CN105216625A - Industrial vehicle travel controlling system and method - Google Patents
Industrial vehicle travel controlling system and method Download PDFInfo
- Publication number
- CN105216625A CN105216625A CN201510681824.4A CN201510681824A CN105216625A CN 105216625 A CN105216625 A CN 105216625A CN 201510681824 A CN201510681824 A CN 201510681824A CN 105216625 A CN105216625 A CN 105216625A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- operating handle
- state
- state area
- handle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention belongs to technical field of mechanical equipment, particularly relate to a kind of industrial vehicle travel controlling system and method.Be mainly used in the industrial vehicle of carrying class, the angular regions of its handle bar can be arranged by personalizing parameters, operates to solve operating handle the technical matters be restricted in small space.It is characterized in that comprising: detecting device, for detecting operating handle pendulum angle and converting unique corresponding analog electrical signal to.And vehicle control device, the electromotor brake of its electrical connection vehicle and traction electric machine, described vehicle control device is electrically connected described detecting device, the analog electrical signal control electromotor brake exported according to detecting device and the mode of operation of traction electric machine.
Description
Technical field
The invention belongs to technical field of mechanical equipment, particularly relate to a kind of industrial vehicle travel controlling system and method.
Background technology
The industrial vehicle of carrying class, in carrying driving process, according to the Difference angles of operating handle, can regulate traveling or the brake of vehicle automatically.As shown in Figure 1, by arranging micro-switch at the handle bar of operating handle and the junction of handle set or proximity switch triggers.Switch and mechanical concaveconvex structure is utilized the hunting range of operating handle to be divided into each state area of different angular regions respective operations handles.When operating handle turns to specified angle position, mechanical concaveconvex structure trigger switch thus control vehicle enter vehicle running state or vehicle stop state.
As shown in Figure 2, under normal circumstances the two ends of the fan-shaped hunting range of operating handle are set to braking state district (A district), the angular regions between the vehicle stop state district at two ends is set to fast state district (B district).Operating handle is turned to B district and travels to drive vehicle by operating personal, operating handle is turned to A district with to car brakeing.In general halted state region is larger, and emergency brake process is rapider, but can decline at the crossing ability of small space.But the industrial vehicle of carrying class is used for greatly the carrying of goods among warehouse.In order to farthest utilize cargo storage space, in warehouse, the space of work vehicle operating, operation is very limited.Limited operational space limits the motion of operating handle sometimes, cause vehicle not by.If by the angular regions repartitioning operating handle, operating in finite space of handle can be made to realize.But the triggering of operating handle switch relies on the concaveconvex structure on handle and switch combination to realize, and is therefore fixing.The division of operating handle angular regions depends on the change of mechanical concaveconvex structure position on operating handle, realizes that cost is high, difficulty is large.
Summary of the invention
The invention provides a kind of industrial vehicle travel controlling system and method, be mainly used in the industrial vehicle of carrying class.The angular regions of its handle bar can be arranged by personalizing parameters, operates to solve operating handle the technical matters be restricted in small space.
A kind of industrial vehicle travel controlling system, is characterized in that comprising: detecting device, for detecting operating handle pendulum angle and converting unique corresponding analog electrical signal to.And vehicle control device, the electromotor brake of its electrical connection vehicle and traction electric machine, described vehicle control device is electrically connected described detecting device, the analog electrical signal control electromotor brake exported according to detecting device and the mode of operation of traction electric machine.The angle position of operating handle is converted to unique corresponding analog electrical signal by detecting device, and vehicle control device can experience any location information of operating handle in its hunting range by described detecting device.The corresponding relation of the pendulum angle of operating handle and electromotor brake and traction electric machine mode of operation is set by software mode.Repartitioning of the state area of rewriting operation handle can be realized by software.
Further, described operating handle comprises handle bar and handle base, and one end of handle bar is rotatably connected in the rotating shaft of handle base, and described handle bar and described rotating shaft are that axle center swings in vertical plane surface.Operating handle at least comprises two state areas with the sector region that described rotating shaft is axis swing, it is respectively the braking state district for controlling vehicle brake and the fast state district for driving vehicle to travel, and braking state district is arranged on the two ends in described fast state district.In case of emergency, no matter operating handle toward which direction swings, and finally can realize the braking of vehicle.
