CN103407426A - Remote control system for electric forklift - Google Patents
Remote control system for electric forklift Download PDFInfo
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- CN103407426A CN103407426A CN2013103742634A CN201310374263A CN103407426A CN 103407426 A CN103407426 A CN 103407426A CN 2013103742634 A CN2013103742634 A CN 2013103742634A CN 201310374263 A CN201310374263 A CN 201310374263A CN 103407426 A CN103407426 A CN 103407426A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a remote control system for an electric forklift. The remote control system is used for conducting remote control on the electric forklift and comprises an identity authentication control module, a big dipper communication control module, a global system for mobile (GSM) communication spare module, a core control module and an execution mechanism module. The identity authentication control module is used for verifying user's identity. The big dipper communication control module is used for modifying internal legal operation codes and a forklift location function remotely. An external remote server sends the latest legal operation codes to the core control module through the big dipper communication control module, and the core control module receives and stores the latest legal operation codes, monitors the forklift position online in real time for 24 hours and guarantees the forklift safety. The execution mechanism module is used for controlling the forklift remotely to cut off an oil circuit and adjust working condition parameters. The GSM communication spare module is used for starting an internal emergency power supply urgently and sending alarming and forklift position information to the core control module or a cell phone appointed by a user when a main power supply is cut off.
Description
Technical field
The present invention relates to a kind of control system, specifically a kind of electri forklift tele-control system.
Background technology
Since the nineties in 20th century, the develop rapidly of electronic information technology makes electronic information technology, sensor technology, data communication technology, network technology, computing machine treatment technology and control technology etc. be effectively applied to automobile control, has promoted height intellectuality and the functional diversities of automobile electrically-controlled technology.Vehicle control apparatus is also by initial simple mechanical type controller, develops into the electronic slug type control system, based on the network type control system of GSM/GPS with based on the Telematics control system of fast wireless network.Their amongs have quality, but the developing direction of automotive control system is to the development of the higher chip type of degree of intelligence and network type, and main flow still be take the network type automobile command and control system of GSM/GPS as main at present.
At present China temporarily is mainly also to take the GPS technology of the U.S. to be representative in the location technology application facet.The GPS of America technology of take has worldwide obtained approval widely and application as the global position system of representative.Especially the U.S. is for keeping the monopoly position in this field, cancel on the one hand restrictive policy, improving on the one hand the gps system performance (is the GPS technical modernization: increase number of satellite, change constellation scheme, add the second civilian frequency etc.), encourage the investment GPS of private corporation cause, encourage the GPS navigation position fixing system to become international standard.This policy has advanced GPS application and industry development.But, according to China's development actual conditions, mainly also there is following problem:
1, unexposed in high frequency chip technology and communication protocol, can only utilize import OEM plate to produce guiding aircraft or single frequency receiving, the Industrial quality control system is uneven, can't improve traffic rate, royalties and on the high side.
2, there are in the industry the disorderly competition phenomenons such as low-level repetition introduction, end level production, urgently national policy guiding, relevant departments conscientiously manage, and standardization and normalisation, evade financial risks.
3, the application of GPS technology is global, and the data security system of current China and the reality of this opening are runed counter to, and are unfavorable for to a great extent the development of China's location technology.
Along with the development of China's new and high technology, the mutual intersection of every profession and trade technology and interpenetrating of development field, China's big-dipper satellite location and navigation technology is obtained substantial spanning development.In its industrialization process, give full play to the leading role of new and high technology Innovation Main Body, take market to affect mode as main, exploitation, towards the series of products that cost is low, applicability is strong of vast Big Dipper user terminal, progressively improves share of market, realizes scale management.The modularization framework product of exploitation autonomous copyright, develop autonomous multi-functional, standardized system software, the integrated system products such as the navigation of development autonomous vehicle, monitoring and scheduling, standard home market structure, operative mechanism and competitive environment, form healthy, orderly market system, and on policy, technology, fund, instruct the development that promotes China's satellite navigation location industry, aspect the integrated utilization of correlation technique, formed the research and development system of the autonomous software and hardware of China and application system comparatively perfect.
Current domestic new high-tech enterprise is also few by big-dipper satellite position fixing system and the integrated research and development vehicle remote of up-to-date control technology control system.China's big-dipper satellite location technology still needs the research and development of more multinational interior new high-tech enterprise, application and promotes, and for the autonomous location technology standard of China, puts into effect the accumulation application and supports.
