CN108706520A - A kind of collision detection control system, method and fork truck - Google Patents
A kind of collision detection control system, method and fork truck Download PDFInfo
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- CN108706520A CN108706520A CN201810954647.6A CN201810954647A CN108706520A CN 108706520 A CN108706520 A CN 108706520A CN 201810954647 A CN201810954647 A CN 201810954647A CN 108706520 A CN108706520 A CN 108706520A
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- collision
- fork truck
- controller
- grade
- detection control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Human Computer Interaction (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
This application discloses a kind of collision detection control system, method and fork trucks, include the crash sensor on fork truck and the controller on fork truck, for controlling fork truck；Crash sensor, for collision sensing signal to be sent to controller；Controller, the collision grade for judging currently to collide using collision sensing signal carry out performance limitation according to restriction rule corresponding with collision grade using collision grade to the controlled device of fork truck；After carrying out performance limitation to controlled device, the unlock instruction that user is inputted by input equipment is received, the limitation to controlled device is released using unlock instruction；The application installs the controller for controlling fork truck on fork truck and coordinates crash sensor, the performance of fork truck is limited if colliding, cause driver that must notify administrator inputs to release instruction, the performance of fork truck is limited so that controller releases, it enables an administrator to learn each collision, avoids the case where driver conceals collision.
Description
Technical field
The present invention relates to Vehicle Engineering, more particularly to a kind of collision detection control system, method and fork truck.
Background technology
According to the statistics made by the departments concerned, forklift accidents generation recent years is gradually frequent, this has become compares in Forklift Industry
Intractable problem, we will promote our logistic efficiency to one side using fork truck, to allow more people to enjoy logistics
Bring their material benefit；Another aspect fork truck quickly comes into operation and also brings a series of problems, for example, operator some
Accident or property loss caused by uncivil either violation operation behavior, simultaneously as monitoring is not in place, party can be with
It drives, far from the region, manager can not inquire immediately.
For this reason, it may be necessary to enable manager it can be found that collision generation, avoids driver from concealing the device of collision.
Invention content
In view of this, the purpose of the present invention is to provide a kind of collision detection control system, method and fork truck, manager is enabled
It can be found that collision occurs, driver is avoided to conceal collision.Its concrete scheme is as follows：
A kind of collision detection control system is applied to fork truck, includes the crash sensor on fork truck and be mounted on
Controller on the fork truck, for controlling the fork truck；
The crash sensor, for collision sensing signal to be sent to the controller；
The controller, the collision grade for judging currently to collide using the collision sensing signal, using described
Grade is collided, performance limitation is carried out to the controlled device of the fork truck according to restriction rule corresponding with the collision grade；When
After carrying out performance limitation to the controlled device, the unlock instruction that user is inputted by input equipment is received, the unlock is utilized
Instruction releases the limitation to the controlled device.
Optionally, further include being connected with the controller, be installed on the rotary angle transmitter of the rear-axle steering section of the fork truck
The display being connect with the controller；
The rotary angle transmitter, for the steering angle of the fork truck to be sent to the controller；
The controller generates the instruction of trailing wheel posture for utilizing the steering angle；
The display, for showing the trailing wheel posture instruction.
Optionally, the crash sensor is mounted on the balance position of the fork truck.
Optionally, further include being mounted on the fork truck rear, the camera being connected with the display and the controller；
The controller, the shooting instruction inputted by input equipment for receiving user utilize the shooting instruction control
The camera is made to open；
The camera, the image for shooting the fork truck rear；
The display, the image for showing the camera shooting.
Optionally, further include the alarm being connected with the controller；
The controller controls institute for judging whether to meet alert if using the collision grade if meeting
State alarm equipment alarm.
Optionally, further include being mounted on the fork truck rear, the range sensor being connected with the controller；
The range sensor, for distance measurement result to be sent to the controller；
The controller, for judging whether to be more than preset threshold value using the distance measurement result, if it does, then controlling
The alarm equipment alarm.
Optionally, the controller, including：
Limiting unit, for utilizing the collision grade, according to restriction rule corresponding with the collision grade to described
The hydraulic buttery valve and/or Engine ECU of fork truck are limited, to limit the performance of the fork truck.