As preferably, described operating handle also includes the state area at a slow speed that jogging speed drives vehicle to travel.Described state area to be at a slow speed arranged on above described fast state district and adjacent with described braking state district, make described handle be at a slow speed state area time, the angle between handle bar and vertical line is less than 45 degree.When vehicle is by some narrow space, moving velocity is too fast can affect the judgement of adjusting the distance.State area can make vehicle pass through with slower speed when small space at a slow speed, reduces the risk met accident.The angle be between the handle bar of the operating handle of state area at a slow speed and vertical line is less than 45 degree, now operating handle projection is in the horizontal plane less than operating handle projection in the horizontal plane in fast state district, reduces the space that operating handle takies in the horizontal plane as much as possible.
As preferably, described fast state district and describedly arrange conversion area between state area at a slow speed, the speed that described conversion area drives vehicle to travel, along with the change of described operating handle pendulum angle, changes between jogging speed and fast speed.Described operating handle described fast state district and described switch between state area at a slow speed time, will inevitably through described conversion area.In described conversion area, described in the moving velocity of vehicle, the pendulum angle of described operating handle slowly changes, can not the excessive sudden change causing Vehicle Speed due to the velocity contrast between fast speed and jogging speed, causes operating personal to be not suitable with; Also reduce because maloperation causes the risk of safety misadventure.
As preferably, described detecting device comprises the magnetosensitive assembly, the Hall element that are arranged on operating handle, described magnetosensitive assembly is for sensing the displacement of described operating handle and producing corresponding magnetic field, and described Hall element is for detecting described magnetic field and producing corresponding analog electrical signal.Operating handle is that axle center rotates with rotating shaft, triggers the change of hall element output voltage, controls vehicle.
As preferably, one end of described rotating shaft arranges described magnetosensitive assembly, and the position that described handle bar is relative with described magnetosensitive assembly arranges described Hall element.
As preferably, one end of described rotating shaft arranges described Hall element, and the position that handle bar is relative with described Hall element arranges described magnetosensitive assembly.
The invention also discloses a kind of industrial vehicle travel control method being applied to above-mentioned industrial vehicle, the Vehicle Speed that the state area of vehicle control device residing for the pendulum angle of described operating handle is corresponding drives the traveling of vehicle, it is characterized in that:
Detecting device detects the pendulum angle of operating handle and is converted to unique corresponding analog electrical signal.
The endpoint value of the analog electrical signal value that the more described detecting device of vehicle control device exports and each state area, time within the two-end-point scope that analog electrical signal value falls into state area, judges that operating handle is in this state area; The Vehicle Speed that vehicle control device is corresponding according to this state area adjusts the mode of operation of electromotor brake and traction electric machine.
Wherein, the defining method of the endpoint value of described state area is: the analog electrical signal value exported at detecting device corresponding to the pendulum angle at state area two ends using operating handle is as the endpoint value of this state area; The quantity adjustable of described state area; The endpoint value adjustable of each state area.
By adjusting the endpoint value of state area, change the operating handle pendulum angle scope that state area is corresponding.Increased by the quantity adjusting state area or reduce vehicle running state.
Further, the unique linear relation between the analog electrical signal that vehicle control device exports according to detecting device and the pendulum angle of described operating handle, judges the switching of operating handle state area; Vehicle control device switches between different conditions district according to operating handle, can adopt the switching rate of different Vehicle Speed.The speed that the driving vehicle of each state area travels is different, switch between the state area that average traffic moving velocity is higher and adopt higher rate of acceleration or moderating ratio, and switch between the lower state area of average traffic moving velocity and adopt lower rate of acceleration or moderating ratio, make the transitions smooth between each state area, improve operational comfort, also do not lower vehicle running efficiency simultaneously.High occasion is being required to vehicle running efficiency, also can switch between the state area that average traffic moving velocity is lower and adopt higher rate of acceleration or moderating ratio, improving state area switch speed.
The present invention has following beneficial effect:
1. adopt micro-switch or proximity switch to carry out the mode of state area division, number of switches and the proportional linear relationship of state area quantity; And the present invention's technical scheme required for protection only adopts a sensor detecting operating handle pendulum angle just can realize Region dividing modes many arbitrarily.Structure is simple, cost-saving, easy to maintenance.
2. the setting of many state areas, corresponding multiple vehicle running state, also improves work efficiency while degree of adaptability is higher.
