CN109799751A - A kind of mobile fork truck intelligence control system and method based on TCP/IP - Google Patents
A kind of mobile fork truck intelligence control system and method based on TCP/IP Download PDFInfo
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- CN109799751A CN109799751A CN201910035581.5A CN201910035581A CN109799751A CN 109799751 A CN109799751 A CN 109799751A CN 201910035581 A CN201910035581 A CN 201910035581A CN 109799751 A CN109799751 A CN 109799751A
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Abstract
The mobile fork truck intelligence control system based on TCP/IP that the invention discloses a kind of, intelligence is realized to solve the common fork truck of the prior art, it needs to redesign and make, need the problem of wasting a large amount of man power and materials, this system includes: industrial personal computer, for generating default fork truck control signal, and the default fork truck of generation is controlled by signal by Ethernet and is sent to TCP/IP module, and corresponding default fork truck is converted by received default fork truck control signal and controls analog signal, it is sent to relay group, and fork truck control analog signal is preset based on the received and carries out corresponding on-off, corresponding control fork truck controller is to control fork truck operation.Using this system, does not need to redesign fork truck, install several electronic components additional on original fork truck controller and the switching manually and automatically controlled can be realized in equipment, reduce design cost.
Description
Technical field
The present invention relates to mobile fork truck field of intelligent control more particularly to a kind of mobile fork truck intelligence based on TCP/IP
It can control system and method.
Background technique
With the development of robot and electronic circuit control technology, industrial lift truck more and more uses pure electric drive, and
Existing pure electrically driven (operated) fork truck, it usually needs people's manual drive, with the disappearance of demographic dividend, the increase of employment cost is adopted
With unpiloted self-navigation fork truck and with the mobile fork trucks of functions such as following increasingly by public joyous automatically
It meets, however to design novel from electrical forklift, it usually needs redesign all mechanical part and electric controling part, usually
It needs to research and develop again, and puts into biggish man power and material, how by being simply transformed just in existing manual drive fork truck
It is middle that novel intellectual technology is added, such as realize that intelligence follows, the technologies such as intelligent positioning and navigation are grinding for fork truck technical field
Study carefully direction, and reduce research and development cost, improves the main path of efficiency of research and development.
Summary of the invention
In order to solve the problems, such as to propose in background technique, cost is relatively low can be achieved automatically and manually the present invention provides a kind of
A kind of mobile fork truck intelligence control system and method based on TCP/IP of switching control fork truck.
In order to achieve the above object, the present invention uses following technical scheme,
A kind of mobile fork truck intelligence control system based on TCP/IP, comprising:
The default fork truck of generation is controlled signal for generating default fork truck control signal, and by Ethernet by industrial personal computer
It is sent to TCP/IP module,
TCP/IP module, the default fork truck for receiving industrial personal computer generation control signal, and by received default fork truck control
Signal processed is converted into corresponding default fork truck control analog signal；
Relay group presets fork truck based on the received and controls analog signal for receiving default fork truck control analog signal
Carry out corresponding on-off；
Fork truck controller and relay group are attached according to default connection type, for by relay group after
The corresponding control fork truck operation of the on-off of electric appliance.
Further, industrial personal computer includes:
HMI man-machine interface, for receiving default fork truck control instruction；
MCU generates default control signal for presetting fork truck control instruction based on the received, and will be generated by Ethernet
Default fork truck control signal be sent to TCP/IP module.
Further, TCP/IP module includes:
Bat-handle switch unit, for receiving handle of fork truck switch control signal；
Standing switch unit, for receiving fork truck standing switch control signal；
It is automatically switched unit, for opening and closing the automatic control signal of fork truck；
Output unit is turned to, for exporting fork truck steering controling signal；
Output unit is retreated, retreats control signal for exporting fork truck；
Speed output unit, for exporting fork truck movement velocity control signal；
Analog output unit is turned to, for exporting the analog quantity of fork-truck steering；
Forward-reverse analog output unit, the analog quantity moved forward or back for output fork vehicle.
Further, fork truck controller includes:
Steering motor controller, the steering for turn signal and receiving angle sensor by receiving TCP/IP module
Signal, corresponding control steering motor movement；
Advance electric machine controller for the fork truck progress signal by receiving TCP/IP module and receives fork truck direction of advance
Signal, corresponding control advance motor advance；
Electric machine controller is retreated, for the fork truck backing signal by receiving TCP/IP module and receives fork truck direction of retreat
Signal, corresponding control retreat motor and retreat.
