CN107934864B - Self-supervision method and control system of explosion-proof forklift - Google Patents
Self-supervision method and control system of explosion-proof forklift Download PDFInfo
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- CN107934864B CN107934864B CN201711123433.6A CN201711123433A CN107934864B CN 107934864 B CN107934864 B CN 107934864B CN 201711123433 A CN201711123433 A CN 201711123433A CN 107934864 B CN107934864 B CN 107934864B
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- 238000010892 electric spark Methods 0.000 claims abstract description 88
- 238000004891 communication Methods 0.000 claims abstract description 73
- 238000003860 storage Methods 0.000 claims abstract description 25
- 238000011282 treatment Methods 0.000 claims abstract description 4
- 238000004880 explosion Methods 0.000 claims description 16
- 230000017525 heat dissipation Effects 0.000 claims description 16
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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Abstract
The invention provides an explosion-proof forklift control system which comprises a sensor, a system controller and a vehicle-mounted upper computer, wherein the system controller comprises an information processing module, a storage module, a battery module, a data acquisition module, a communication module and a position recorder device, the data acquisition module, the storage module, the communication module and the position recorder device are respectively in signal connection with the information processing module, and the battery module is respectively and electrically connected with the information processing module, the storage module, the data acquisition module, the communication module, the position recorder device, a speed sensor, a temperature sensor and an electric spark sensor. The invention also provides a self-supervision method of the explosion-proof forklift, the sensor detects the state of the explosion-proof forklift and sends the state to the system controller, and the system controller controls the explosion-proof forklift to automatically take corresponding treatment measures based on the state report of the explosion-proof forklift, so that the accidental loss is reduced, and the occurrence probability of safety accidents is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle self supervision, in particular to a self supervision method and a control system of an explosion-proof forklift.
Background
The explosion-proof forklift is a special type of forklift, has higher requirements on a circuit than that of a common forklift, performs special protection, isolation, sealing and other treatments, and can operate in explosive dangerous environments where the common forklift is forbidden to use, such as industrial departments of petroleum, chemical industry, pharmacy, light textile, military industry, paint, pigment, coal and the like, and places containing explosive mixtures, such as ports, railways, goods yards, warehouses and the like. Most of the products or intermediate media have the dangerous characteristics of flammability, explosiveness, high toxicity and the like. Such hazardous materials are often present in a gaseous state under normal conditions, such as explosive hydrogen, carbon disulfide, acetylene, and the like. In general, for convenience of storage and transportation, a liquid state is often obtained by applying pressure at room temperature, pressure at low temperature, or the like, depending on the characteristics of dangerous objects. However, the problem is also negative, namely that once the pressure vessel for storage leaks, the high-pressure liquefied gas will be rapidly sprayed out to form a cloud or plume of low-temperature vapor in a continuous source or a transient source manner. At the beginning of a leak accident, the mixed vapor cloud will settle in weight, causing it to float over the surface around the source of the leak. If the weather conditions are favorable or the surrounding geographic environment is flat, the steam cloud can be diffused quickly under the action of wind, if the conditions are unfavorable, the concentration of a local space can be increased rapidly, and if the conditions reach the explosion limit or an unexpected open fire is met, secondary explosion accidents or fire disasters are easily caused. For example, the great explosion of certain additive production plant in Shanghai and Shenzhen and the great fire of certain oil refinery in Nanjing all warn people with the teaching of blood. With the development of economy, the increase of logistics, the improvement of shipping efficiency and safety awareness, the application of explosion-proof forklifts is more and more extensive. According to the first summary statistics, the total demand of the anti-explosion vehicles in various countries in the world is about 6000-. At present, the domestic explosion-proof forklift is mainly refitted from a common forklift, is not mature in technology, and is only isolated from the inside and outside environment of the simple reinforced forklift. Under the background of the danger, all the possible factors of safety accidents are considered, if the potential safety hazards of the explosion-proof forklift can be effectively prevented or even eliminated, the method has important significance for reducing the safety accident rate and reducing the economic loss brought by safety.
Accordingly, there is a need for improvements in the art.
Disclosure of Invention
The invention aims to provide an explosion-proof forklift self-supervision method and a control system for timely finding out the abnormal working state of an explosion-proof forklift.
In order to solve the technical problem, the invention provides an explosion-proof forklift control system which comprises a sensor, a system controller and a vehicle-mounted upper computer;
the sensors comprise a speed sensor, a temperature sensor and an electric spark sensor;
the system controller comprises an information processing module, a storage module, a battery module, a data acquisition module, a communication module and a position recorder device; the data acquisition module, the storage module, the communication module and the position recorder device are respectively in signal connection with the information processing module; the battery module is respectively and electrically connected with the information processing module, the storage module, the data acquisition module, the communication module, the position recorder device, the speed sensor, the temperature sensor and the electric spark sensor;
the speed sensor, the temperature sensor and the electric spark sensor are in signal connection with the data acquisition module;
and the communication module is in signal connection with the vehicle-mounted upper computer.
