CN103407426A - Remote control system for electric forklift - Google Patents
Remote control system for electric forklift Download PDFInfo
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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 invention relates to a control system, in particular to a remote control system of an electric forklift.
Background
Since the 90 s of the 20 th century, the rapid development of electronic information technology has enabled electronic information technology, sensor technology, data communication technology, network technology, computer processing technology, control technology, and the like to be effectively applied to automobile control, promoting high intellectualization and functional diversification of automobile electronic control technology. The vehicle control equipment is also developed from an original simple mechanical controller to an electronic chip type control system, a network type control system based on GSM/GPS and a Telematics control system based on a high-speed wireless network. The advantages and disadvantages of the automobile control systems are good, but the development direction of the automobile control system is towards chip type and network type with higher intelligence degree, and the network type automobile remote control system of GSM/GPS is still the main stream at present.
At present, the application of the positioning technology in China is still mainly represented by the GPS technology in the United states for a while. Satellite positioning systems, represented by the united states GPS technology, have found wide acceptance and use worldwide. In particular, in order to keep the monopoly of the field in the United states, on one hand, restriction policies are cancelled, on the other hand, the performance of the GPS system is improved (namely, the modernization of the GPS technology: increasing the number of satellites, changing constellation schemes, increasing the frequency of the second civil use and the like), private companies are encouraged to invest in the GPS career, and the GPS navigation positioning system is encouraged to become an international standard. This policy has advanced GPS applications and industry development. However, according to the actual situation of development in China, the following problems mainly exist:
1. the high-frequency chip technology and the communication protocol are not disclosed, only an imported OEM board can be used for producing a navigation machine or a single-frequency receiver, the industrial quality control system is uneven, the communication rate cannot be improved, and the copyright tax and the price are high.
2. The phenomena of disordered competition such as low-level repeated introduction, bottom-level production and the like exist in the industry, the guidance of national policies is urgently waited, relevant departments carefully manage, standardize and standardize, and fund risks are avoided.
3. The application of the GPS technology is global, but the existing information confidentiality system in China is contrary to the openness, and is greatly unfavorable for the development of the positioning technology in China.
With the continuous development of high and new technologies in China, the mutual intersection of the technologies in various industries and the mutual penetration of the development fields, the Beidou satellite positioning and navigation technology in China is subjected to substantial cross development. In the industrialization process, the leading role of high and new technology innovation main bodies is fully played, the market driving mode is mainly used, a series of products which are low in cost and high in applicability and face the Beidou user terminals are developed, the market share is gradually improved, and the large-scale operation is realized. The method is characterized in that an independent copyright modular framework product is developed, independent multifunctional and standardized system software is developed, independent vehicle navigation, monitoring and scheduling and other integrated system products are developed, the domestic market structure, the operation mechanism and the competitive environment are standardized, a healthy and ordered market system is formed, the development of the satellite navigation positioning industry in China is guided and promoted in policies, technologies and funds, and a relatively complete research and development system of independent software and hardware and an application system in China is formed in the aspect of integrated utilization of related technologies.
At present, the Beidou satellite positioning system and the latest control technology are integrated to research and develop vehicle remote control systems by domestic high and new technology enterprises. The Beidou satellite positioning technology in China still needs more research, development, application and popularization of domestic high and new technology enterprises, and accumulated application support for the export of the autonomous positioning technology standard in China.
Disclosure of Invention
In order to overcome the defects, the invention needs to provide a remote control system of the electric forklift, which can remotely control and improve the credibility of customers.
