CN110722984B - Forklift regional speed limiting method and system based on iBeacon - Google Patents
Forklift regional speed limiting method and system based on iBeacon Download PDFInfo
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- CN110722984B CN110722984B CN201910942408.3A CN201910942408A CN110722984B CN 110722984 B CN110722984 B CN 110722984B CN 201910942408 A CN201910942408 A CN 201910942408A CN 110722984 B CN110722984 B CN 110722984B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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Abstract
The invention discloses a forklift regional speed limiting method and system based on iBeacon, wherein the method comprises the following steps: an iBeacon base station arranged on a forklift receives messages sent by two iBeacon active speed limit labels; the base station or the forklift controller respectively calculates the distance S1 and the distance S2 between the two active speed limit labels according to the messages of the two active speed limit labels; the forklift controller judges whether the spacing S1 is larger than the spacing S2, if the spacing S1 is larger than the spacing S2, whether the spacing S2 is smaller than a preset spacing S is judged, and if the spacing S1 is smaller than the spacing S2, the maximum speed of the forklift is set as the limiting speed of the area where the active speed-limiting tags with the spacing S1 are located; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tag with the spacing S2 is located. The invention has low cost and high reliability.
Description
Technical Field
The invention relates to the technical field of safe driving of forklifts, in particular to a forklift region speed limiting method and system based on iBeacon.
Background
Currently, several different speed limits are generally set in different areas of a factory due to safety considerations, for example, the required speed limit is low in a stacking area, a corner area, a pedestrian intersection area and the like, and the required speed limit is high in an outdoor spacious area.
Chinese patent No. CN207061784U (reference 1), entitled "forklift area speed limit control mechanism and forklift based on RFID", discloses that the "forklift area speed limit control mechanism further includes an RFID reading device and a plurality of RFID tags; the RFID tags are embedded in different areas on the road and can be activated to transmit recorded area information; the RFID reading device is arranged on a forklift to detect the RFID label of the area to activate and receive the area information; the controller is connected with the driving motor and the RFID reading device so as to acquire the speed limit value according to the area information and control the driving motor to execute. The utility model discloses a based on RFID radio frequency identification principle, can establish the maximum speed limit of a plurality of effectual subregion to improve the safety and the lifting efficiency in warehouse.
Patent number CN205905788U (reference 2), chinese patent with patent name "an RFID forklift intelligent partition speed limiting system", discloses an "RFID forklift intelligent partition speed limiting system, including: the system comprises a speed sensor, a speed limit host, a data host, an RFID electronic tag, an RFID reader-writer and an industrial control server, wherein the speed sensor acquires the speed of the forklift after processing the running condition of the forklift which is acquired by the speed sensor through the speed limit host, the speed is transmitted to the industrial control server after being compiled by the data host, when the forklift runs to a subarea area, the RFID reader-writer reads forklift information in the RFID electronic tag and transmits the forklift information to the industrial control server, the industrial control server transmits the speed limit value of the subarea area to the data host, the data host compares the speed limit value with the running speed value of the forklift, and if the running speed value of the forklift exceeds the speed limit value, an alarm prompt is given, so that the speed limit function of the area forklift is realized, and a propulsive effect.
The published applications adopt an RFID device to solve the problem of speed limit in the current forklift area, a comparison file 1 adopts a forklift to install an RFID reader, and electronic tags are arranged in subarea areas; the comparison file 2 is provided with an electronic tag by a forklift, and RFID readers are arranged in subareas. Regardless of the technical layout of the RFID, the RFID tag used is passive. The passive tag RFID is used for carrying out on-site transformation on a customer, the passive tag is placed on the ground in a damaged mode, the RFID is short in reading distance and limited in covering distance, a plurality of tags are needed to be arranged on a wide road surface, the cost of the whole RFID device is too high and is about 4000-5000 yuan, and the existing customer often needs high cost performance and can realize the function of limiting the speed of a forklift area without damaging the ground.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art and provides a forklift regional speed limiting method and system based on iBeacon, which are low in cost and high in reliability.
