

the controller receives a forward distance detection signal of the forward obstacle detector, sends a control instruction of corresponding emergency degree to the response device according to the magnitude grade of a forward distance detection value, and the response device makes a response action of the corresponding emergency degree, so that the forklift can be controlled to make a risk avoiding action, the working efficiency of the forklift is not reduced due to 'one-time cutting', and the device is more flexible and efficient.

Further, the vehicle driving safety protection system also comprises

The obstacle detection device comprises a forward obstacle detector, a controller and a controller, wherein the forward obstacle detector is an obstacle type identification sensor which is used for identifying whether the obstacle type is a person or not, and the output end of the obstacle type identification sensor is electrically connected with the input end of the controller;

the controller receives and analyzes the identification result of the obstacle type identification sensor, and if the identification result of the obstacle type identification sensor is that the obstacle type is a person, the controller sends a fourth control instruction to the response device, and the response device makes a response action of the corresponding emergency degree of the fourth control instruction; otherwise, the controller sends a fifth control instruction to the response device, and the response device makes a response action of the corresponding emergency degree of the fifth control instruction;

the urgency of the fourth control instruction is lower than the urgency of the fifth control instruction.

People can act independently and avoid the forklift, but goods cannot, so that different control strategies are adopted when objects causing driving obstacles are different, and the working efficiency of the forklift can be guaranteed while avoiding danger.

Furthermore, the vehicle running safety protection system also comprises a counting unit for counting the cargo carrying times of the forklift, and the counting unit is electrically connected with the output end of the controller; the controller receives and analyzes the detection signal of the cargo sensor, and if the detection signal of the cargo sensor is converted from the forklift cargo into the forklift no-load, the controller triggers the counting unit to update the cargo carrying times, so that the workload is counted, the cargos are counted and the like are facilitated.

The vehicle anti-collision control method and the vehicle anti-collision control system provided by the invention can produce the following beneficial effects:

a. when the forklift carries cargo, an alarm sound is sent to prompt passing pedestrians and limit the advancing speed or duration of the forklift, so that the forklift can be prevented from colliding with obstacles or pedestrians under the condition that the sight of a driver is shielded or the sight of an obstacle sensor is shielded;

b. different safety strategies are implemented on the forklift according to the types of the obstacles or the distances, and the forklift is more flexible.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic circuit connection diagram of a vehicle driving safety protection system provided by an embodiment of the invention;

fig. 2 is a schematic view of an operating state of the vehicle driving safety protection system according to the embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

Example one

The embodiment provides a vehicle running safety protection system for a forklift, and the vehicle running safety protection system comprises a cargo loading sensor for detecting cargo loading information of a fork and a running direction sensor for detecting running direction information of the forklift, wherein when the sensors detect that the forklift is in a cargo loading and advancing state at the same time, a controller sends an instruction to a response device on the forklift, and the response device responds to send out an alarm or limits on the speed, the running distance and the running time of the forklift in the forward running process so as to avoid colliding with a front obstacle to the greatest extent possible. The fork can be fork-shaped or in a structure with other shapes, and is used for bearing cargoes; forward refers to travel in the direction of the forks (toward the outer ends of the forks) and reverse travel otherwise.

Specifically, the method comprises the following steps:

the output end of the cargo-carrying sensor is electrically connected with the input end of the controller, and if the pallet fork carries cargo, the cargo-carrying sensor sends a cargo-carrying signal to the controller;

the output end of the driving direction sensor is electrically connected with the input end of the controller, and if the forklift drives forwards, the driving direction sensor sends a forward driving signal to the controller;

the controller sends out a first control instruction when receiving the cargo signal and the forward driving signal simultaneously. That is to say, when the forklift simultaneously meets two conditions of loading and advancing, the controller can send out a first control instruction;

the response device receives the first control instruction and then makes a response action of avoiding danger, the response device can comprise a warning module and a vehicle-mounted control module, and the warning module can be a loudspeaker and a vehicle lamp of the forklift or a loudspeaker and a prompting lamp which are additionally arranged; the response action can be that the control warning module sends out alarm sound, scintillation warning light to the suggestion pedestrian is paid attention to dodging fork truck, the driver is paid careful operation, or on-vehicle control module control fork truck's speed of advancing reduces, or control fork truck just stops advancing a few seconds again.