Summary of the invention
For overcoming above-mentioned defect, the present invention is necessary to provide a kind of energy Long-distance Control to improve the electri forklift tele-control system of client's credit worthiness.
The present invention is achieved in that the electri forklift tele-control system, and it is for electri forklift is carried out to Long-distance Control, and it comprises authentication control module, Big Dipper communication control module, gsm communication spare module, kernel control module, actuator module; Wherein,
This authentication control module is used for subscriber authentication: during this electri forklift start, obtain unique user identification code, by enciphering and deciphering algorithm, draw function code, with the correct legal function code of storage inside, compare, conform to by user rs authentication, and obtain the vehicle operating authority; Prompting does not conform to: user's illegal operation, and vehicle can not be used by the active user;
This Big Dipper communication control module is used for the inner legal function code of remotely modifying and vehicle location function: the outer remote server sends up-to-date legal function code by this Big Dipper communication control module to this kernel control module, this kernel control module receives and stores, 24 hours on-line real time monitoring vehicle locations, support vehicles safety;
This actuator module is for carrying out remote control to vehicle: cut off oil circuit, adjust duty parameter;
This gsm communication spare module is for when being cut off general supply, and inner emergency source of electrical power emergency starting, report to the police and vehicle position information to the phone number transmission of this kernel control module or user's appointment.
As the further improvement of such scheme, this authentication control module adopts the acousto-optic-electric mode to point out: user's illegal operation, vehicle can not be used by the active user.
The present invention introduces this class instrument of vehicle remote positioning control system as prestige Means of Ensuring between enterprise, this has increased certain conservative factor for undoubtedly the engineering truck lease of high value, the credit of selling market, and will make enterprise proceed to the dependence to up-to-date technology to work vehicle operator, tenant, buyer's credit dependence.The fact shows the engineering truck that this class up-to-date technology system has been installed, and more easily comes into the market, and more easily sells, and more easily strikes a bargain in business negotiation.
The accompanying drawing explanation
The structural representation of the electri forklift tele-control system that Fig. 1 provides for preferred embodiments of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The structural representation of its electri forklift tele-control system provided for preferred embodiments of the present invention of Fig. 1 is provided.The electri forklift tele-control system is for carrying out Long-distance Control to electri forklift, and it comprises authentication control module 1, Big Dipper communication control module 2, gsm communication spare module 3, kernel control module 4, actuator module 5.
This authentication control module 1 is for subscriber authentication: during this electri forklift start, obtain unique user identification code, by enciphering and deciphering algorithm, draw function code, with the correct legal function code of storage inside, compare, conform to by user rs authentication, and obtain the vehicle operating authority; Prompting does not conform to: user's illegal operation, vehicle can not be used by the active user.
This Big Dipper communication control module 2 is for the legal function code in remotely modifying inside and vehicle location function: the outer remote server sends up-to-date legal function code by this Big Dipper communication control module 2 to this kernel control module 4, this kernel control module 4 receives and stores, 24 hours on-line real time monitoring vehicle locations, support vehicles safety.
This actuator module 5 is for carrying out remote control to vehicle: cut off oil circuit, adjust duty parameter.
This gsm communication spare module 3 is for when being cut off general supply, and inner emergency source of electrical power emergency starting, report to the police and vehicle position information to the phone number transmission of this kernel control module 4 or user's appointment.
Aspect the position fixing system basis, China has obtained significant progress and development.China's Beidou satellite navigation and positioning system, be the active three-dimensional satellite positioning of regionality and the communication system (CNSS) that China develops voluntarily, is the satellite navigation system except the 3rd maturation after GPS, the Muscovite GLONASS of the U.S..This system is comprised of three (two work satellites, a backup satellite) Big Dipper position location satellites (No. one, the Big Dipper), Wei Zhude ground, ground control center part, Big Dipper user terminal three parts.Can provide instant locating service round-the-clock, twenty four hours to the user, positioning precision can reach the synchronization accuracy of tens of a kind of apples second (ns), and its precision and GPS are suitable, and has the short message communication function, therefore in application facet, more seem convenient than gps system, integrated level is higher.