The invention is realized in such a way that the electric forklift remote control system is used for remotely controlling the electric forklift and comprises an identity authentication control module, a Beidou communication control module, a GSM communication standby module, a core control module and an actuating mechanism module; wherein,
the identity authentication control module is used for user identity authentication: the method comprises the steps that when the electric forklift is started, a unique user identification code is obtained, an operation code is obtained through an encryption and decryption algorithm, the operation code is compared with a correct and legal operation code stored in the electric forklift, if the operation code is matched with the correct and legal operation code, user verification is carried out, and vehicle operation permission is obtained; and if the difference is not consistent, prompting: the user operates illegally, and the vehicle cannot be used by the current user;
this big dipper communication control module is used for long-range inside legal operation sign indicating number and vehicle positioning function of revising: the external remote server sends the latest legal operation code to the core control module through the Beidou communication control module, the core control module receives and stores the latest legal operation code, the vehicle position is monitored on line in real time for 24 hours, and the vehicle safety is guaranteed;
the actuating mechanism module is used for remotely controlling the vehicle: cutting off an oil way and adjusting working condition parameters;
the GSM communication standby module is used for emergency starting of an internal emergency power supply when a main power supply is cut off, and sending alarm and vehicle position information to the core control module or a mobile phone number designated by a user.
As a further improvement of the above scheme, the identity authentication control module adopts an acousto-optic and electric mode to prompt: the user operates illegally, and the vehicle cannot be used by the current user.
The invention introduces tools of vehicle remote positioning control system as credit guarantee means among enterprises, which undoubtedly adds a certain insurance coefficient to credit of high-value engineering vehicle leasing and selling markets and enables the enterprise to change credit dependence on engineering vehicle operators, lessees and purchasers into dependence on new technology. The fact shows that the engineering vehicle provided with the new technical system is easier to enter the market, easier to sell and easier to meet in business negotiation.
Drawings
Fig. 1 is a schematic structural diagram of an electric forklift remote control system according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic structural diagram of an electric forklift remote control system according to a preferred embodiment of the present invention. Electric fork truck remote control system is used for carrying out remote control to electric fork truck, and it includes authentication control module 1, big dipper communication control module 2, the reserve module 3 of GSM communication, core control module 4, actuating mechanism module 5.
The identity authentication control module 1 is used for user identity authentication: the method comprises the steps that when the electric forklift is started, a unique user identification code is obtained, an operation code is obtained through an encryption and decryption algorithm, the operation code is compared with a correct and legal operation code stored in the electric forklift, if the operation code is matched with the correct and legal operation code, user verification is carried out, and vehicle operation permission is obtained; and if the difference is not consistent, prompting: the user operates illegally, and the vehicle cannot be used by the current user.
This big dipper communication control module 2 is used for long-range inside legal operation sign indicating number and vehicle positioning function of revising: the latest legal operation code is sent to the core control module 4 by the external remote server through the Beidou communication control module 2, the core control module 4 receives and stores the latest legal operation code, the vehicle position is monitored on line in real time for 24 hours, and the vehicle safety is guaranteed.
The actuator module 5 is used for remotely controlling the vehicle: and cutting off an oil way and adjusting working condition parameters.
The GSM communication standby module 3 is used for emergency starting of an internal emergency power supply when a main power supply is cut off, and sending an alarm and vehicle position information to the core control module 4 or a mobile phone number designated by a user.
In the aspect of positioning system foundation, China has made great progress and development. The China Beidou satellite navigation and positioning system is a regional active three-dimensional satellite positioning and communication system (CNSS) developed by China, and is a third mature satellite navigation system except for the United states GPS and the Russian GLONASS. The system consists of three (two working satellites and one spare satellite) Beidou positioning satellites (Beidou I), a ground part with a ground control center as a main part and a Beidou user terminal. The system can provide all-weather and twenty-four-hour instant positioning service for users, the positioning precision can reach the synchronous precision of dozens of naphthyridine seconds (ns), the precision is equivalent to that of a GPS, and the system has a short message communication function, so that the system is more convenient in application and higher in integration level compared with a GPS system.
Through independent research and development, the vehicle remote positioning control system designed by combining the Beidou positioning application technology and the control integration technology has the following core functions:
(1) vehicle remote control functions. The system mainly monitors and controls the sold engineering vehicles which are not paid yet, and can control users and owners of the engineering vehicles to realize intelligent parking when contractual payment obligation is not fulfilled; controlling the sold articles; when the credit of the lessee and the loan buyer is insufficient, the remote control system installed on the engineering vehicle is remotely controlled by the sales enterprise to refuse to start; the system can select proper time and place, effectively stop the vehicle on the premise of not influencing social order and legal guideline, and promote the purchasing person to carry out the payment.