As an improvement on the control system of the explosion-proof forklift of the invention: the explosion-proof forklift control system also comprises an RFID recognizer; and the RFID recognizer is in signal connection with the data acquisition module.
As a further improvement of the control system of the explosion-proof forklift of the invention: the RFID recognizer, the speed sensor, the temperature sensor and the electric spark sensor are respectively in signal connection with the data acquisition module through communication devices; the communication device adopts a data connecting line or a Bluetooth device.
The invention also provides a self-supervision method of the explosion-proof forklift, which comprises the following steps:
presetting critical temperature, initial set value and speed limit values of various overspeed grades in an information processing module, inputting a positioning configuration file in a storage module in advance, and then starting an explosion-proof forklift;
s301, starting a speed sensor, a temperature sensor, an electric spark sensor and an RFID (radio frequency identification) identifier on the explosion-proof forklift, wherein the speed sensor, the temperature sensor and the electric spark sensor can acquire a speed signal, a temperature signal and an electric spark signal of the explosion-proof forklift in real time, and then executing S302;
s302, a speed sensor, a temperature sensor and an electric spark sensor respectively send a speed signal, a temperature signal and an electric spark signal to an information processing module through a communication device and a data acquisition module in sequence, and then steps S303, S306 and S311 are executed;
s303, the information processing module judges whether electric sparks are generated in the anti-explosion forklift according to the electric spark signals, and if so, the step S304 is executed; otherwise, step S305 is executed;
s304, the information processing module sends a work command to the RFID identifier through the communication device, the RFID identifier identifies the nearest temporary stop point and sends stop information to the information processing module through the communication device, and the information processing module calls a positioning configuration file in the storage module; the information processing module carries out route planning according to the parking information and the positioning configuration file to generate a path signal, sends the path signal to the vehicle-mounted upper computer through the communication module, and displays the path information on a display device of the vehicle-mounted upper computer; the driver moves the explosion-proof forklift to the nearest temporary stop station for maintenance; the information processing module sends a maintenance signal to a master control center of an explosion-proof forklift workplace through the communication module, the information processing module changes the electric spark marking position in the position recorder device into 0, the information processing module sends an electric spark signal existing inside to a vehicle-mounted upper computer through the communication module, a driver controls the explosion-proof forklift to stop running after moving to a temporary parking station, the operation returns to the step S303, and the information processing module judges whether electric sparks are generated in the explosion-proof forklift again according to the electric spark signal; simultaneously executing step S314;
s305, the information processing module changes the electric spark marking position in the position recorder device to 1 and executes the step S314;
s306, the information processing module judges whether the temperature in the explosion-proof forklift is higher than a primary set value or not according to the temperature signal and the primary set value; if yes, go to step S307; otherwise, go to step S310;
s307, the information processing module sends a heat dissipation signal to the vehicle-mounted upper computer through the communication module, the vehicle-mounted upper computer controls the power of a heat dissipation system in the anti-explosion forklift according to the heat dissipation signal, the step S306 is returned, and the information processing module judges whether the temperature in the anti-explosion forklift is higher than the initial set value again according to the temperature signal and the initial set value; simultaneously, the step S308 is entered;
s308, the information processing module judges whether the temperature in the explosion-proof forklift exceeds the critical temperature or not according to the temperature signal and the critical temperature, and if the judgment result of the S308 is positive, the step S309 is executed; otherwise, go to step S310;
s309, the information processing module sends a work command to the RFID identifier through the communication device, the RFID identifier identifies the nearest temporary stop point and sends stop information to the information processing module through the communication device, and the information processing module calls a positioning configuration file in the storage module; the information processing module carries out route planning according to the parking information and the positioning configuration file to generate a path signal, sends the path signal to the vehicle-mounted upper computer through the communication module, and displays the path information on a display device of the vehicle-mounted upper computer; the driver moves the explosion-proof forklift to the nearest temporary stop station to cool down, the information processing module changes the temperature mark position in the position recorder device to 0, the process returns to step S306, the information processing module judges whether the temperature in the explosion-proof forklift is higher than the initial set value again according to the temperature signal and the initial set value, and simultaneously step S314 is executed;
s310, the information processing module changes the temperature mark position in the position recorder device to 1 and executes the step S314;
s311, the information processing module judges whether the speed of the explosion-proof forklift exceeds the speed limit value of each overspeed grade according to the speed signal, and if the judgment result is negative, the step S313 is executed; otherwise, go to step S312;
s312, the information processing module sends an overspeed signal to the vehicle-mounted upper computer through the communication module, and the information processing module changes the speed marking position in the position marker device into 0; the vehicle-mounted upper computer controls the explosion-proof forklift to decelerate according to the overspeed signal, the step S311 is returned, and the information processing module judges whether the speed of the explosion-proof forklift is overspeed or not according to the speed signal and the speed limit value of each overspeed grade; simultaneously executing step S314;
s313, the information processing module changes the speed mark position in the position marker device to 1 and executes the step S314;
s314, the information processing module judges whether the electric spark mark position, the temperature mark position and the speed mark position in the position marker device are all 1, if so, the step S315 is executed; otherwise, no operation is performed;
and S315, the information processing module sends a normal operation signal to the vehicle-mounted upper computer through the communication module, and the vehicle-mounted upper computer controls the explosion-proof forklift to normally operate.