By independent research, the present invention has following Core Feature in conjunction with the vehicle remote positioning control system that Big Dipper position application technology and control integration technical design form:
(1) vehicle remote control function.Main to selling but also no the engineering truck of payment supervise and control, user and owner that can the dominant project vehicle realize intelligent parking when there is no the performance of the contract obligation to pay; The thing of selling goods is controlled; When lessee, loan, purchase car people credit inadequate the time, the tele-control system that engineering truck is installed carries out distance control by sale enterprise, realizes that refusal starts; Can select suitable time, suitable place, effectively stop under the prerequisite that does not affect civil order and law criterion, impel and purchase the car people payment of honouring an agreement.
(2) vehicle remote instant communication function.The service condition of engineering truck can be understood by communication, running condition, the guidance of maintenance etc. on the one hand.Can also to the control system of equipment, carry out software upgrading by communication system, improve the mechanical characteristics of engineering truck.
(3) vehicle telemetry function.The main physical location of object, the mode of operation of measurement equipment, the work capacity of measurement equipment surveyed.Purpose is to see whether their mode of operation is normal, work oil consumption, the measuring and control data of time, thus the real mode of operation of understanding equipment simultaneously, provides the foundation of science for the supervision of controlling the engineering truck personnel.
(4) vehicle telemetry function.Remote regulating is mainly the engineering truck mode of operation to be carried out to some specialties adjust, and can make engineering truck be more suitable for the environment in building site; Also can when appearring in work vehicle operator, tenant, loan car purchaser, credit problems can reduce by adjustment function or the production capacity of engineering truck, the promise that need to abide stanchly by a contract with caution work vehicle operator, tenant, loan car purchaser.
In the present embodiment, the vehicle telemetry function: by oil mass pick-up transducers, load monitoring sensor, carry out the collection vehicle work state information, and the record storage.When finding vehicle trouble, realize reminding and long-range reporting functions, facilitate producer and user's communication exchange.
Of the present invention 2) the key technical indexes:
Power supply voltage: 12V-48V;
Support GB2312 character set storehouse to send and editor;
Working temperature range :-40 ℃～+ 85 ℃;
Memory capacity: 1M Byte
Degree of protection: IP4K;
System power dissipation: during≤12W(@12V power supply);
Battery service life: >=6 years.
Big Dipper communication control module 2, the three system 32 passage satellite navigation baseband chips that its Big Dipper communication kernel adopts fully is domestic, have independent intellectual property right, the receiver warm start time was shortened to 1 second by current general 10 seconds, the cold start-up time, by shortening to 35 seconds in general 60 seconds at present, provides corresponding technical support by No.38 Inst., China Electronic Sci. & Tech. Group Co..This product has all been realized production domesticization from key chip, hardware circuit, software, and has passed through strict test.
The radical function of Big Dipper communication control module 2:
1, satellite accurate positioning function, can realize 1.2 positioning precisions;
2, support the short message communication function, can transmit the information of 120 Chinese characters at most at every turn, express communication once can only send at most 13 Chinese characters;
3, has automatic time calibration function;
4, can long-range reception closing function;
5, RS232 communication interface.
The key technical indexes of Big Dipper communication control module 2 is as shown in table 1.
Table 1
Authentication control module 1 mainly be take AT88SA102S and is formed as acp chip.AT88SA102S is that new the release based on the accreditation of high security of ATMEL encrypted IC.Employing standard SHA-256 Hash hashing algorithm, message total length are 704 (88 bytes), produce 256 (32 byte) eap-message digests.The SOT-23-3 encapsulation, volume is small, and very strong disguise is arranged.Single line communication, take resource few.
SHA (Secure Hash Algorithm, translations SHA) is American National security bureau (NSA) design, a series of Cryptographic Hash Functions of National Institute of Standards and Technology (NIST) issue.First member of family that formal name is called SHA is published on 1993.When SHA-256 calculates, comprised 256 (32Byte) keys and 64 safety fuses and 48 bit sequence number, safety rate is high.The state of key and safety fuse is unreadable, and prevents outside physical attacks.Have the work-hours window function, can stop the assailant to attack by emulation, debugging from the host software end.
The radical function of authentication control module 1:
1, open SHA-256 algorithm;
2,48bit prevents reading the sequence number design, and the repetition rate of coding is 1/2^48;
3, single bus interface, take resource namely low;
4, fuse hardware configuration, applicable to the operating mode harsh environment.