3., in fast state district with arrange conversion area between state area at a slow speed, avoid the sudden change of car speed, improve the comfort level of operation, also reduce the risk that misoperation causes safety misadventure.
4. the quantity of state area adjustable when not changing the hardware physical construction of vehicle, to meet different environment for use demands.
5. the endpoint value adjusting state area adjusts the scope of state area, thus the operating handle pendulum angle of adjustment corresponding to state area, can manipulate freely in specific small space to make the work angle of operating handle.
6., according to the analog electrical signal of detecting device output and the unique corresponding relation of operating handle pendulum angle, accurately can identify which state area to enter which state area by.Vehicle control device switches between different conditions district according to operating handle, can adopt the switching rate of different Vehicle Speed., to improve manipulation sense and the safety of vehicle.
7. the physical construction with the product in different conditions district is identical, can Mass production.Reallocate resources, the productive costs greatly saved.
Accompanying drawing explanation
Fig. 1 adopts the operating handle structural representation of micro-switch or progressive switch;
The system diagram of the controller of vehicle shown in Fig. 2 Fig. 1;
The state area of the controller of vehicle operating handle shown in Fig. 3 Fig. 1 divides schematic diagram;
Fig. 4 embodiment one controller of vehicle structural representation;
Fig. 5 embodiment one operating handle state area divides schematic diagram;
The system diagram of Fig. 6 controller of vehicle;
Fig. 7 embodiment two operating handle state area divides schematic diagram;
Fig. 8 is embodiment two operating handle pendulum angle and corresponding Vehicle Speed diagram of curves.
Wherein, 1-operating handle, 3-state area, 11-handle bar, 12-handle base, 13-handle head, 31-braking state district, 32-fast state district, 33-state area, 34-conversion area, 111-connecting panel, 112-through hole, 121-adapter plate, 122-rotating shaft, 1121-Hall element, 1211-resilient pin, 1221-magnetosensitive assembly at a slow speed.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.
As shown in Figure 3, a kind of industrial vehicle travel controlling system, comprising:
Detecting device, for detecting operating handle pendulum angle and converting unique corresponding analog electrical signal to; And vehicle control device, it is electrically connected detecting device, electromotor brake, traction electric machine, vehicle handle accelerator and other on-off signals.The accelerator model of vehicle control device collection vehicle handle and other incoming signals of vehicle, to confirm vehicle trouble free.Vehicle control device judges the state area residing for operating handle by the analog electrical signal that the detecting device read exports, and controls the mode of operation of electromotor brake and traction electric machine to realize the function of state area.
Embodiment one:
As shown in Figure 4, operating handle 1 comprises handle bar 11 and handle base 12.Handle base 12 vertical direction arranges the adapter plate 121 be parallel to each other, and is installed with rotating shaft 122 between adapter plate 121 by resilient pin 1211.One end of handle bar 11 arranges the connecting panel 111 being parallel to adapter plate 121 and docks with adapter plate 121.Position connecting panel 111 corresponding to rotating shaft 122 arranges through hole 112, and rotating shaft 122 is rotationally connected through through hole 112 and handle bar 11.The other end of handle bar is fixedly connected with handle head 13.Handle bar 11 swings for axle center with rotating shaft 122 in vertical plane surface.One end of rotating shaft 122 arranges magnetosensitive assembly 1221, arranges Hall element 1121 outside the through hole 112 of connecting panel 111, makes Hall element 1121 be positioned at the outside of magnetosensitive assembly 1221 corresponding thereto.Magnetosensitive assembly 1221 changes with the relative displacement of Hall element 1121 in the swing process of operating handle 1, causes magnetosensitive assembly 1221 to produce respective change in the magnetic field at Hall element 1121 place.Hall element 1121 is for detecting the magnetic field of magnetosensitive assembly 1221 and producing corresponding analog electrical signal.Hall element 1121 and magnetosensitive assembly 1221 detect the pendulum angle of operating handle 1 as the sensory package of detecting device, and convert thereof into unique corresponding 0-5V analog voltage signal through the signal processing circuit filter and amplification of detecting device.