The invention adopts the following technical scheme:
on one hand, the invention discloses a forklift regional speed limiting method based on iBeacon, which comprises the following steps:
s101, receiving messages sent by two iBeacon active speed limit labels by an iBeacon base station arranged on a forklift;
s102, the iBeacon base station respectively calculates the distance S1 and the distance S2 from the iBeacon base station to the two active speed limit tags according to the messages of the two active speed limit tags, and sends the distance S1 and the distance S2 to the forklift controller; or the iBeacon base station sends the received messages of the two active speed limit labels to the forklift controller, and the forklift controller respectively calculates the distance S1 and the distance S2 between the iBeacon base station and the two active speed limit labels according to the messages of the two active speed limit labels;
s103, the forklift controller judges whether the spacing S1 is larger than the spacing S2, if the spacing S1 is larger than the spacing S2, whether the spacing S2 is smaller than a preset spacing S is judged, and if the spacing S1 is smaller than the spacing S2, the maximum speed of the forklift is set as the limiting speed of the area where the active speed-limiting tag with the spacing S1 is located; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tag with the spacing S2 is located.
Preferably, before the information that two active speed limit labels sent is received to the iBeacon basic station that sets up on fork truck, still include:
if the iBeacon base station arranged on the forklift only receives the message sent by one active speed limit tag, sending an alarm message; or sending a received message sent by one active speed limit tag to the forklift controller; and when the forklift controller judges that the message sent by only one active speed limit tag is received, the forklift is controlled to send an alarm.
Preferably, in S103, when the distance S1 is greater than the distance S2, if the distance S2 is greater than the preset distance S, the driving speed of the forklift is not adjusted.
Preferably, in S103, when the distance S1 is smaller than the distance S2, if the distance S1 is larger than the preset distance S, the driving speed of the forklift is not adjusted.
Preferably, S101 and S102 further include, when the iBeacon base station receives messages sent by more than two active speed limit tags, acquiring distances S1 and S2 between the two active speed limit tags closest to each other.
On the other hand, the forklift regional speed limiting system based on the iBeacon comprises an iBeacon active speed limiting label, an iBeacon base station and a forklift controller;
the iBeacon active speed limit label is arranged at the boundary of the speed limit area of the forklift;
the iBeacon base station is arranged on a forklift and receives messages sent by the active speed limit tags within a certain distance; when receiving messages sent by the two active speed limit tags, respectively calculating the distance S1 and the distance S2 from the iBeacon base station to the two active speed limit tags according to the messages of the two active speed limit tags, and sending the distance S1 and the distance S2 to the forklift controller; or sending the received messages of the two active speed limit labels to the forklift controller, and respectively calculating the distance S1 and the distance S2 from the iBeacon base station to the two active speed limit labels by the forklift controller according to the messages of the two active speed limit labels;
the forklift controller judges whether the spacing S1 is larger than the spacing S2, judges whether the spacing S2 is smaller than a preset spacing S if the spacing S1 is larger than the spacing S2, and sets the maximum speed of the forklift as the limiting speed of the area where the active speed-limiting tag with the spacing S1 is located if the spacing S1 is smaller than the spacing S2; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tag with the spacing S2 is located.
Preferably, if the iBeacon base station only receives a message sent by one active speed limit tag, an alarm message is sent; or, the iBeacon base station sends a received message sent by one active speed limit tag to the forklift controller, and the forklift controller controls the forklift to send an alarm when judging that the message sent by only one active speed limit tag is received.
Preferably, when the spacing S1 is greater than the spacing S2, if the spacing S2 is greater than the preset spacing S, the running speed of the forklift is not adjusted.
Preferably, when the spacing S1 is smaller than the spacing S2, if the spacing S1 is larger than the preset spacing S, the running speed of the forklift is not adjusted.
Preferably, when the iBeacon base station receives messages sent by more than two active speed limit tags, the distances S1 and S2 between the two active speed limit tags with the closest distance are obtained.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
the invention discloses a forklift area speed limiting method and system based on iBeacon, which comprises iBeacon active speed limiting labels, iBeacon base stations and a forklift controller, wherein the distance between a forklift and the two active speed limiting labels is dynamically acquired through the iBeacon base stations or the forklift controller, and whether the forklift is in the speed limiting area or not and which speed limiting area the forklift is in are judged according to the distance between the forklift and the two active speed limiting labels, so that the maximum driving speed of the forklift is limited. The iBeacon active speed limit label can be arranged at any position of a factory, and the field of a client is not required to be modified; meanwhile, the invention has lower cost and high reliability, and can replace the current high-cost RFID technology.