As an improvement on the self supervision method of the explosion-proof forklift disclosed by the invention: each overspeed grade speed limit value comprises 2 m/s overspeed of the first gear and 3 m/s overspeed of the second gear;
s311, the information processing module judges whether the speed of the explosion-proof forklift exceeds the speed according to the speed signal and the first-gear speed exceeding 2 m/S, and if the judgment result is negative, the step S313 is carried out; otherwise, go to step S312;
s312: the information processing module judges the speed of the explosion-proof forklift according to the speed signal, if the speed of the explosion-proof forklift is greater than or equal to 2 m/s and less than or equal to 3 m/s, the speed is continuously uninterrupted for more than 5 s, and a driver does not actively control the deceleration of the explosion-proof forklift, the information processing module sends a first-gear deceleration command signal to the vehicle-mounted upper computer through the communication module, and the vehicle-mounted upper computer controls the explosion-proof forklift to decelerate at 0.2 m/s until the speed of the explosion-proof forklift is less than 2 m/s; if the speed of the explosion-proof forklift is more than 3 m/s, the information processing module sends a two-gear speed reduction command signal to the vehicle-mounted upper computer through the communication module, and the vehicle-mounted upper computer controls the explosion-proof forklift to reduce the speed by 0.4 m/s until the speed of the explosion-proof forklift is less than 2 m/s.
As a further improvement of the monitoring method of the explosion-proof forklift, the method comprises the following steps: the initial set value is 100 degrees, and the critical temperature is 135 degrees.
The explosion-proof forklift self-supervision method and the control system have the technical advantages that:
the explosion-proof forklift self-supervision method and the explosion-proof forklift working state signal acquisition circuit adopted by the control system are simple, reasonable in design and high in reliability in actual use. Therefore, the invention has stable and reliable working performance and wide application range, and can be effectively applied to the fields of vehicle self supervision and the like. Therefore, the study deficiency of the supervision of the existing explosion-proof forklift can be effectively expanded. According to the invention, through the real-time processing and analysis of the related data information, the change of the running state of the explosion-proof forklift is monitored in real time, and corresponding measures are taken, so that the self-monitoring management function of the explosion-proof forklift is realized, the safe running of the explosion-proof forklift is finally ensured in a dangerous environment, and the occurrence probability of safety accidents and the loss caused by the accidents are reduced.
In the working process, the system controller receives and processes information collected by the sensors and the RFID identifiers arranged at each part of the explosion-proof forklift (the information collected by the RFID identifiers is RFID label signals of temporary stop points in a workplace, namely address information of a certain stop point). Monitoring the change of the working state of the explosion-proof forklift in real time, wherein the working state mainly comprises electric sparks, temperature and speed; meanwhile, the system controller can send an alarm message in a data transmission mode to the vehicle-mounted upper computer, based on the alarm message, the alarm prompt message indicating that the self state of the explosion-proof forklift is abnormal is displayed, based on the alarm message, the explosion-proof forklift automatically takes corresponding processing measures, the self monitoring and management function of the explosion-proof forklift is realized, and finally the safe operation of the explosion-proof forklift is guaranteed in a dangerous environment, so that the accidental loss is reduced, and the occurrence probability of safety accidents is reduced.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a block diagram of an explosion-proof forklift control system of the present invention;
fig. 2 is a flowchart of the sequential operation of the sensor, the system controller and the on-board upper computer 12 in fig. 1;
FIG. 3 is a flow chart of the monitoring method of the explosion-proof forklift.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto.
Embodiment 1, explosion-proof fork truck control system, as shown in fig. 1, includes sensor, RFID recognizer 9, system controller and on-vehicle host computer 12.
The sensors comprise a speed sensor 8, a temperature sensor 7 and an electric spark sensor 6; the speed sensor 8 is used for detecting whether the explosion-proof forklift exceeds the speed and generating a speed signal; the temperature sensor 7 is used for detecting whether the temperature exceeds the standard or not and generating a temperature signal; the electric spark sensor 6 is used for detecting whether an electric spark is generated inside and generating an electric spark signal.
And the system controller is used for receiving and processing detection signals of the speed sensor 8, the temperature sensor 7 and the electric spark sensor 6, generating an alarm signal and sending the alarm signal to the vehicle-mounted upper computer 12. The system controller comprises an information processing module 2 for processing signals in real time, a storage module 4, a battery module 1, a data acquisition module 3 for collecting signals acquired by a sensor and RFID (radio frequency identification) recognizer 9, a communication module 11 for receiving and sending the signals and a position recorder device 10 for marking the working state of the explosion-proof forklift; the data acquisition module 3, the storage module 4, the communication module 11 and the position recorder device 10 are in signal connection with the information processing module 2; the speed sensor 8, the temperature sensor 7, the electric spark sensor 6 and the RFID recognizer 9 are in signal connection with the data acquisition module 3 through the communication device 5, and the communication module 11 sends signals to the vehicle-mounted upper computer 12; the communication device 5 adopts a data connection line or a Bluetooth device, so that a wired network IP address or Bluetooth connection can be used; the communication module 11 is in signal connection with the vehicle-mounted upper computer 12.