Correspondingly, a first preset speed is prestored in the vehicle-mounted control module, if the vehicle-mounted control module receives a first control instruction, the vehicle-mounted control module controls the forklift to decelerate until the advancing speed of the forklift is not higher than the first preset speed, the first preset speed is a very low speed, preferably 2m/s, even if the forklift at the speed accidentally touches goods or suddenly close pedestrians, the forklift hardly causes injury, and a driver has enough reaction time to brake; or, there is a preset time length or a preset distance in the vehicle-mounted control module, if the vehicle-mounted control module receives the first control instruction, the vehicle-mounted control module controls the forklift to stop moving forward after the preset time length or distance, and then the forklift stops moving in place or moves backward, the preset time length is a short time, such as 30s, 10s, preferably 2s, the forklift stops moving forward for 2s, the forward distance of the forklift in the time is limited, and the forklift is not easy to collide with a front obstacle, and after the forklift stops, the vehicle-mounted control module can clear the instruction received before stopping, until the driver controls the forklift to move forward again, the vehicle-mounted control module can start receiving the instruction of the controller again, the forklift stops moving, the distance of moving forward at each time is limited, the danger coefficient is greatly reduced, and the driver can also determine the road condition through a camera or a ground commander before moving forward at each time. The control modes can also be combined for use, for example, the warning is sent while the speed is reduced, or the forklift is controlled to stop advancing after the speed is reduced, or the warning is sent after the forklift runs for a preset distance.

The cargo sensor is arranged at the front part of the forklift, can be a pressure sensor arranged at the inner bottom of the forklift, and sends a cargo signal after sensing the pressure of the cargo; or the infrared detector is arranged on the head of the forklift, when the goods in the forklift reach a certain height, the goods are detected by the infrared detector, and the infrared detector sends a goods carrying signal.

The fork is used for bearing and carrying goods, and can be fork-shaped or in other shapes capable of bearing the goods; accordingly, a forklift is said to travel forward when traveling to one end with the forks and backward or reverse when traveling to the opposite end. The controller is used for controlling the motion state of the forklift and is generally indirectly realized through controlling an on-board control system.

Example two

The vehicle driving safety protection system in the embodiment comprises the arrangement in the embodiment 1, and further comprises a forward obstacle detector for detecting obstacle information in front of the forklift, and referring to fig. 1, the forward obstacle detector mainly works when the forklift lifts up to enable the forklift or goods to block the sight of a driver, so that when the forward obstacle detector is arranged at the head of the forklift or the body of the forklift, the height of the forward obstacle detector is lower than the height of the bottom of the forklift when the forklift lifts up, and the forward obstacle detector is preferably arranged at the bottom of the forklift; the forward obstacle detector may also be arranged at the front end of the fork, at the bottom of the fork, etc., but is preferably arranged at the front of the vehicle head near the bottom. When the fork is not lifted, the forward obstacle detector is blocked by the fork, the sight of a driver cannot be interfered by the fork, and the forward obstacle detector does not need to work at the moment.

Specifically, a position sensor positioned in front of the forklift is arranged in cooperation with a forward obstacle detector to detect height information of the fork; the output end of the position sensor is electrically connected with the input end of the controller, and if the position sensor detects that the height of the bottom of the fork is higher than a preset first height, the position sensor sends a fork lifting signal to the controller; the input end of the forward obstacle detector is electrically connected with the output end of the controller, the forward obstacle detector is arranged at a second height, and the second height is lower than or equal to the first height; in response to the cargo carrying signal and the fork lifting signal, the controller controls the forward obstacle detector to work; if the position sensor detects that the height of the fork is smaller than the second height, the fork can block the front obstacle detector, the position sensor sends a fork non-lifting signal to the controller, and the controller controls the forklift to stop advancing or perform speed limit control on the forklift in response to the fork non-lifting signal, so that the fork must be lifted when driving is forcibly achieved, and no fork as an obstacle is in the sensing range of the front sensor.

In addition, the distance measuring function of the front obstacle detector can be directly utilized, the angle judging function is achieved, when the obstacle is detected to be in the right front angle, the distance is smaller than a certain value, the obstacle can be judged to be a fork, and the fork is lower than the preset height. According to the situation that the pallet fork is not lifted, after the forklift is detected to run, the controller controls the warning module to send out a warning signal; in this case, the forward obstacle sensor also corresponds to the position sensor.

The forward obstacle detector can detect whether an obstacle exists in front of the forklift and can detect the distance of the obstacle; in some embodiments, the controller receives a forward distance detection signal from the forward obstacle detector and issues control commands of different urgency levels according to magnitude levels of the forward distance detection value. In the process that the forklift is close to the obstacle, the forklift is enabled to send out the prompt lamp firstly, then the forklift is enabled to decelerate, and the forklift is controlled to stop advancing when the distance between the obstacle and the obstacle is smaller than the preset distance. The controller adopts the control strategy, so that the forklift can run more flexibly and better adapt to the working environment.

The vehicle running safeguard system further includes an obstacle type identification sensor for identifying whether the obstacle type is a person. As one type of the forward obstacle detector, the obstacle type identification sensor can identify the type of the obstacle, and the controller carries out different control strategies according to the distance information and the type information of the obstacle to correspondingly control the response device, so that the driving safety of the forklift can be guaranteed, and the normal work of the forklift cannot be greatly interfered.