Optionally, when the collision grade is the first collision grade, the limiting unit is specifically used for utilizing described first
Collide grade, according to corresponding first restriction rule of the first collision grade control the Engine ECU to engine into
Row speed limit, to limit the performance of the fork truck；
When the collision grade is the second collision grade, the limiting unit is specifically used for utilizing described second collision etc.
Grade controls the Engine ECU, to enable the engine idle according to the second restriction rule corresponding with the second collision grade
Speed is simultaneously stopped working, and the hydraulic buttery valve is locked, to limit the performance of the fork truck.
The invention also discloses a kind of collision detection control methods, are applied to fork truck, including：
Obtain the collision sensing signal that crash sensor generates；
The collision grade for judging currently to collide using the collision sensing signal；
Using the collision grade, according to restriction rule corresponding with the collision grade to the controlled device of the fork truck
Carry out performance limitation；
After carrying out performance limitation to the controlled device, the unlock instruction that user is inputted by input equipment is received, profit
The limitation to the controlled device is released with the unlock instruction.
The invention also discloses a kind of fork truck, including hydraulic buttery valve, Engine ECU, direction switch and touch as the aforementioned
Hit detecting and controlling system.
In the present invention, collision detection control system is applied to fork truck, includes crash sensor and peace on fork truck
Controller on fork truck, for controlling fork truck；Crash sensor, for collision sensing signal to be sent to controller；Control
Device processed, the collision grade for judging currently to collide using collision sensing signal, using collision grade, according to collision grade
Corresponding restriction rule carries out performance limitation to the controlled device of fork truck；After carrying out performance limitation to controlled device, receives and use
The unlock instruction that family is inputted by input equipment releases the limitation to controlled device using unlock instruction.
Present invention installation shock sensor on fork truck generates the collision detection letter whether to collide for judging fork truck
Number, then judge whether to collide using collision sensing signal for controlling the controller of fork truck on fork truck, once hair
Raw collision then carries out performance limitation to the controlled device of fork truck, is limited with the runnability to fork truck, enables driver can not
Task is completed according to schedule, causes driver that must notify administrator inputs to release instruction, so that controller releases
Performance limitation to the controlled device of fork truck, enables an administrator to learn each collision, avoids driver and conceals collision
Situation.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of collision detection control system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 2 is another collision detection control system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of collision detection control method flow diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of fork lift truck structure schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is shown in Figure 1 the embodiment of the invention discloses a kind of collision detection control system, it is applied to fork truck, including peace
Crash sensor 1 on fork truck and the controller 2 on fork truck, for controlling fork truck；
Crash sensor 1, for collision sensing signal to be sent to controller 2；
Controller 2, the collision grade for judging currently to collide using collision sensing signal are pressed using collision grade
Performance limitation is carried out to the controlled device of fork truck according to restriction rule corresponding with collision grade；When to controlled device progress performance limit
After system, the unlock instruction that user is inputted by input equipment is received, the limitation to controlled device is released using unlock instruction.
Specifically, by fork truck installation shock sensor 1 can detect whether fork truck collides, collision sensing
Device 1 can be that acceleration transducer will produce great transient acceleration, therefore, acceleration sensing after fork truck collides
Device is by detecting the transient acceleration of fork truck, i.e., collision sensing signal is transient acceleration at this time, and controller 2 can be enabled to analyze
Go out whether fork truck collides, crash sensor 1 can send its collision sensing signal detected in real time, and hair can also be arranged
Threshold value is sent, after collision sensing signal is more than sending threshold value, collision sensing signal is sent to controller 2 by 1 ability of crash sensor,
For example, collision sensing signal is transient acceleration, sending threshold value can be to be set as 4g, if current instant acceleration is more than 4g
Afterwards, current instant acceleration is sent to controller 2 by 1 ability of crash sensor, if current instant acceleration is less than 4g, collides biography
Sensor 1 does not send current instant acceleration, to reduce the number of processes of controller 2, meanwhile, reduce the hair of crash sensor 1
Number is sent, controller 2 and crash sensor 1 is also enabled to reduce energy consumption.