The battery module 1 supplies power to the information processing module 2, the storage module 4, the data acquisition module 3, the communication module 11, the position counter device 10, the speed sensor 8, the temperature sensor 7, the electric spark sensor 6 and the RFID identifier 9 (for the sake of neatness in fig. 1, they are not shown in fig. 1). The RFID recognizer 9 is used for recognizing temporary stopping points in the explosion-proof forklift recognition workplace, and different RFID electronic tags are arranged at different temporary stopping points. The storage module 4 also stores the positioning configuration files of the temporary stop points.
The working process of the sensor, the system controller and the vehicle-mounted upper computer 12 sequentially comprises the following steps:
s101, responding to the change of the working state of the explosion-proof forklift, wherein the working state is represented by three types of temperature (the temperature of an outer shell of the explosion-proof forklift), electric sparks and speed of the explosion-proof forklift, and temperature signals, electric spark signals and speed signals detected by a speed sensor 8, a temperature sensor 7 and an electric spark sensor 6 are changed;
s102, a speed sensor 8, a temperature sensor 7 and an electric spark sensor 6 send temperature signals, electric spark signals and speed signals to a data acquisition module 3 through a communication device 5, the data acquisition module 3 sends the temperature signals, the electric spark signals and the speed signals to an information processing module 2 for processing, and the information processing module 2 judges whether the electric spark signals, the temperature signals and the speed signals meet preset alarm conditions (such as critical temperature, initial set values and speed limit values of various overspeed grades); when the alarm condition is met, the information processing module 2 sends an alarm signal to the vehicle-mounted upper computer 12 through the communication module 11, wherein the alarm signal comprises three types of information of overspeed of the explosion-proof forklift, standard exceeding of surface temperature and electric spark in the alarm signal; when the alarm condition is not met, the information processing module 2 sends a temperature signal, an electric spark signal and a speed signal to the vehicle-mounted upper computer 12;
s103, if the alarm condition is met, the vehicle-mounted upper computer 12 can display an alarm prompt message aiming at the abnormal working state to be monitored of the explosion-proof forklift on a display device of the vehicle-mounted upper computer 12 based on the alarm signal, and meanwhile, the explosion-proof forklift is controlled to automatically take corresponding treatment measures based on the alarm signal; and if the alarm condition is not met, the vehicle-mounted upper computer 12 displays the working state information of the explosion-proof forklift to be supervised on the display device according to the temperature signal, the electric spark signal and the speed signal.
The invention can monitor the running process of the explosion-proof forklift in real time and realize the function of self-monitoring management of the explosion-proof forklift.
The vehicle-mounted upper computer 12 can also send an inquiry request to the information processing module 2 through the communication module 11, and the information processing module 2 reads corresponding data (for example, the working time, the working place, specific parameter values and the working state of the explosion-proof forklift to be supervised are normal or abnormal) from the storage module 4 according to the inquiry request, and then sends the data to the vehicle-mounted upper computer 12 through the communication module 11.
The invention discloses a self-supervision method of an explosion-proof forklift, which comprises the following steps:
presetting critical temperature, initial set value and each overspeed grade speed limit value (for example, the initial set value is 100 degrees, the critical temperature is 135 degrees) in the information processing module 2; a positioning configuration file is input in the storage module 4 in advance, and then the explosion-proof forklift is started;
s301, starting a speed sensor 8, a temperature sensor 7, an electric spark sensor 6 and an RFID (radio frequency identification) recognizer 9 on the explosion-proof forklift, and then executing S302;
the sensors of the present invention are represented by a speed sensor 8, a temperature sensor 7, and an electric spark sensor 6. In the operation process, the speed sensor 8, the temperature sensor 7 and the electric spark sensor 6 can acquire data information (speed signals, temperature signals and electric spark signals) of the working state of the explosion-proof forklift in real time, the speed, the temperature and the electric spark are used as detection objects, and then step S302 is executed;
s302, the speed sensor 8, the temperature sensor 7 and the electric spark sensor 6 sequentially send a speed signal, a temperature signal and an electric spark signal to the information processing module 2 through the communication device 5 and the data acquisition module 3, and then S303 is executed;
the speed sensor 8, the temperature sensor 7 and the electric spark sensor 6 transmit a speed signal, a temperature signal and an electric spark signal which are acquired in real time to the data acquisition module 3 through the communication device 5, the data acquisition module 3 sends the speed signal, the temperature signal and the electric spark signal to the information processing module 2, the information processing module 2 amplifies and modulates the speed signal, the temperature signal and the electric spark signal, and then the steps S303, S306 and S311 are simultaneously carried out;
s303, the information processing module 2 judges whether electric sparks are generated in the anti-explosion forklift.