(2) Vehicle remote instant messaging functionality. On one hand, the working condition, the running condition, the maintenance guidance and the like of the engineering vehicle can be known through communication. And the software of the control system of the equipment can be upgraded through the communication system, so that the mechanical performance of the engineering vehicle is improved.
(3) Vehicle telemetry functions. The method mainly comprises the steps of measuring the physical position of an object, the working state of equipment and the workload of the equipment. The purpose is to see whether their operating condition is normal, the measurement and control data of work oil consumption, time to know the real operating condition of equipment, simultaneously, to controlling engineering vehicle personnel's supervision and providing scientific basis.
(4) Vehicle telemetry functions. Remote regulation mainly comprises the steps of performing professional regulation on the working state of the engineering vehicle, so that the engineering vehicle is more suitable for the environment of a construction site; or when the credit problem occurs to the engineering vehicle operator, the lessee and the loan buyer, the function or the capacity of the engineering vehicle can be reduced by adjusting to warn the engineering vehicle operator, the lessee and the loan buyer of the promise of strict keeping contract.
In this embodiment, the vehicle telemetry function: the working state information of the vehicle is collected through an oil quantity collecting sensor, a load monitoring sensor and the like, and is recorded and stored. When vehicle faults are found, the functions of reminding and remote reporting are realized, and communication between a manufacturer and a user is facilitated.
The invention 2) main technical indexes are as follows:
supply voltage: 12V-48V;
supporting the transmission and editing of a GB2312 character set library;
working temperature range: -40 ℃ to +85 ℃;
storage capacity: 1M Byte
Protection grade: IP 4K;
system power consumption: less than or equal to 12W (when 12V is supplied);
the service life of the battery is as follows: the year is more than or equal to 6.
The Beidou communication control module 2 has the Beidou communication inner core which completely adopts a domestic three-system 32-channel satellite navigation baseband chip with independent intellectual property rights, the hot start time of the receiver is shortened from the currently common 10 seconds to 1 second, the cold start time is shortened from the currently common 60 seconds to 35 seconds, and corresponding technical support is provided by the thirty-eighth research institute of the Chinese electronic technology group company. The product realizes localization from key chips, hardware circuits and software, and passes strict tests.
The big dipper communication control module 2's main function:
1. the satellite precise positioning function can realize 1.2 positioning precision;
2. the short message communication function is supported, the information of 120 Chinese characters can be transmitted at most each time, and at most 13 Chinese characters can be transmitted at most in the very fast communication at one time;
3. the automatic timing function is realized;
4. the shutdown function can be remotely received;
5. RS232 communication interface.
The main technical indexes of the Beidou communication control module 2 are shown in the table 1.
TABLE 1
The identity authentication control module 1 is mainly composed of an AT88SA102S as a core chip. AT88SA102S is an ATMEL new introduced security authentication encryption IC based on high security. Using the standard SHA-256 hash algorithm, the total message length is 704 bits (88 bytes), resulting in a 256-bit (32-byte) message digest. SOT-23-3 is packaged, has small volume and strong concealment. Single-wire communication occupies less resources.
SHA (Secure Hash Algorithm, translation Secure Hash Algorithm) is a series of cryptographic Hash functions issued by the National Security Agency (NSA) design, the National Institute of Standards and Technology (NIST). The first member of the family formally known as SHA was published in 1993. The SHA-256 calculation includes 256-bit (32Byte) keys, 64-bit security fuses and 48-bit serial numbers, and the security level is high. The state of the keys and security fuses is unreadable and protected from external physical attacks. The system has a function of working time window, and can prevent an attacker from attacking from a host software end through simulation and debugging.
The main functions of the identity authentication control module 1 are:
1. open SHA-256 algorithm;
2. the 48bit read-resistant serial number design, the duplication code rate is 1/2^ 48;
3. single bus interface, which occupies low resources;
4. the fuse hardware structure is applicable to severe working conditions.
The main technical indexes of the identity authentication control module 1 are as follows:
1. supply voltage: 3.3V-5V;
2. working temperature range: minus 40 ℃ to plus 85 ℃.