Specifically, preset different collision grades in controller 2, for example, normal level, general collision grade and tight
Grade is collided again, and the collision sensing signal that crash sensor 1 generates when normal level can correspond to fork truck normal operation is normal etc.
Grade is suitable for crash sensor 1 and transmits collision sensing signal to controller 2 in real time, and controller 2 can not taken under normal level
Make, such as between instantaneous acceleration reaches 4g to 10g, then can calculate generally to collide grade, if instantaneous acceleration is more than 10g
It is classified as severe crash grade；After the collision sensing signal that controller 2 is sent using crash sensor 1, collision detection is judged
The collision grade of signal, so according to the collision grade determined to fork truck according to preset restriction rule to the controlled dress of fork truck
It sets and carries out corresponding performance limitation, each collision grade corresponds to a kind of restriction rule, for example, normal level corresponds to the first limitation rule
Then, limitation content is nothing, and general grade of colliding corresponds to the second restriction rule, and limitation content can be to starting in controlled device
Machine carries out performance limitation, realizes and carries out speed limit to fork truck, and the reduction of fork truck movement speed, severe crash grade is enabled to correspond to third limitation
Rule, limitation content can be the pallet fork in locked controlled device, that is, forbid fork operation, enable fork truck is flame-out to wait limitation content,
Can to avoid collision after second accident.
Further, controller 2, after the performance of limitation fork truck, driver can not utilize confined fork truck according to original
It works out a scheme and completes task, if wanting to continue to execute task, administrator is needed to be unlocked fork truck, controller 2 is in reception pipe
After unlock instruction of the reason person using input equipment input, just whole limitations of the controlled device of fork truck will be released, restored
The working performance of fork truck enables driver can continue to complete task so that after collision occurs, driver must notify to manage
Reason person carries out performance releasing, enables administrator that can learn collision accident each time, avoids driver and continues after collision occurs
Complete the case where task conceals collision.
Wherein, input equipment can be the equipment such as touch screen or keyboard；Controlled device may include pallet fork, engine, door
Frame equipment and hydraulic buttery valve etc..
As it can be seen that installation shock sensor 1 on fork truck of the embodiment of the present invention is generated for judging whether fork truck collides
Collision sensing signal, the controller 2 for controlling fork truck on fork truck then judges whether to send out using collision sensing signal
Raw collision, is carried out performance limitation to the controlled device of fork truck if colliding, is limited with the runnability to fork truck,
It enables driver that can not complete task according to schedule, causes driver that must notify administrator inputs to release instruction, with
Make controller 2 release to limit the performance of the controlled device of fork truck, enables an administrator to learn each collision, avoid driving
Member conceals the case where collision.
The embodiment of the invention discloses a kind of specific collision detection control systems, relative to a upper embodiment, this implementation
Example has made further instruction and optimization to technical solution.It is shown in Figure 2, specifically：
It is understood that because diesel fork lift truck is rear-axle steering, turning radius is small, and retrogressing turning process medium velocity is fast, and
Somagenic need face forward when driver operates, sight need to pay close attention to rear, encounter dangerous situation and be difficult to dispose immediately, therefore often can
Balance position at rear collides, and the balance position that crash sensor 1 is installed on to fork truck thus can be experienced at the first time
The variation of acceleration.
In the embodiment of the present invention, collision detection control system can also include being connected with controller 2, be installed on fork truck
The rotary angle transmitter 4 of rear-axle steering section and the display 5 being connect with controller 2；
Rotary angle transmitter 4, for the steering angle of fork truck to be sent to controller 2；
Controller 2 generates the instruction of trailing wheel posture for utilizing steering angle；
Display 5, for showing that trailing wheel posture indicates.
Specifically, rotary angle transmitter 4 measures the steering angle of the rear-axle steering section of fork truck, and steering angle is sent to control
Device 2 processed, controller 2 then deduce the steering situation of trailing wheel according to steering angle, and then generate the instruction of trailing wheel posture, for showing
The instruction of trailing wheel posture is simultaneously sent to display 5 by the current posture of trailing wheel, controller 2, and to enable display 5 show, trailing wheel posture refers to
Show, so that driver observes, judges that position of collision etc. collides relevant information convenient for user.