The purpose of this step lies in through electric spark sensor 6 monitoring explosion-proof fork truck car inside whether produce the electric spark to play the emergence of in time controlling dangerous condition. The information processing module 2 judges whether an electric spark is generated in the anti-explosion forklift according to the electric spark signal, and if so, executes the step S304; otherwise, step S305 is executed;
s304, the information processing module 2 sends a work order to the RFID recognizer 9 through the communication device 5, the RFID recognizer 9 recognizes the nearest temporary stop point and sends stop information to the information processing module 2 through the communication device 5 (each temporary stop point has a different RFID label), then the information processing module 2 calls a positioning configuration file (similar to a map) in the storage module 4, the information processing module 2 carries out route planning according to the stop information and the positioning configuration file to generate a path signal, the information processing module 2 sends the path signal to the vehicle-mounted upper computer 12 through the communication module 11, the path information is displayed on a display device of the vehicle-mounted upper computer 12, a driver moves the explosion-proof forklift to the nearest temporary stop point to overhaul, the information processing module 2 sends an overhaul signal to an explosion-proof forklift work place master control center through the communication module 11 (the communication module 11 is in signal connection with the explosion-proof forklift work place master control center), the information processing module 2 changes the electric spark marking position in the position marker device 10 into 0 (at the beginning, the electric spark marking position, the temperature marking position and the speed marking position exist in the position marker device 10, but no numerical value exists), the information processing module 2 sends an electric spark signal existing inside to the vehicle-mounted upper computer 12 through the communication module 11, the vehicle-mounted upper computer 12 controls the anti-explosion forklift to stop running after moving to the temporary parking station (the anti-explosion forklift is restarted until the maintenance is finished), the operation returns to the step S303, and the information processing module 2 judges whether electric sparks are generated in the anti-explosion forklift again according to the electric spark signal; simultaneously executing step S314;
s305, the information processing module 2 changes the electric spark mark position in the position recorder device 10 to 1, the electric spark mark position 1 represents that the working state parameter of the electric spark belongs to the safe state, and the step S314 is executed;
s306, the information processing module 2 judges whether the temperature in the explosion-proof forklift is higher than an initial set value or not.
The purpose of this step lies in through the real-time comparison to explosion-proof fork truck in-car temperature and the initial set point of procedure, monitors the condition of this safety parameter of explosion-proof fork truck temperature, prevents that the temperature from reaching the first line of defence of dangerous value. The information processing module 2 judges whether the temperature in the explosion-proof forklift exceeds an initial set value or not according to the temperature signal, and if the judgment result is negative, the step S310 is executed; otherwise, the process proceeds to step S307.
And S307, the power of the heat dissipation system is adjusted by the explosion-proof forklift.
Because the temperature in the explosion-proof forklift exceeds the initial set value, the power of the existing heat dissipation system can not meet the requirement, and the heat dissipation requirement can be met only by properly adjusting the power of the heat dissipation system within the condition range. The information processing module 2 sends a heat dissipation signal to the vehicle-mounted upper computer 12 through the communication module 11, the vehicle-mounted upper computer 12 controls the power of a heat dissipation system in the explosion-proof forklift according to the heat dissipation signal, then the step S306 is returned to repeat the cycle, the information processing module 2 judges whether the temperature in the explosion-proof forklift is higher than the initial set value again according to the temperature signal and the initial set value, and meanwhile the step S308 is carried out.
And S308, judging whether the temperature in the explosion-proof forklift exceeds a preset critical temperature or not.
The purpose of this step lies in through further with the critical temperature comparison of predetermineeing to explosion-proof fork truck temperature, prevents that explosion and other incident are caused under dangerous environment in case the temperature in explosion-proof fork truck car exceeds critical temperature and reaches dangerous temperature. The information processing module 2 judges whether the temperature in the explosion-proof forklift exceeds the critical temperature or not according to the temperature signal, and if the judgment result of the S308 is negative, the step S310 is executed; otherwise, step S309 is performed.
S309, recognizing that a nearby temporary station is parked and flameout by the explosion-proof forklift, cooling by using external intervention, and marking the position 0.
Because the capacity of the self-contained heat dissipation system of the explosion-proof forklift can not meet the cooling requirement, the explosion-proof forklift can only stop running and intervene in cooling by the outside, and a corresponding external heat dissipation device is matched at a temporary stop station to provide the explosion-proof forklift with the help of heat dissipation to meet the running requirement. The information processing module 2 sends a work order to the RFID recognizer through the communication device 5, the RFID recognizer recognizes a nearest temporary stop point and sends stop information to the information processing module 2 through the communication device 5 (each temporary stop point has a different RFID label), then the information processing module 2 calls a positioning configuration file (similar to a map) in the storage module 4, the information processing module 2 carries out route planning according to the stop information and the positioning configuration file to generate a path signal, the information processing module 2 sends the path signal to the vehicle-mounted upper computer 12 through the communication module 11, the path information is displayed on a display device of the vehicle-mounted upper computer 12, a driver moves the explosion-proof forklift to the nearest temporary stop point to cool down, the temperature mark position in the mark device 10 is changed into 0 through the information processing module 2, then the step S306 is returned, and the information processing module 2 judges whether the temperature in the explosion-proof forklift is higher than the temperature in the explosion-proof forklift again according to the temperature signal and an initial set value Setting values, and simultaneously performing step S314.