As shown in Figure 5, operating handle 1 comprises three state areas 3 with the sector region that rotating shaft 122 is axis swing, its state area at a slow speed 33 being respectively braking state district 31 for controlling vehicle brake, driving vehicle to travel for the fast state district 32 that drives vehicle to travel and jogging speed.The maximum speed that fast state 31 district drives vehicle to travel is greater than the maximum speed that state area 33 at a slow speed drives vehicle to travel.Braking state district 31 is positioned at the two ends of whole sector region, and the braking state district 31 that fast state district 32 is positioned at the below of sector region and bottom is adjacent, and state area 33 to be arranged on above fast state district 32 and adjacent with the braking state district 31 on top at a slow speed.Operating handle 1 be at a slow speed state area 33 time, the angle between handle bar 11 and vertical line is less than 45 degree.
Embodiment two:
Industrial vehicle travel controlling system described in embodiment two and embodiment one have many similarities, and for the sake of brevity, the present embodiment highlights its difference, and its something in common refers to the description of embodiment one.
When the minimum velocity driving vehicle to travel when fast state district 31 is far longer than the utmost dispatch that state area 33 at a slow speed drives vehicle to travel.In order to prevent the velocity contrast between the fast speed of vehicle and jogging speed excessive, when causing in fast state district and switch between state area at a slow speed, the speed of a motor vehicle is undergone mutation, and causes the discomfort of operating personal; Meanwhile, reduce because maloperation causes the risk of safety misadventure.Embodiment two is in fast state district 32 and arrange conversion area 34 between state area 33 at a slow speed.The speed that conversion area 34 drives vehicle to travel, along with the change of operating handle pendulum angle, changes between jogging speed and fast speed.Conversion area drive vehicle travel speed can along with the change of operating handle pendulum angle consecutive variations, also can be the discontinuous change of sectional type.In addition, the relation between the conversion area speed that drives vehicle to travel and the pendulum angle of operating handle can be linear relationship also or the corresponding relation of other any applicable operating environments.
, the pendulum angle of speed and operating handle that conversion area drives vehicle to travel is linear in the present embodiment as shown in Figure 8, and conversion area drive vehicle traveling speed can along with the change of operating handle pendulum angle consecutive variations.The operating handle pendulum angle that state area is corresponding is at a slow speed 5-15 degree, and the maximum travelling speed of vehicle is 2km/h; Operating handle pendulum angle corresponding to fast state district is 35-60 degree, drives vehicle with the speeds of 6km/h; So, the operating handle pendulum angle that conversion area is corresponding is 15-35 degree.In conversion area, along with the pendulum angle of operating handle changes within 15-35 degree, drive the speed of vehicle traveling also along with change linear continuous variation between 2km/h-6km/h of operating handle pendulum angle.So slowly change, would not accelerate suddenly to produce safety problem to the maloperation of operating handle because of operating personal.
Embodiment three:
Industrial vehicle travel controlling system described in embodiment three and embodiment one have many similarities, and for the sake of brevity, the present embodiment highlights its difference, and its something in common refers to the description of embodiment two.
Exchanged the position of Hall element and magnetosensitive assembly in embodiment one, one end of rotating shaft arranges Hall element, arranges magnetosensitive assembly outside the through hole of connecting panel, makes Hall element be positioned at the inner side of magnetosensitive assembly corresponding thereto.
Embodiment four:
Industrial vehicle travel controlling system described in embodiment four and embodiment two have many similarities, and for the sake of brevity, the present embodiment highlights its difference, and its something in common refers to the description of embodiment two.
Being arranged on by potential device in rotating shaft 122 replaces Hall element 1121 and magnetosensitive assembly 1221 as the senser element of detecting device, experiences the pendulum angle of operating handle 1 and converts thereof into unique corresponding analog electrical signal.
For above-mentioned industrial vehicle travel controlling system, the output signal of detecting device is directly proportional to the pendulum angle of operating handle, and correspondence exports the analog voltage of 0-5V in the sector region that operating handle swings.If the detecting device output voltage that the operating handle pendulum angle of the braking state district end positions of bottom is corresponding is respectively N1, N2, and 0<N1<N2; The detecting device output voltage that the operating handle pendulum angle of fast state district end positions is corresponding is respectively N2, N3, and N2<N3; The detecting device output voltage that the operating handle pendulum angle of conversion area end positions is corresponding is respectively N3, N4, and N3<N4; The detecting device output voltage that the operating handle pendulum angle of state area end positions is corresponding is at a slow speed respectively N4, N5, and N4<N5; The detecting device output voltage that the operating handle pendulum angle of the braking state district end positions on top is corresponding is respectively N5, N6, and N5<N6.