Wherein, the case where observing the rear of fork truck for ease of driver, collision detection control system further include being mounted on fork
Vehicle rear, the camera 6 being connected with display 5 and controller 2；
Controller 2, the shooting instruction inputted by input equipment for receiving user control camera using shooting instruction
6 open；
Camera 6, the image for shooting fork truck rear；
Display 5, the image shot for showing camera 6.
Specifically, driver can be turned on and off the camera shooting positioned at fork truck rear by input equipment by controller 2
First 6, the image collected is transmitted to display 5 by camera 6, and display 5 can show the scape at fork truck rear to driver
As understanding rear road conditions to help driver, reducing the possibility that collision occurs.
Specifically, for the information of driver when further confirmation collides, it is logical to be additionally operable to reception user for controller 2
The identity information for crossing input equipment input starts fork truck, so that user operates fork truck using identity information；Driver needs
Personal identity information is inputted, controller 2 can just control fork truck startup, and before driver inputs identity information, fork truck belongs to
Closed state.
It is understood that can also include the alarm 3 being connected with controller 2；
Controller 2 controls alarm 3 if meeting and reports for judging whether to meet alert if using collision grade
It is alert.
For example, collision grade is normal level, then it is unsatisfactory for alert if, then is not alarmed, if collision grade is generally to touch
Grade or severe crash grade are hit, then meets alert if, then controls the alarm of alarm 3.
Wherein, alarm 3 can be buzzer siren 3, and alarm 3 can also be by sending alarm signal to user terminal
Breath, to enable administrator rush in time, for example, warning message of the alarm 3 to the sending short message by mobile phone form of administrator；Controller
2 control alarm 3 can alarm while carrying out performance limitation to fork truck, can also be reported after carrying out performance limitation to fork truck
It is alert.
Further, for the generation of pre- anticollision, it can also include being mounted on fork truck rear, be connected with controller 2
Range sensor 7；
Range sensor 7, for distance measurement result to be sent to controller 2；
Controller 2, for judging whether to be more than preset threshold value using distance measurement result, if it does, then controlling alarm 3
Alarm.
Specifically, controller 2, may include limiting unit 21；Wherein,
Limiting unit 21, for utilizing collision grade, according to restriction rule corresponding with collision grade to the hydraulic pressure of fork truck
Solenoid valve and/or Engine ECU (ECU, Electronic Control Unit, electronic control unit) are limited, with limitation
The performance of fork truck；Wherein, limiting unit 21 can by control engine engine ECU controls engine operating status,
Realize the limitation to engine performance.
Specifically, collision grade can be divided into the first collision grade and the second collision grade in advance, when collision detection is believed
It number is unsatisfactory for the first collision grade and the second collision grade, shows not collide currently, when controller 2 judges collision detection letter
Number collision grade be the first collision grade, limiting unit 21 is specific using the first collision grade, according to the first collision grade
Corresponding first restriction rule control Engine ECU carries out speed limit to engine, to limit the performance of fork truck；For example, by fork truck
It is limited in 10km/h.
When controller 2 judges the collision grade of collision sensing signal for the second collision grade, limiting unit 21 is specific to utilize
Second collision grade controls Engine ECU, to enable engine idling according to the second restriction rule corresponding with the second collision grade
And stop working, hydraulic buttery valve is locked, to limit the performance of fork truck；Engine is enabled to enter for example, controller 2 controls Engine ECU
Idling mode, controller 2 controls Engine ECU and enables engine misses again after 1 minute, and controller 2 locks hydraulic buttery valve, prohibits
Only pallet fork works.
Correspondingly, the embodiment of the invention also discloses a kind of collision detection control method, it is shown in Figure 3, it is applied to fork
Vehicle, including：
S1：Obtain the collision sensing signal that crash sensor generates；
S2：The collision grade for judging currently to collide using collision sensing signal；
S3：Using collision grade, performance is carried out to the controlled device of fork truck according to restriction rule corresponding with collision grade
Limitation；
S4：After carrying out performance limitation to controlled device, the unlock instruction that user is inputted by input equipment is received, is utilized
Unlock instruction releases the limitation to controlled device.