The above description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the description of the technical means more comprehensible.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic structural diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, in one aspect, the invention provides a forklift regional speed limiting method based on iBeacon, which includes:
s101, an iBeacon base station 20 arranged on a forklift receives messages sent by two iBeacon active speed limit labels 10;
s102, the iBeacon base station 20 respectively calculates the distance S1 and the distance S2 from the iBeacon base station 20 to the two active speed limit tags 10 according to the messages of the two active speed limit tags 10, and sends the distance S1 and the distance S2 to the forklift controller 30; or, the iBeacon base station 20 sends the received messages of the two active speed limit tags 10 to the forklift controller 30, and the forklift controller 30 calculates the distance S1 and the distance S2 between the iBeacon base station 20 and the two active speed limit tags 10 according to the messages of the two active speed limit tags 10;
s103, the forklift controller 30 judges whether the spacing S1 is larger than the spacing S2, judges whether the spacing S2 is smaller than a preset spacing S if the spacing S1 is larger than the spacing S2, and sets the maximum speed of the forklift as the limiting speed of the area where the active speed-limiting tag with the spacing S1 is located if the spacing S2 is smaller than the spacing S2; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tag with the spacing S2 is located.
In the above-described detection process, the forklift moves continuously, and the above-described steps are also repeated continuously.
Specifically, the iBeacon active speed limit tag 10 can be arranged in any area or position of a factory where speed limit is required. In particular, in order to make the transmission signal good, the height of the iBeacon active speed limit tag 10 is preferably within the area of 2.5-3 meters.
The iBeacon base station 20 is arranged on a forklift, preferably, in order to better receive the message sent by the iBeacon active speed limit tag 10, the iBeacon base station 20 can be arranged on the top of the forklift. The iBeacon base station 20 may be implemented by a mobile phone, a tablet computer, or a dedicated device.
The message sent by the active speed limit tag 10 may include location information, base station information, and signal strength, for example, information including UUID, major, minor, rssi, etc., and the iBeacon base station 20 calculates the distance S1 and the distance S2 from the iBeacon base station 20 to the two active speed limit tags 10 according to the information by using the method in the prior art.
The preset space S is a condition for starting a regional speed limit function, and is pre-stored in the forklift controller 30. The limiting speed of the area where the active speed-limiting tag 10 is located is also pre-stored in the forklift controller 30, and is matched with the unique identifier of the active speed-limiting tag 10, and specifically, the limiting speed can be stored in a table form, and one active speed-limiting tag 10 corresponds to one limiting speed.
Further, before the iBeacon base station 20 arranged on the forklift receives the messages sent by the two active speed limit tags 10, the method further includes:
if the iBeacon base station 20 arranged on the forklift receives the message sent by one active speed limit tag 10 and does not receive the messages sent by other active speed limit tags 10 within the preset time (such as 2s), an alarm message is sent; or, the received message sent by the active speed limit tag 10 is sent to the forklift controller 30; and when the forklift controller 30 judges that only a message sent by one active speed limit tag 10 is received within the preset time, the forklift is controlled to send an alarm.
In the step S103, when the distance S1 is greater than the distance S2, if the distance S2 is greater than the preset distance S, the driving speed of the forklift is not adjusted.
In the step S103, when the distance S1 is smaller than the distance S2, if the distance S1 is larger than the preset distance S, the driving speed of the forklift is not adjusted.
Of course, besides the above-mentioned iBeacon base station 20 receiving the message sent by one active speed limit tag 10 or two active speed limit tags 10, there is also a case where the iBeacon base station 20 receives the message sent by more than two active speed limit tags 10 at the same time. When this occurs, the method is adopted to obtain the distances S1 and S2 between the two nearest-spaced active speed limit tags 10, and then the judgment is continued to be carried out by adopting S103.
As follows, a more specific description will be given of an application example.
The forklift controller 30 arranged on the forklift sets a preset distance value S of a speed switching area to be 1m, and the two iBeacon active speed limit tags 10 are respectively a first active speed limit tag 101 and a second active speed limit tag 102, wherein the maximum driving speed of the first speed limit area where the first active speed limit tag 101 is located is 10km/h, and the maximum driving speed of the second speed limit area where the second active speed limit tag 102 is located is 5 km/h.
A forklift with an iBeacon base station 20 runs in a factory aisle, and detects messages sent by a first active speed limit tag 101 and a second active speed limit tag 102; the forklift controller 30 calculates the distance from the first active speed limit tag 101 to S1 to 3m and the distance from the second active speed limit tag 102 to S2 to 4m, and determines that S1 is smaller than S2, and it is known that the driving direction of the forklift is from left to right. And (3) the forklift continues to move forward, the distance of the S1 is continuously reduced, and when the S1 is smaller than the preset value S of the maximum speed of the active speed limit tag, which is equal to 1m, the maximum speed of the forklift is limited to be 5km/h of the limited speed corresponding to the second active speed limit tag 102.