The analog electrical signal value exported at detecting device corresponding to the pendulum angle at state area two ends using operating handle is as the two ends point value of this state area, and different state areas corresponds to different Vehicle Speed.Based on the pendulum angle of said apparatus setting operation handle and the unique corresponding relation of detecting device, being divided into state area:
The voltage range in braking state district: N1 ~ N2 or N5 ~ N6;
The voltage range in fast state district: N2 ~ N3;
The voltage range of conversion area: N3 ~ N4
The voltage range of state area: N4 ~ N5 at a slow speed.
The travel control method of above-mentioned industrial vehicle:
Detecting device detects the pendulum angle of operating handle and is converted to unique corresponding analog electrical signal.
The endpoint value of the analog electrical signal value that vehicle control device comparing detection means exports and each state area, time within the two-end-point scope that analog electrical signal value falls into state area, judges that operating handle is in this state area; Vehicle control device according to Vehicle Speed adjustment electromotor brake corresponding to this state area and draw the mode of operation of motor.Suppose that the analog voltage signal value that detecting device exports is x:
As N1<x<N2 or N5<x<N6, vehicle control device judges that operating handle is in braking state district.Vehicle control device controls traction electric machine and slows down, and then controls electromotor brake braking, realizes brake;
As N2<x<N3, vehicle control device judges that operating handle is in fast state district.Vehicle control device controls traction electric machine and accelerates, with the vehicle of rotating speed driving faster fast running;
As N3<x<N4, vehicle control device judges operating handle district in an interim state.Vehicle control device changes between N3 ~ N4 along with analog voltage signal value x's, changes the rotating speed of traction electric machine, with the traveling of the speed drive vehicle slowly converted;
As N4<x<N5, vehicle control device judges that operating handle is in state area at a slow speed.Vehicle control device controls traction electric machine and drives automobile low-speed to travel with slower rotating speed.
When the state area that the pendulum angle needing to adjust operating handle is corresponding, only need the scope revising analog voltage signal value x corresponding to each state area.Do not need the physical construction changing operating handle just can realize.Such as, the pendulum angle of operating handle is the corresponding braking state district of scope of 90 degree to 80 degree originally, and the pendulum angle of operating handle is the scope correspondence state area at a slow speed of 80 degree to 60 degree.If want to improve the crossing ability of vehicle, only need voltage range corresponding for braking state district to be revised as handle pendulum angle be 80 degree and 60 degree time corresponding analog voltage signal value.
The control of Vehicle Speed also can adopt the mode of the acceleration button two-step evolution on operating handle and handle head.Operating handle is in the highest construction quality, and the different conditions district of operating handle drives vehicle with different speeds; Accelerate button and be in secondary construction quality, in the speed range of state area, finely tune Vehicle Speed.Meet various different vehicle operating demand.
In order to make the transitions smooth between each state area, improving operational comfort, also not lowering vehicle running efficiency simultaneously.Can set between each state area and switch corresponding vehicle running state switching rate, described switching rate comprises the rate of acceleration driving Vehicle Speed to increase and the moderating ratio driving Vehicle Speed to reduce.Only from switching rate when switching between braking state district, at a slow speed state area and braking state district, different setting is carried out to fast state district in this example:
1. enter braking state district from fast state district depression handle, vehicle control device adopts maximum brake electric current control traction electric machine to slow down, and realizes the strongest brake process.
2. from state area at a slow speed upwardly operating handle enter braking state district, vehicle control device adopts less brake electric current control traction electric machine to slow down, and makes brake process compare mitigation;
Although describe embodiments of the present invention by reference to the accompanying drawings, those of ordinary skill in the art can make various distortion or amendment within the scope of the appended claims.
Claims (9)
1. an industrial vehicle travel controlling system, is characterized in that comprising:
Detecting device, for detecting operating handle (1) pendulum angle and converting unique corresponding analog electrical signal to; And vehicle control device, the electromotor brake of its electrical connection vehicle and traction electric machine, described vehicle control device is electrically connected described detecting device, the analog electrical signal control electromotor brake exported according to detecting device and the mode of operation of traction electric machine.