Further, relay group includes:
First relay, the second relay, third relay, the 4th relay, the 5th relay and the 6th relay；
14 terminals of first relay are connected with the steering output unit of TCP/IP module, 5 ends of the first relay
Son is connected with the steering analog output unit of TCP/IP module, the steering of the steering output interface for receiving TCP/IP module
Instruction, and corresponding steering analog quantity, 1 end of the first relay are exported by the steering analog output interface circuit of TCP/IP module
Son connects fork-truck steering electric machine controller, and 9 terminals of the first relay connect the turn signal of angular transducer；
1 terminal and 13 terminals of the second relay of second relay, 13 terminals of the first relay, third relay
1 terminal of device, 13 terminals of the 4th relay, 13 terminals of the 5th relay and 13 terminals of the 6th relay are connected and are connect
Ground；5 terminals of the second relay connect 5 terminals of third relay and the automatic switch interface of TCP/IP, and the 9 of the second relay
The connection of 5 terminals of terminal and the 5th relay, the 5 terminals connection of 14 terminals and the 4th relay of the second relay；
The 8 terminals connection of 9 terminals and the 5th relay of the third relay, 14 terminals of third relay and the 4th
9 terminals of relay connect；
14 terminals of the 4th relay and the retrogressing output unit of TCP/IP module；
9 terminals of the 5th relay connect fork truck direction advance input signal, and 12 terminals of the 5th relay connect
Fork truck direction retreats input signal, 4 output fork truck direction advance amounts of the 5th relay, 1 end of the 5th relay
Son output fork truck direction back amount；
14 terminals of the 6th relay connect the speed output unit of TCP/IP module, 12 ends of the 6th relay
Son connects fork truck controller acceleration simulation amount input terminal, and 4 terminals of the 6th relay export fork truck controller acceleration mould
Analog quantity.
Further, which is characterized in that TCP/IP module includes one or more sub- TCP/IP modules, every height
TCP/IP module contains corresponding IP address.
Further, comprising:
Router, for TCP/IP module to be accessed network；
Default fork truck control signal is sent to by the industrial personal computer by wired connection or wireless connection couple in router
TCP/IP module.
A kind of mobile fork truck intelligent control method based on TCP/IP, comprising steps of
S1: judge whether current fork truck control model is manual mode；
S2: if so, switching to default fork truck manually controls the operation of Row control fork truck；
S3: if it is not, switching to default fork truck automatic control flow chart control fork truck operation.
Further, step S2 includes:
S21: bat-handle switch unit, standing switch unit, the automatic switch unit of control TCP/IP module do not export；
S22: the first default delay time is waited；
S23: steering output unit, retrogressing output unit, the speed output unit of control TCP/IP module do not export；
S24: reception manually controls the fork truck direction advance input signal of fork truck, fork truck direction is retreated into input signal and
The turn signal of fork truck angular transducer.
Further, step S3 includes:
Judge whether fork truck driving mode is steering；If so, the steering output unit output of control TCP/IP module turns
Corresponding analog quantity is exported to signal, and by the steering analog output unit of TCP/IP module；
Judge whether fork truck driving mode is advance；If so, the speed output unit of control TCP/IP module exports speed
Signal is spent, the retrogressing output unit of control TCP/IP module does not export, and and passes through the forward-reverse analog quantity of TCP/IP module
Output unit exports the advance analog quantity of corresponding fork truck；
Judge whether fork truck driving mode is retrogressing；If so, the speed output unit of control TCP/IP module exports speed
Signal is spent, the retrogressing output unit of control TCP/IP module exports backing signal, and and passes through the forward-reverse of TCP/IP module
Analog output unit exports the retrogressing analog quantity of corresponding fork truck.
The present invention has the following advantages:
Based on the fork truck that electricity turns to, only installation industrial personal computer, TCP/ is added the case where not needing whole design fork truck again
The manual and automatic switching of fork truck control can be realized in IP module and relay group, and realizes intelligentized fork truck control
System, to reduce design cost.
Detailed description of the invention
Fig. 1 is a kind of mobile fork truck intelligence control system electrical connection diagram based on TCP/IP of the present invention；
A kind of mobile fork truck intelligent control method flow chart based on TCP/IP of Fig. 2 present invention.
Wherein in figure:
1.0, standing switch unit, 2.0, bat-handle switch unit, 4.0, steering output unit, 5.0, retrogressing output unit,
5.1, it is automatically switched unit, A01,6.0, speed output unit turn to analog output unit, A02, forward-reverse analog quantity are defeated
Unit out.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Embodiment one
A kind of mobile fork truck intelligence control system based on TCP/IP is present embodiments provided, as shown in Figure 1, this system
Include:
A kind of mobile fork truck intelligence control system based on TCP/IP, comprising:
The default fork truck of generation is controlled signal for generating default fork truck control signal, and by Ethernet by industrial personal computer
It is sent to TCP/IP module；
Using windows operating system, perhaps (SuSE) Linux OS Windows operating system or Linux are grasped industrial personal computer
Make to need to carry the programming tools such as programmable software, such as C++Python in system.