In the above example, if the forklift controller 30 calculates that the distance from the first active speed limit tab 101 is S1 ═ 4m and the distance from the second active speed limit tab 102 is S2 ═ 3m, it is determined that S2 is smaller than S1, and it is known that the driving direction of the forklift is from right to left. And (3) the forklift continues to move forward, the distance of the S2 is continuously reduced, and when the S2 is smaller than the preset value S of the maximum speed of the active speed limit tag, which is equal to 1m, the maximum speed of the forklift is limited to 10km/h corresponding to the first active speed limit tag 101.
It should be noted that after the forklift limits the maximum speed to the limiting speed corresponding to the second active speed limit tag 102 or the limiting speed corresponding to the first active speed limit tag 101, the distance is not judged any more until the messages sent by the two active speed limit tags are detected next time, and the steps from S101 to S103 are repeated.
The forklift applies the method in different areas, and can dynamically realize speed limit of a plurality of areas.
On the other hand, the forklift regional speed limiting system based on the iBeacon comprises an iBeacon active speed limiting label 10, an iBeacon base station 20 and a forklift controller 30;
the iBeacon active speed limit tag 10 is arranged in a forklift speed limit area and sends a message to the outside;
the iBeacon base station 20 is arranged on a forklift and receives messages sent by the active speed limit tags 10 within a certain distance; when receiving messages sent by two active speed limit tags 10, respectively calculating the distance S1 and the distance S2 from the iBeacon base station 20 to the two active speed limit tags 10 according to the messages of the two active speed limit tags 10, and sending the distance S1 and the distance S2 to the forklift controller 30; or, the received messages of the two active speed limit tags 10 are sent to the forklift controller 30, and the forklift controller 30 calculates the distance S1 and the distance S2 from the iBeacon base station 20 to the two active speed limit tags 10 according to the messages of the two active speed limit tags 10;
the forklift controller 30 judges whether the spacing S1 is larger than the spacing S2, judges whether the spacing S2 is smaller than a preset spacing S if the spacing S1 is larger than the spacing S2, and sets the maximum speed of the forklift as the limiting speed of the area where the active speed-limiting tag 10 with the spacing S1 is located if the spacing S2 is smaller than the spacing S2; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tags 10 with the spacing S2 are located.
Further, if the iBeacon base station 20 arranged on the forklift receives a message sent by one active speed limit tag 10 and does not receive messages sent by other active speed limit tags 10 within a preset time (for example, 2s), an alarm message is sent; or, the received message sent by the active speed limit tag 10 is sent to the forklift controller 30; and when the forklift controller 30 judges that only a message sent by one active speed limit tag 10 is received within the preset time, the forklift is controlled to send an alarm.
When the spacing S1 is larger than the spacing S2, if the spacing S2 is larger than the preset spacing S, the running speed of the forklift is not adjusted.
When the spacing S1 is smaller than the spacing S2, if the spacing S1 is larger than the preset spacing S, the running speed of the forklift is not adjusted.
When the iBeacon base station 20 receives the messages sent by more than two active speed limit tags 10, the distances S1 and S2 between the two active speed limit tags 10 with the closest distance are obtained.
Other implementations of the iBeacon-based forklift regional speed limiting system are the same as those of an iBeacon-based forklift regional speed limiting method, and a description of the embodiment is not repeated.
Finally, it should be further noted that, in the present embodiment, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, the above step identifiers are only for convenience of reading, and the steps can be correspondingly adjusted in specific implementation.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a regional speed limit method of fork truck based on iBeacon which characterized in that includes:
s101, receiving messages sent by two iBeacon active speed limit labels by an iBeacon base station arranged on a forklift;
s102, the iBeacon base station respectively calculates the distance S1 and the distance S2 from the iBeacon base station to the two active speed limit tags according to the messages of the two active speed limit tags, and sends the distance S1 and the distance S2 to the forklift controller; or the iBeacon base station sends the received messages of the two active speed limit labels to the forklift controller, and the forklift controller respectively calculates the distance S1 and the distance S2 between the iBeacon base station and the two active speed limit labels according to the messages of the two active speed limit labels;
s103, the forklift controller judges whether the spacing S1 is larger than the spacing S2, if the spacing S1 is larger than the spacing S2, whether the spacing S2 is smaller than a preset spacing S is judged, and if the spacing S1 is smaller than the spacing S2, the maximum speed of the forklift is set as the limiting speed of the area where the active speed-limiting tag with the spacing S1 is located; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tag with the spacing S2 is located.