2. a kind of industrial vehicle travel controlling system according to claim 1, is characterized in that:
Described operating handle (1) comprises handle bar (11) and handle base (12), and one end of handle bar (11) is rotatably connected in the rotating shaft (122) of handle base (12); Described handle bar (11) with described rotating shaft (122) for axle center swings in vertical plane surface;
Operating handle (1) at least comprises two state areas (3) with the sector region that described rotating shaft (122) is axis swing, it is respectively the braking state district (31) for controlling vehicle brake and the fast state district (32) for driving vehicle to travel, and braking state district (31) are arranged on the two ends of described fast state district (32).
3. a kind of industrial vehicle travel controlling system according to claim 2, is characterized in that:
Described operating handle (1) also includes the state area at a slow speed (33) that jogging speed drives vehicle to travel; Described state area at a slow speed (33) be arranged on described fast state district (32) top and adjacent with described braking state district (31), make described handle be at a slow speed state area (33) time, the angle between handle bar (11) and vertical line is less than 45 degree.
4. a kind of industrial vehicle travel controlling system according to claim 3, it is characterized in that: between described fast state district (32) and described state area at a slow speed (33), conversion area (34) is set, the speed that described conversion area (34) drives vehicle to travel, along with the change of described operating handle (1) pendulum angle, changes between jogging speed and fast speed.
5. a kind of industrial vehicle travel controlling system according to claim 1 or 2 or 3 or 4, is characterized in that:
Described detecting device comprises the magnetosensitive assembly (1221) be arranged on operating handle (1), Hall element (1121), described magnetosensitive assembly (1221) is for sensing the displacement of described operating handle (1) and producing corresponding magnetic field, and described Hall element (1121) is for detecting described magnetic field and producing corresponding analog electrical signal.
6. a kind of industrial vehicle travel controlling system according to claim 5, is characterized in that:
One end of described arm pivot post (122) arranges described magnetosensitive assembly (1221), and the position that described handle bar (11) is relative with described magnetosensitive assembly (1221) arranges described Hall element (1121).
7. a kind of industrial vehicle travel controlling system according to claim 5, it is characterized in that: one end of described arm pivot post (122) arranges described Hall element (1121), the position that handle bar (11) is relative with described Hall element (1121) arranges described magnetosensitive assembly (1221).
8. one kind is applied to a kind of industrial vehicle travel control method of industrial vehicle travel controlling system described in the claims 1 or 2 or 3 or 4, the Vehicle Speed that the state area of vehicle control device residing for the pendulum angle of described operating handle is corresponding drives the traveling of vehicle, it is characterized in that:
Detecting device detects the pendulum angle of operating handle and is converted to unique corresponding analog electrical signal;
The endpoint value of the analog electrical signal value that the more described detecting device of vehicle control device exports and each state area, time within the two-end-point scope that analog electrical signal value falls into state area, judges that operating handle is in this state area; The Vehicle Speed that vehicle control device is corresponding according to this state area adjusts the mode of operation of electromotor brake and traction electric machine;
Wherein, the defining method of the endpoint value of described state area is: the analog electrical signal value exported at detecting device corresponding to the pendulum angle at state area two ends using operating handle is as the endpoint value of this state area;
The quantity adjustable of described state area; The endpoint value adjustable of each state area.