Specifically, the obstacle type recognition sensor is an optical device, preferably a camera, capable of acquiring obstacle graphic information, or an infrared detector, preferably including a visual recognition AI capable of recognizing a person; the obstacle type recognition sensor can recognize whether the obstacle is a cargo or a pedestrian. If the obstacle is a pedestrian, the pedestrian can move spontaneously to avoid the forklift, and the control strategy selected by the controller has less interference on the driving of the forklift, for example, firstly gives out warning sound, decelerates if the obstacle (pedestrian) continues to approach, preferably gives out warning and controls the forklift to decelerate at the same time, as shown in fig. 2; if the obstacle is above ground goods, particularly goods having a height that cannot pass under the forklift, the controller may select a scheme that causes greater disturbance to the travel of the forklift because the goods are immobile, so that the forklift stays in place or backs up.

In a specific setting, namely:

the controller receives and analyzes the identification result of the obstacle type identification sensor, if the identification result is that the obstacle type is a person, the controller sends a fourth control instruction, otherwise, the controller sends a fifth control instruction, and the emergency degree of the fourth control instruction is lower than that of the fifth control instruction; responding to the fourth control instruction, a prompt module of the forklift sends a prompt, and/or a vehicle-mounted control system of the forklift controls the advancing speed of the forklift to be reduced to be less than or equal to a second preset speed; and responding to the fifth control instruction, and controlling the forklift to stay in place or retreat by the vehicle-mounted control system of the forklift.

EXAMPLE III

The vehicle driving safety protection system in the embodiment further comprises a distance measuring base station besides the arrangement in the first embodiment, wherein a specific tag is arranged on a person guiding the forklift to move forward, or the tag is arranged on the vehicle and the person guiding the forklift to move forward. When the distance measuring base station measures that the label is within the preset distance, the distance measuring base station sends a feedback signal, and the controller responds to the feedback signal to control the forklift to move forward; and when the label measured by the ranging base station is not within the preset distance, the controller controls the forklift to stay in place or retreat. Therefore, ground personnel can guide the forklift to advance or not advance according to road conditions.

The specific arrangement may be that a tag device for storing a tag signal that can be read is mounted on the lead person, a reading device capable of reading the tag signal of the tag device is provided on the forklift, the reading device is capable of determining the distance between the reading device and the tag device, and the reading device is electrically connected to the input terminal of the controller. In response to the fact that the distance between the reading device and the label device is smaller than or equal to a preset value, the controller directly controls the forklift to move forward, or the controller controls the vehicle-mounted controller to indirectly control the forklift to move forward; otherwise, the controller controls the forklift to stop or retreat. The tag signal may be an ultrasonic signal or an electromagnetic wave signal.

Furthermore, the label device can be further provided with an emergency control button which is used for manually triggering in an emergency to send a stop instruction or a retreat instruction to the controller, and the controller controls the forklift to stop advancing or control the forklift to retreat after receiving the stop instruction or the retreat instruction.

Example four

Referring to fig. 1, in the present embodiment, the arrangement of the vehicle driving safeguard system is substantially the same as that of the foregoing embodiment, except that the vehicle driving safeguard system in this embodiment further includes a backward obstacle detector for detecting information on an obstacle behind the forklift. When a nearer obstacle exists in front of the forklift, the controller limits forward running of the forklift, and the forklift only stays in place or can run backwards; when backward driving, when the backward obstacle detector detects the obstacle behind the forklift, the controller selects a control strategy according to the distance of the obstacle: when the obstacle is far away, only the alarm sound is given out to remind the driver of driving carefully; when the obstacle is close, the forklift is controlled to automatically decelerate, and sufficient reaction time is provided for a driver; when the obstacle is close, the forklift is controlled to stop automatically and not move backwards any more. The control strategy can avoid accidents caused by the fact that the forklift collides with a rear obstacle, and also leaves a flexible driving room for the forklift.

The backward obstacle detector may be an ultrasonic ranging sensor, a laser ranging sensor, or an infrared ranging sensor as the forward obstacle detector.

The method specifically comprises the following steps:

the controller receives and analyzes a detection signal of the driving direction sensor and a backward distance detection signal of the backward obstacle detector, and if the detection signal of the driving direction sensor is a backward driving signal and a backward distance detection value is smaller than a preset early warning distance threshold value, the controller sends out a third control instruction, and the third control instruction is different according to different obstacle distance information in the first signal.

Or the following steps: the controller receives and analyzes a backward distance detection signal of the backward obstacle detector, and if the backward distance detection value is smaller than a preset early warning distance threshold value, the controller sends a third control instruction. That is, the controller controls the travel of the forklift directly according to the distance to the obstacle without referring to the travel direction of the forklift.

EXAMPLE five

Referring to fig. 1, in this embodiment, the vehicle driving safety protection system is further provided with a counting unit for counting the number of times of transportation (number of times of cargo loading), so as to count the workload and count the cargos. The counting unit is electrically connected with the output end of the controller, the controller receives and analyzes the detection signal of the cargo sensor, and if the detection signal of the cargo sensor is converted from the forklift cargo into the forklift no-load state, the controller triggers the counting unit to update the cargo carrying times, so that the counting unit adds one to the cargo carrying times.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.