2. The iBeacon-based regional speed limiting method for the forklift according to claim 1, wherein before the iBeacon base station arranged on the forklift receives the messages sent by the two active speed limiting labels, the method further comprises:
if the iBeacon base station arranged on the forklift receives the message sent by one active speed limit tag and does not receive the messages sent by other active speed limit tags within the preset time, sending an alarm message; or sending the received message sent by the active speed limit tag to the forklift controller; and when the forklift controller judges that the message sent by only one active speed limit tag is received within the preset time, the forklift is controlled to send an alarm.
3. The iBeacon-based forklift area speed limiting method according to claim 1, wherein in S103, when the spacing S1 is greater than the spacing S2, if the spacing S2 is greater than the preset spacing S, the driving speed of the forklift is not adjusted.
4. The iBeacon-based forklift area speed limiting method according to claim 1, wherein in S103, when the spacing S1 is smaller than the spacing S2, if the spacing S1 is larger than the preset spacing S, the driving speed of the forklift is not adjusted.
5. The iBeacon-based forklift area speed limiting method according to claim 1, wherein the S101 and S102 further comprise the steps of obtaining distances S1 and S2 between two nearest active speed limit tags when the iBeacon base station receives messages sent by more than two active speed limit tags.
6. An iBeacon-based forklift regional speed limiting system is characterized by comprising an iBeacon active speed limiting label, an iBeacon base station and a forklift controller;
the iBeacon active speed limit label is arranged at the boundary of the speed limit area of the forklift;
the iBeacon base station is arranged on a forklift and receives messages sent by the active speed limit tags within a certain distance; when receiving messages sent by the two active speed limit tags, respectively calculating the distance S1 and the distance S2 from the iBeacon base station to the two active speed limit tags according to the messages of the two active speed limit tags, and sending the distance S1 and the distance S2 to the forklift controller; or sending the received messages of the two active speed limit labels to the forklift controller, and respectively calculating the distance S1 and the distance S2 from the iBeacon base station to the two active speed limit labels by the forklift controller according to the messages of the two active speed limit labels;
the forklift controller judges whether the spacing S1 is larger than the spacing S2, judges whether the spacing S2 is smaller than a preset spacing S if the spacing S1 is larger than the spacing S2, and sets the maximum speed of the forklift as the limiting speed of the area where the active speed-limiting tag with the spacing S1 is located if the spacing S1 is smaller than the spacing S2; and if the spacing S1 is smaller than the spacing S2, judging whether the spacing S1 is smaller than the preset spacing S, and if so, setting the maximum speed of the forklift as the limiting speed of the area where the active speed limit tag with the spacing S2 is located.
7. The iBeacon-based regional speed limiting system for the forklift according to claim 6, wherein if the iBeacon base station arranged on the forklift receives a message sent by one active speed limiting tag and does not receive messages sent by other active speed limiting tags within a preset time, an alarm message is sent; or sending the received message sent by the active speed limit tag to the forklift controller; and when the forklift controller judges that the message sent by only one active speed limit tag is received within the preset time, the forklift is controlled to send an alarm.
8. The iBeacon-based zone speed limit system for forklifts of claim 6, wherein when the spacing S1 is greater than the spacing S2, if the spacing S2 is greater than the preset spacing S, no adjustment is made to the speed of the forklifts.
9. The iBeacon-based zone speed limit system for forklifts of claim 6, wherein when the spacing S1 is less than the spacing S2, if the spacing S1 is greater than the preset spacing S, no adjustment is made to the speed of the forklifts.
10. The iBeacon-based regional speed limit system for forklifts of claim 6, wherein when the iBeacon base station receives the message sent by more than two active speed limit tags, the distance between the two nearest active speed limit tags is obtained as S1 and S2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910942408.3A CN110722984B (en) | 2019-09-30 | 2019-09-30 | Forklift regional speed limiting method and system based on iBeacon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910942408.3A CN110722984B (en) | 2019-09-30 | 2019-09-30 | Forklift regional speed limiting method and system based on iBeacon |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110722984A CN110722984A (en) | 2020-01-24 |
| CN110722984B true CN110722984B (en) | 2021-03-23 |
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| US10627475B2 (en) * | 2017-05-05 | 2020-04-21 | The Boeing Company | Pose estimation using radio frequency identification (RFID) tags |
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