S310, the information processing module 2 changes the temperature marking position in the marker device 10 to 1, and the working state parameter representing the temperature belongs to a safe state; step S314 is executed;
and S311, the information processing module 2 judges whether the running speed of the explosion-proof forklift exceeds the speed.
The method comprises the following steps of monitoring the running speed of the explosion-proof forklift, judging whether the running speed exceeds the preset speed, and taking corresponding measures to prevent safety accidents of the explosion-proof forklift caused by overspeed. The information processing module 2 judges whether the speed of the explosion-proof forklift is overspeed or not according to the speed signal and the speed limit value of each overspeed grade (first-gear overspeed), and if the judgment result is no, the step S313 is executed; otherwise, the process proceeds to step S312.
S312, the information processing module 2 sets deceleration by the program and changes the speed mark position to 0.
The information processing module 2 compares the speed signal with preset speed limit values of various overspeed grades (setting two-gear speed), judges the grade range of overspeed, and decelerates according to related program steps to meet the deceleration requirement. The information processing module 2 changes the speed marking position in the position marker device 10 into 0, the information processing module 2 sends an overspeed signal of the explosion-proof forklift to the vehicle-mounted upper computer 12 through the communication module 11, the vehicle-mounted upper computer 12 controls the explosion-proof forklift to decelerate according to the steps of relevant programs, the step S311 is returned, the information processing module 2 judges whether the speed of the explosion-proof forklift is overspeed again according to the speed signal and the speed limit values of various overspeed grades, and the step S314 is executed at the same time.
The related procedure comprises the following steps: the speed limit values of all overspeed grades are that the first-gear overspeed is 2 m/s and the second-gear overspeed is 3 m/s; once overspeed is generated, the speed of the explosion-proof forklift truck is greater than or equal to 2 m/s and less than or equal to 3 m/s, and is continuously uninterrupted for more than 5 seconds, and when a driver does not actively control the deceleration of the explosion-proof forklift truck (i.e. the driver actively controls the deceleration of the explosion-proof forklift truck through the vehicle-mounted upper computer 12, meanwhile, the vehicle-mounted upper computer 12 sends an artificial deceleration signal to the information processing module 2 through the communication module 11, and the information processing module 2 can know whether the driver actively controls the deceleration of the explosion-proof forklift truck), the information processing module 2 sends a deceleration command signal to the vehicle-mounted upper computer 12 through the communication module 11, and the vehicle-mounted upper computer 12 controls the explosion-proof forklift truck to decelerate at a certain speed (0.2 m/s) until the speed is controlled within a normal speed (less than 2. If the overspeed is above the second gear (the speed is more than 3 m/s), the information processing module 2 sends a second-gear deceleration command signal to the vehicle-mounted upper computer 12 through the communication module 11, and the vehicle-mounted upper computer 12 controls the explosion-proof forklift to decelerate at a certain speed (0.4 m/s) until the speed is controlled within a normal speed (less than 2 m/s).
S313, the information processing module 2 changes the speed mark position in the position marker device 10 to 1, the working state parameter representing the speed belongs to the safe state, and the step S314 is executed;
s314, judging whether all the marking bits are 1.
The purpose of this step lies in through reading the mark position of explosion-proof fork truck operating condition parameter control circuit and comparing, comes to judge whether explosion-proof fork truck satisfies the condition of normal safe operation simultaneously. The information processing module 2 determines whether the electric spark mark position, the temperature mark position and the speed mark position in the marker device 10 are all 1, and if the determination result is yes, the process goes to step S315; if the judgment result is negative, no operation is carried out (at the moment, the explosion-proof forklift does not normally run).
And S315, the explosion-proof forklift continues to operate.
The information processing module 2 sends a normal operation signal to the vehicle-mounted upper computer 12 through the communication module 11, and the vehicle-mounted upper computer 12 controls the explosion-proof forklift to normally operate.