As it can be seen that installation shock sensor 1 on fork truck of the embodiment of the present invention is generated for judging whether fork truck collides
Collision sensing signal, the controller 2 for controlling fork truck on fork truck then judges whether to send out using collision sensing signal
Raw collision, is carried out performance limitation to the controlled device of fork truck if colliding, is limited with the runnability to fork truck,
It enables driver that can not complete task according to schedule, causes driver that must notify administrator inputs to release instruction, with
Make controller 2 release to limit the performance of the controlled device of fork truck, enables an administrator to learn each collision, avoid driving
Member conceals the case where collision.
In the embodiment of the present invention, collision detection control method can also include S21 to S23；Wherein,
S21：Obtain the steering angle for the fork truck that rotary angle transmitter generates；
S22：Using steering angle, the instruction of trailing wheel posture is generated；
S23：The instruction of trailing wheel posture is sent to display, to show that trailing wheel posture indicates.
Specifically, for the information of driver when further confirmation collides, user can also be received and set by input
The identity information of standby input starts fork truck, so that user operates fork truck using identity information；Driver needs to input a
The identity information of people can just control fork truck startup, and before driver inputs identity information, fork truck belongs to closed state.
Specifically, can also include the shooting instruction for receiving user and being inputted by input equipment, be controlled using shooting instruction
Camera is opened, and the image at camera shooting fork truck rear is shown with display.
Specifically, further including judging whether to meet alert if using collision grade, alarm report is controlled if meeting
It is alert.
Specifically, further including S31 and S32；Wherein,
S31：Obtain the distance measurement result that range sensor generates；
S32：Judge whether to be more than preset threshold value using distance measurement result, if it does, then controlling alarm equipment alarm.
Further, above-mentioned S3 is using collision grade, according to restriction rule corresponding with collision grade to the controlled of fork truck
Device carries out the process of performance limitation including the use of collision grade, according to restriction rule corresponding with collision grade to the liquid of fork truck
Pressure electromagnetic valve and/or Engine ECU are limited, to limit the performance of fork truck.
Wherein, it is the first collision grade when colliding grade, using the first collision grade, according to corresponding to the first collision grade
The first restriction rule control Engine ECU to engine carry out speed limit, to limit the performance of fork truck；
When collision grade is the second collision grade, using the second collision grade, according to the second collision grade corresponding the
Two restriction rules control Engine ECU, to enable engine idling and stop working, hydraulic buttery valve are locked, to limit the performance of fork truck.
In addition, the embodiment of the invention also discloses a kind of fork truck, it is shown in Figure 4, including hydraulic buttery valve 5, engine
ECU4, direction switch 6 and collision detection control system 11 as the aforementioned.
Specifically, direction switch includes the switch F1 and retrogressing switch R1 that advances, the control in collision detection control system 11
Device 2 can control engine forward-reverse, hydraulic buttery valve 5 is for controlling fork truck by the voltage signal of reception direction switch 6
Pallet fork movement, therefore, controller 2 can control the working condition of pallet fork by controlling the working condition of hydraulic buttery valve 5, hair
Motivation ECU4 is for controlling engine, and therefore, controller 2 can control the rotating speed and shelves of engine by controlling Engine ECU 4
Position etc..
Wherein, further include alarm H, rotary angle transmitter S1 and bus termination resistance (R2 and R3)；B+ indicates positive pole,
ACC+ indicates priming supply.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
A kind of collision detection control system provided by the present invention, method and fork truck are described in detail above, this
Specific case is applied in text, and principle and implementation of the present invention are described, the explanation of above example is only intended to
It facilitates the understanding of the method and its core concept of the invention；Meanwhile for those of ordinary skill in the art, think of according to the present invention
Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair
The limitation of the present invention.