The key technical indexes of authentication control module 1:
1, power supply voltage: 3.3V-5V;
2, working temperature range :-40 ℃～+ 85 ℃.
The radical function of actuator module 5:
1, user identity obtains for No. ID
Actuating unit can wake in two ways master controller up and carry out authentication work.
First kind of way is waken up by the input of door contact interrupter amount.This mode user identity solidifies for No. ID in the master controller non-volatile memory cells, and result and this identity ID after unique identity sequence number and SHA-256 calculating are compared, and meets by authentication.
The second way is undertaken by standby automatic identification module.This module can the user be enabled the low frequency wake-up function when the user walks close to vehicle, collect the ID users on wireless key and input to master controller, with the result after unique identity sequence number and SHA-256 calculate, compare, meet by authentication for this No. ID.This mode can more effectively be protected ID users, prevents from being cracked.
2, electro-motor is controlled
It is the core drive parts of electri forklift that actuator module 5 adopts electro-motor.To this unit control, can realize the realization of the various functions of fork truck, as lifting goods, Vehicle Driving Cycle etc.
3, sensor access
The Boolean value output sensor signal can directly be inputted, and the switching value signal that exceeds the 3.3V-5V scope need be controlled through conversion driving circuit.The analog sensor signal must pass through signal conditioning circuit, the control linear precision and the signal range that to meet regulation, require.
4, wide operating voltage access scope
Controller, through the DC-DC change-over circuit, can be realized the input of 12V-48V utmost point wide operating voltage, and is equipped with the auxiliary ACC voltage control signal that obtains.
The key technical indexes of actuator module 5:
1, power supply voltage: 3.3V-5V;
2, working temperature range :-40 ℃～+ 85 ℃;
3, DC MOTOR CONTROL.
The present invention has following characteristics:
1, the big-dipper satellite Location System Design that has the core knowledge property right.
2, the ID Design of Identity System that has independent intellectual property right, but the remotely modifying legal identity is limit control to obtain the vehicle highest weight No. ID.
3, have long-range in good time adjustment vehicle working condition and working parameter, in service life that can vehicle, meet the timely communication requirement between vehicle supplier and client.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. electri forklift tele-control system, it,, for electri forklift is carried out to Long-distance Control, is characterized in that: it comprises authentication control module, Big Dipper communication control module, gsm communication spare module, kernel control module, actuator module; Wherein,
This authentication control module is used for subscriber authentication: during this electri forklift start, obtain unique user identification code, by enciphering and deciphering algorithm, draw function code, with the correct legal function code of storage inside, compare, conform to by user rs authentication, and obtain the vehicle operating authority; Prompting does not conform to: user's illegal operation, and vehicle can not be used by the active user;
This Big Dipper communication control module is used for the inner legal function code of remotely modifying and vehicle location function: the outer remote server sends up-to-date legal function code by this Big Dipper communication control module to this kernel control module, this kernel control module receives and stores, 24 hours on-line real time monitoring vehicle locations, support vehicles safety;
This actuator module is for carrying out remote control to vehicle: cut off oil circuit, adjust duty parameter;
This gsm communication spare module is for when being cut off general supply, and inner emergency source of electrical power emergency starting, report to the police and vehicle position information to the phone number transmission of this kernel control module or user's appointment.
2. electri forklift tele-control system as claimed in claim 1 is characterized in that: this authentication control module adopts acousto-optic-electric mode to point out: user's illegal operation, vehicle can not be used by the active user.
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| CN2013103742634A CN103407426A (en) | 2013-08-26 | 2013-08-26 | Remote control system for electric forklift |
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| CN2013103742634A CN103407426A (en) | 2013-08-26 | 2013-08-26 | Remote control system for electric forklift |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105608885A (en) * | 2015-11-24 | 2016-05-25 | 东莞酷派软件技术有限公司 | Vehicle management method and device and server |
| CN108252271A (en) * | 2018-03-14 | 2018-07-06 | 中国葛洲坝集团第工程有限公司 | Earth dam earth material full-section Construction constructing device and method |
| CN108427350A (en) * | 2018-04-09 | 2018-08-21 | 中国计量大学 | A kind of electri forklift supervisory systems based on LoRa technologies |
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| CN105608885A (en) * | 2015-11-24 | 2016-05-25 | 东莞酷派软件技术有限公司 | Vehicle management method and device and server |
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