Finally, it is also noted that the above-mentioned lists merely illustrate a few specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (4)
1. The method for supervising the anti-explosion forklift by using the anti-explosion forklift control system is characterized by comprising the following steps of:
the explosion-proof forklift control system comprises a sensor, a system controller and a vehicle-mounted upper computer (12);
the sensors comprise a speed sensor (8), a temperature sensor (7) and an electric spark sensor (6);
the system controller comprises an information processing module (2), a storage module (4), a battery module (1), a data acquisition module (3), a communication module (11) and a position recorder device (10); the data acquisition module (3), the storage module (4), the communication module (11) and the position recorder device (10) are respectively in signal connection with the information processing module (2); the battery module (1) is respectively and electrically connected with the information processing module (2), the storage module (4), the data acquisition module (3), the communication module (11), the position recorder device (10), the speed sensor (8), the temperature sensor (7) and the electric spark sensor (6);
the speed sensor (8), the temperature sensor (7) and the electric spark sensor (6) are in signal connection with the data acquisition module (3);
the communication module (11) is in signal connection with the vehicle-mounted upper computer (12);
the explosion-proof forklift control system also comprises an RFID recognizer (9); the RFID recognizer (9) is in signal connection with the data acquisition module (3);
the RFID recognizer (9), the speed sensor (8), the temperature sensor (7) and the electric spark sensor (6) are in signal connection with the data acquisition module (3) through the communication device (5) respectively; the communication device (5) adopts a data connecting line or a Bluetooth device;
the self-supervision method of the explosion-proof forklift comprises the following steps:
presetting critical temperature, initial set value and speed limit value of each overspeed grade in an information processing module (2), inputting a positioning configuration file in a storage module (4) in advance, and then starting an explosion-proof forklift;
s301, starting a speed sensor (8), a temperature sensor (7), an electric spark sensor (6) and an RFID (radio frequency identification) identifier (9) on the explosion-proof forklift, wherein the speed sensor (8), the temperature sensor (7) and the electric spark sensor (6) can acquire a speed signal, a temperature signal and an electric spark signal of the explosion-proof forklift in real time, and then executing S302;
s302, a speed sensor (8), a temperature sensor (7) and an electric spark sensor (6) respectively send a speed signal, a temperature signal and an electric spark signal to an information processing module (2) through a communication device (5) and a data acquisition module (3), and then steps S303, S306 and S311 are executed;
s303, the information processing module (2) judges whether electric sparks are generated in the anti-explosion forklift according to the electric spark signals, and if the judgment result is yes, the step S304 is executed; otherwise, step S305 is executed;
s304, the information processing module (2) sends a work command to the RFID identifier (9) through the communication device (5), the RFID identifier (9) identifies the nearest temporary stop point and sends stop information to the information processing module (2) through the communication device (5), and the information processing module (2) calls a positioning configuration file in the storage module (4); the information processing module (2) carries out route planning according to the parking information and the positioning configuration file to generate a path signal, the information processing module (2) sends the path signal to the vehicle-mounted upper computer (12) through the communication module (11), and the path information is displayed on a display device of the vehicle-mounted upper computer (12); the driver moves the explosion-proof forklift to the nearest temporary stop station for maintenance; the information processing module (2) sends a maintenance signal to a master control center of an explosion-proof forklift workplace through the communication module (11), the information processing module (2) changes the electric spark marking position in the position recorder device (10) to 0, the information processing module (2) sends an electric spark signal existing inside to the vehicle-mounted upper computer (12) through the communication module (11), a driver controls the explosion-proof forklift to stop running after moving to a temporary parking station, the operation returns to the step S303, and the information processing module (2) judges whether electric sparks are generated in the explosion-proof forklift again according to the electric spark signal; simultaneously executing step S314;
s305, the information processing module (2) changes the electric spark marking position in the position recorder device (10) to 1, and executes the step S314;
s306, the information processing module (2) judges whether the temperature in the explosion-proof forklift is higher than the initial set value or not according to the temperature signal and the initial set value; if yes, go to step S307; otherwise, go to step S310;
s307, the information processing module (2) sends a heat dissipation signal to the vehicle-mounted upper computer (12) through the communication module (11), the vehicle-mounted upper computer (12) controls the power of a heat dissipation system in the explosion-proof forklift according to the heat dissipation signal, the step S306 is returned, and the information processing module (2) judges whether the temperature in the explosion-proof forklift is higher than the initial set value again according to the temperature signal and the initial set value; simultaneously, the step S308 is entered;
s308, the information processing module (2) judges whether the temperature in the explosion-proof forklift exceeds the critical temperature or not according to the temperature signal and the critical temperature, and if the judgment result of the S308 is yes, the step S309 is executed; otherwise, go to step S310;
s309, the information processing module (2) sends a work command to the RFID identifier through the communication device (5), the RFID identifier identifies the nearest temporary stop point and sends stop information to the information processing module (2) through the communication device (5), and the information processing module (2) calls a positioning configuration file in the storage module (4); the information processing module (2) carries out route planning according to the parking information and the positioning configuration file to generate a path signal, the information processing module (2) sends the path signal to the vehicle-mounted upper computer (12) through the communication module (11), and the path information is displayed on a display device of the vehicle-mounted upper computer (12); the driver moves the explosion-proof forklift to the nearest temporary stop station to cool down, the information processing module (2) changes the temperature mark position in the position recorder device (10) to 0, the operation returns to the step S306, the information processing module (2) judges whether the temperature in the explosion-proof forklift is higher than the initial set value again according to the temperature signal and the initial set value, and simultaneously the step S314 is executed;
s310, the information processing module (2) changes the temperature marking position in the marker device (10) to 1 and executes the step S314;
s311, the information processing module (2) judges whether the speed of the explosion-proof forklift exceeds the speed limit value of each overspeed grade according to the speed signal, and if the judgment result is negative, the step S313 is executed; otherwise, go to step S312;
s312, the information processing module (2) sends an overspeed signal to the vehicle-mounted upper computer (12) through the communication module (11), and the information processing module (2) changes the speed marking position in the marker device (10) into 0; the vehicle-mounted upper computer (12) controls the explosion-proof forklift to decelerate according to the overspeed signal, the step S311 is returned, and the information processing module (2) judges whether the speed of the explosion-proof forklift exceeds the speed again according to the speed signal and the speed limit value of each overspeed grade; simultaneously executing step S314;
s313, the information processing module (2) changes the speed mark position in the position marker device (10) to 1 and executes the step S314;
s314, the information processing module (2) judges whether the electric spark mark position, the temperature mark position and the speed mark position in the marker device (10) are all 1, if so, the step S315 is executed; otherwise, no operation is performed;
s315, the information processing module (2) sends a normal operation signal to the vehicle-mounted upper computer (12) through the communication module (11), and the vehicle-mounted upper computer (12) controls the explosion-proof forklift to normally operate.