9. a kind of industrial vehicle travel control method according to claim 8, is characterized in that:
Unique linear relation between the analog electrical signal that vehicle control device exports according to detecting device and the pendulum angle of described operating handle, judges the switching of operating handle state area;
Vehicle control device switches between different conditions district according to operating handle, can adopt the switching rate of different Vehicle Speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510681824.4A CN105216625B (en) | 2015-10-21 | 2015-10-21 | Industrial vehicle travel controlling system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510681824.4A CN105216625B (en) | 2015-10-21 | 2015-10-21 | Industrial vehicle travel controlling system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105216625A true CN105216625A (en) | 2016-01-06 |
| CN105216625B CN105216625B (en) | 2017-11-07 |
Family
ID=54986041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510681824.4A Active CN105216625B (en) | 2015-10-21 | 2015-10-21 | Industrial vehicle travel controlling system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105216625B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3838546B2 (en) * | 2001-12-03 | 2006-10-25 | 本田技研工業株式会社 | Vehicle steer-by-wire device |
| CN102530050A (en) * | 2012-02-16 | 2012-07-04 | 吉林大学 | Automobile-line-control-system-based control lever device integrating steering, braking and speed change |
| CN102582674A (en) * | 2012-02-16 | 2012-07-18 | 吉林大学 | Two-freedom force output operating rod based on line control steering system |
| CN104554148A (en) * | 2014-12-26 | 2015-04-29 | 芜湖市汽车产业技术研究院有限公司 | Method for driving vehicle by vehicle-mounted control lever |
| CN205113022U (en) * | 2015-10-21 | 2016-03-30 | 浙江诺力机械股份有限公司 | Industry vehicle controlling means that traveles |
-
2015
- 2015-10-21 CN CN201510681824.4A patent/CN105216625B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3838546B2 (en) * | 2001-12-03 | 2006-10-25 | 本田技研工業株式会社 | Vehicle steer-by-wire device |
| CN102530050A (en) * | 2012-02-16 | 2012-07-04 | 吉林大学 | Automobile-line-control-system-based control lever device integrating steering, braking and speed change |
| CN102582674A (en) * | 2012-02-16 | 2012-07-18 | 吉林大学 | Two-freedom force output operating rod based on line control steering system |
| CN104554148A (en) * | 2014-12-26 | 2015-04-29 | 芜湖市汽车产业技术研究院有限公司 | Method for driving vehicle by vehicle-mounted control lever |
| CN205113022U (en) * | 2015-10-21 | 2016-03-30 | 浙江诺力机械股份有限公司 | Industry vehicle controlling means that traveles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105216625B (en) | 2017-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100447001C (en) | Car shock-buffering method utilizing vibration between wheel and car body for power supply | |
| CN108381505B (en) | Robot chassis | |
| CN103061287A (en) | Magnetorheological fluid speed bump | |
| CN101659375A (en) | PLC frequency-converting speed-governing control system for eliminating tower-type crane load | |
| CN109050244A (en) | A kind of high-precision AGV drives steering integrated device and its control method | |
| CN103645735A (en) | Unicycle robot with function of self-balancing realization | |
| CN107020614A (en) | A kind of all-around mobile transportation robot | |
| CN104045029A (en) | Systems and methods for maintaining an industrial lift truck within defined | |
| CN103204180A (en) | Self-adaptive balance steering control method of double-hub motor driving system | |
| CN109080497B (en) | Multi-point cooperative guiding control system of suspension type magnetic suspension train | |
| CN202703736U (en) | A six-wheel stepping omnidirectional movement platform for robots | |
| CN205113022U (en) | Industry vehicle controlling means that traveles | |
| CN202657171U (en) | Intelligent self-balancing electric vehicle and direction control rod thereof | |
| CN105216625A (en) | Industrial vehicle travel controlling system and method | |
| CN201890751U (en) | Automatic lifting control system for high-power hydraulic engineering trucks | |
| CN202643112U (en) | Detection deflection-correction control device for eliminating beam type crane gnawing track | |
| CN1354095A (en) | Active intelligent electronic vibration-protecting method for automobile and its system | |
| CN204296851U (en) | A kind of fork truck electricity steering operation Force control system | |
| CN201897910U (en) | Portal crane model | |
| CN203064022U (en) | Steering control device of motor vehicle | |
| CN102234076B (en) | Electrical control device for crawler-type counter weight trolley and control method thereof | |
| CN103158476A (en) | Suspension system and method of varying a stiffness of a suspension of a vehicle | |
| CN102830704A (en) | Single drive manual loading and unloading automatic guided vehicle (AGV) control system | |
| CN102857165A (en) | Current sensor based motor-driven carrier control method | |
| CN202429903U (en) | Mechanical control system for crane and crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 313100 Changxing County, Huzhou, Taihu street, long State Road, No. 528, No. Applicant after: Connaught machinery Limited by Share Ltd Address before: 313100 Changxing County Economic Development Zone, Zhejiang, Huzhou, No. 1 road, No. 58 Applicant before: Zhejiang Nuoli Machinery Co., Ltd. |
|
| COR | Change of bibliographic data | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 313100 No. 528 Changzhou Road, Changxing County Taihu street, Huzhou, Zhejiang. Patentee after: Nuo intelligent equipment Limited by Share Ltd Address before: 313100 No. 528 Changzhou Road, Changxing County Taihu street, Huzhou, Zhejiang. Patentee before: Connaught machinery Limited by Share Ltd |
|
| CP01 | Change in the name or title of a patent holder |