The actuator module 5 is mainly composed of circuits for controlling the main electric motor and the like. The actuator module 5 can expand the input of various modes and signal attribute sensors, such as switch-type sensors (emergency alarm switch, oil quantity switch) and analog signal sensors (speed signal, motor speed signal, etc.), and support external application loads, such as a display screen, a bluetooth output module, a vehicle scheduling module, etc.
The main functions of the actuator module 5 are:
1. user identity ID number acquisition
The execution mechanism may wake up the main controller to perform authentication work in two ways.
The first mode is awakened by a door opening and closing amount input. In the method, the user identity ID number is solidified in the nonvolatile storage unit of the main controller, and the result obtained after the unique identity serial number and the SHA-256 are calculated is compared with the identity ID, and if the result is consistent with the identity ID, the identity authentication is passed.
The second way is by a standby automatic identification module. The module can enable the low-frequency awakening function when a user approaches a vehicle, receives a user ID number on the wireless key and inputs the user ID number to the main controller, and the ID number is compared with a result obtained after the unique identity serial number and the SHA-256 are calculated, and if the ID number is matched with the result, the identity authentication is passed. The method can more effectively protect the user ID number and prevent the user ID number from being cracked.
2. Electric motor control
The actuating mechanism module 5 adopts an electric motor as a core power component of the electric forklift. The control of the part can realize the realization of various functions of the forklift, such as lifting goods, driving vehicles and the like.
3. Sensor access
The signal of the switching value sensor can be directly input, and the switching value signal beyond the range of 3.3V-5V needs to be controlled by a conversion driving circuit. The analog sensor signal must pass through a signal conditioning circuit to meet the regulatory requirements for control of linear accuracy and signal range.
4. Wide operating voltage access range
The controller can realize 12V-48V pole width working voltage input through a DC-DC conversion circuit and is provided with an auxiliary ACC voltage control signal.
Main technical indexes of the actuator module 5:
1. supply voltage: 3.3V-5V;
2. working temperature range: -40 ℃ to +85 ℃;
3. and controlling the direct current motor.
The invention has the following characteristics:
1. the design of the Beidou satellite positioning system with core intellectual property rights.
2. The user ID identity authentication system with the independent intellectual property right is designed, and the legal ID number can be remotely modified to obtain the highest authority control right of the vehicle.
3. The system has the advantages of remotely and timely adjusting the working condition and working parameters of the vehicle, prolonging the service life of the vehicle and meeting the timely communication requirement between a vehicle supplier and a customer.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (2)
1. Electric fork truck remote control system, it is used for carrying out remote control, its characterized in that to electric fork truck: the system comprises an identity authentication control module, a Beidou communication control module, a GSM communication standby module, a core control module and an actuating mechanism module; wherein,
the identity authentication control module is used for user identity authentication: the method comprises the steps that when the electric forklift is started, a unique user identification code is obtained, an operation code is obtained through an encryption and decryption algorithm, the operation code is compared with a correct and legal operation code stored in the electric forklift, if the operation code is matched with the correct and legal operation code, user verification is carried out, and vehicle operation permission is obtained; and if the difference is not consistent, prompting: the user operates illegally, and the vehicle cannot be used by the current user;
this big dipper communication control module is used for long-range inside legal operation sign indicating number and vehicle positioning function of revising: the external remote server sends the latest legal operation code to the core control module through the Beidou communication control module, the core control module receives and stores the latest legal operation code, the vehicle position is monitored on line in real time for 24 hours, and the vehicle safety is guaranteed;
the actuating mechanism module is used for remotely controlling the vehicle: cutting off an oil way and adjusting working condition parameters;
the GSM communication standby module is used for emergency starting of an internal emergency power supply when a main power supply is cut off, and sending alarm and vehicle position information to the core control module or a mobile phone number designated by a user.
2. The electric forklift remote control system according to claim 1, characterized in that: the identity authentication control module adopts an acousto-optic and electric mode to prompt: the user operates illegally, and the vehicle cannot be used by the current 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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| 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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