Claims (10)
1. a kind of collision detection control system, which is characterized in that be applied to fork truck, include the crash sensor on fork truck
With the controller on the fork truck, for controlling the fork truck；
The crash sensor, for collision sensing signal to be sent to the controller；
The controller, the collision grade for judging currently to collide using the collision sensing signal, utilizes the collision
Grade carries out performance limitation according to restriction rule corresponding with the collision grade to the controlled device of the fork truck；When to institute
After stating controlled device progress performance limitation, the unlock instruction that user is inputted by input equipment is received, the unlock instruction is utilized
Release the limitation to the controlled device.
2. collision detection control system according to claim 1, which is characterized in that further include being connected with the controller,
The display for being installed on the rotary angle transmitter of the rear-axle steering section of the fork truck and being connect with the controller；
The rotary angle transmitter, for the steering angle of the fork truck to be sent to the controller；
The controller generates the instruction of trailing wheel posture for utilizing the steering angle；
The display, for showing the trailing wheel posture instruction.
3. collision detection control system according to claim 1, which is characterized in that the crash sensor is mounted on described
The balance position of fork truck.
4. collision detection control system according to claim 1, which is characterized in that further include after being mounted on the fork truck
Side, the camera being connected with the display and the controller；
The controller, the shooting instruction inputted by input equipment for receiving user control institute using the shooting instruction
State camera unlatching；
The camera, the image for shooting the fork truck rear；
The display, the image for showing the camera shooting.
5. collision detection control system according to claim 1, which is characterized in that further include being connected with the controller
Alarm；
The controller controls the report for judging whether to meet alert if using the collision grade if meeting
Alert device alarm.
6. collision detection control system according to claim 5, which is characterized in that further include after being mounted on the fork truck
Side, the range sensor being connected with the controller；
The range sensor, for distance measurement result to be sent to the controller；
The controller, for judging whether to be more than preset threshold value using the distance measurement result, if it does, then described in control
Alarm equipment alarm.
7. collision detection control system according to any one of claims 1 to 6, which is characterized in that the controller, packet
It includes：
Limiting unit, for utilizing the collision grade, according to restriction rule corresponding with the collision grade to the fork truck
Hydraulic buttery valve and/or Engine ECU limited, to limit the performance of the fork truck.
8. collision detection control system according to claim 7, which is characterized in that when the collision grade is the first collision
Grade, the limiting unit are specifically used for colliding grade using described first, according to the first collision grade corresponding the
One restriction rule controls the Engine ECU and carries out speed limit to engine, to limit the performance of the fork truck；
When the collision grade is the second collision grade, the limiting unit is specifically used for colliding grade using described second, press
The Engine ECU is controlled according to the second restriction rule corresponding with the second collision grade, to enable the engine idling simultaneously
It is flame-out, the hydraulic buttery valve is locked, to limit the performance of the fork truck.
9. a kind of collision detection control method, which is characterized in that it is applied to fork truck, including：
Obtain the collision sensing signal that crash sensor generates；
The collision grade for judging currently to collide using the collision sensing signal；
Using the collision grade, the controlled device of the fork truck is carried out according to restriction rule corresponding with the collision grade
Performance limits；
After carrying out performance limitation to the controlled device, the unlock instruction that user is inputted by input equipment is received, institute is utilized
State limitation of the unlock instruction releasing to the controlled device.
10. a kind of fork truck, which is characterized in that including hydraulic buttery valve, Engine ECU, direction switch and such as claim 1 to 8
Any one of them collision detection control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810954647.6A CN108706520A (en) | 2018-08-21 | 2018-08-21 | A kind of collision detection control system, method and fork truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810954647.6A CN108706520A (en) | 2018-08-21 | 2018-08-21 | A kind of collision detection control system, method and fork truck |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562885A (en) * | 2019-09-30 | 2019-12-13 | 杭叉集团股份有限公司 | Adjustable interval tilting mechanism for fork |
| CN111325070A (en) * | 2018-12-17 | 2020-06-23 | 北京京东尚科信息技术有限公司 | Image-based collision detection method and device |
| CN113321160A (en) * | 2020-02-28 | 2021-08-31 | 林德（中国）叉车有限公司 | Platform area forklift anti-falling system and method |
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