2. The method for supervising an explosion-proof forklift according to claim 1, wherein: each overspeed grade speed limit value comprises 2 m/s overspeed of the first gear and 3 m/s overspeed of the second gear;
s311, the information processing module (2) judges whether the speed of the explosion-proof forklift exceeds the speed according to the speed signal and the first-gear speed exceeding 2 m/S, and if the judgment result is no, the step S313 is carried out; otherwise, go to step S312;
s312: the information processing module (2) judges the speed of the explosion-proof forklift according to the speed signal, if the speed of the explosion-proof forklift is greater than or equal to 2 m/s and less than or equal to 3 m/s, the speed is continuously uninterrupted for more than 5 s, and a driver does not actively control the speed reduction of the explosion-proof forklift, the information processing module (2) sends a first-gear speed reduction command signal to the vehicle-mounted upper computer (12) through the communication module (11), and the vehicle-mounted upper computer (12) controls the explosion-proof forklift to reduce the speed by 0.2 m/s until the speed of the explosion-proof forklift is less than 2 m/s; if the speed of the explosion-proof forklift is more than 3 m/s, the information processing module (2) sends a two-gear speed reduction command signal to the vehicle-mounted upper computer (12) through the communication module (11), and the vehicle-mounted upper computer (12) controls the explosion-proof forklift to reduce the speed by 0.4 m/s until the speed of the explosion-proof forklift is less than 2 m/s.
3. The method for supervising an explosion-proof forklift according to claim 2, wherein: the initial set value is 100 degrees, and the critical temperature is 135 degrees.
4. The method for supervising an explosion-proof forklift according to claim 3, wherein: the working processes of the sensor, the system controller and the vehicle-mounted upper computer (12) are as follows:
s101, responding to the change of the working state of the explosion-proof forklift, wherein the working state is represented by three types, namely the temperature, the electric spark and the speed of the shell of the explosion-proof forklift, and the temperature signal, the electric spark signal and the speed signal detected by the speed sensor (8), the temperature sensor (7) and the electric spark sensor (6) are changed;
s102, a speed sensor (8), a temperature sensor (7) and an electric spark sensor (6) send temperature signals, electric spark signals and speed signals to a data acquisition module (3) through a communication device (5), the data acquisition module (3) sends the temperature signals, the electric spark signals and the speed signals to an information processing module (2) for processing, and the information processing module (2) judges whether the electric spark signals, the temperature signals and the speed signals meet preset alarm conditions or not; when the alarm condition is met, the information processing module (2) sends an alarm signal to the vehicle-mounted upper computer (12) through the communication module (11), wherein the alarm signal comprises three types of information of overspeed of the explosion-proof forklift, standard exceeding of surface temperature and electric spark in the alarm signal; when the alarm condition is not met, the information processing module (2) sends a temperature signal, an electric spark signal and a speed signal to the vehicle-mounted upper computer (12);
the alarm conditions comprise critical temperature, initial set value and speed limit value of each overspeed grade;
s103, if the alarm condition is met, the vehicle-mounted upper computer (12) can display an alarm prompt message aiming at the abnormal working state to be monitored of the explosion-proof forklift on a display device of the vehicle-mounted upper computer (12) based on the alarm signal, and meanwhile, the explosion-proof forklift is controlled to automatically take corresponding treatment measures based on the alarm signal; if the alarm condition is not met, the vehicle-mounted upper computer (12) displays the working state information of the explosion-proof forklift to be supervised on the display device according to the temperature signal, the electric spark signal and the speed signal.
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| CN109507447A (en) * | 2018-11-02 | 2019-03-22 | 湖北康利安动力科技有限公司 | A kind of explosion-proof sensor based on speed perception |
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