TCP/IP module, the default fork truck for receiving industrial personal computer generation control signal, and by received default fork truck control
Signal processed is converted into corresponding default fork truck control analog signal；
TCP/IP module carries the main control chips such as TCP/IP chip and DSP, single-chip microcontroller, which, which utilizes, meets TCP/
The chip of IP agreement and the communications protocol and host computer communicate, and the DSP, the main control chips such as single-chip microcontroller can will pass through
The data translation that agreement receives at digital quantity IO and analog quantity IO movement.
Relay group presets fork truck based on the received and controls analog signal for receiving default fork truck control analog signal
Carry out corresponding on-off；
Fork truck controller and relay group are attached according to default connection type, for by relay group after
The corresponding control fork truck operation of the on-off of electric appliance.
Fork truck controller is the original manual overvide of fork truck, fork truck standing switching signal and handle of fork truck switch letter
It number is the original interlocking signal device of fork truck；
The exportable signal of fork truck controller has: forward-reverse signal and speed control signal；Forward-reverse signal is several
Word amount output signal, digital output signal, high level are+24V, and low level is 0V, forward-reverse signal cannot be simultaneously+
24V can be 0V (realizing interlocking) simultaneously；In addition, the original hand steering gear of fork truck detects fork truck hand by angular transducer
Dynamic turn signal, and the angular signal exported is analog quantity.
The accelerator signal of fork truck, switching signal, the analog signals for turning to analog signals and speed acceleration, it is defeated
Enter to fork truck controller；Fork truck has course changing control motor and forward-reverse speed control motor, and the steering of fork truck is by turning to electricity
Machine control, the forward-reverse of fork truck is by forward-reverse motor control.
The mobile fork truck intelligence control system based on TCP/IP provided in the present embodiment, it is same using TCP/IP module
One group of simulation fork truck switching signal, the forward-reverse signal that fork truck accelerator generates, speed signal and control fork truck is generated to turn
To steering analog signals.
Fork truck original manual control signal is connected with fork truck controller；In this embodiment, it needs to manually control fork truck original
Signal cut, and a group relay group is accessed to together with the control signal generated using TCP/IP module, and relay
Output signal is taken back again to former fork truck controller, as shown in Figure 1；
The system can switch the input signal of former fork truck controller by controlling the on-off of relay group, be selected as hand
The automatic control signal mode that dynamic control signal mode or TCP/IP module generate, to realize cutting for manual/auto signal
Change, the voltage that relay uses is 0-24V, the relay number used need according to the control signal of fork truck it is how many depending on.
The on-off of relay group is controlled by TCP/IP module, and the TCP/IP module is connected by Ethernet with industrial personal computer,
And it is controlled by industrial personal computer programming.
Further, industrial personal computer includes:
HMI man-machine interface, for receiving default fork truck control instruction；
MCU generates default control signal for presetting fork truck control instruction based on the received, and will be generated by Ethernet
Default fork truck control signal be sent to TCP/IP module.
Wherein industrial personal computer and the data coding mode of TCP/IP communications protocol are as follows:
Communication needs to send four 8 data every time, and wherein h0-h7 forms 8 data heads, can be used to indicate that order is sent out
The coding such as address sent can be used for data check, such as order is sent to the ethernet module etc. that address is 0x01,
C0-c7 represents the Code Number of data, indicate the order type of currently transmitted order needle, such as represent digital quantity, analog quantity etc.,
D0-d15 represents the data that actual needs is sent, and the every frame of the data has 16, can both indicate digital quantity, can also indicate mould
Analog quantity.
The system may include single TCP/IP module, can also carry out networking by multiple TCP/IP modules, pass through net
Network controls multiple modules, and each TCP/IP module has individual IP address, and TCP/IP module can also pass through routing
Device accesses network, and the connection type of industrial personal computer and router can be wired connection and wireless connection.
Further, TCP/IP module includes:
Bat-handle switch unit, for receiving handle of fork truck switch control signal；
Standing switch unit, for receiving fork truck standing switch control signal；
It is automatically switched unit, for opening and closing the automatic control signal of fork truck；
Output unit is turned to, for exporting fork truck steering controling signal；
Output unit is retreated, retreats control signal for exporting fork truck；
Speed output unit, for exporting fork truck movement velocity control signal；
Analog output unit is turned to, for exporting the analog quantity of fork-truck steering；
Forward-reverse analog output unit, the analog quantity moved forward or back for output fork vehicle.
Further, fork truck controller includes:
Steering motor controller, the steering for turn signal and receiving angle sensor by receiving TCP/IP module
Signal, corresponding control steering motor movement；
Advance electric machine controller for the fork truck progress signal by receiving TCP/IP module and receives fork truck direction of advance
Signal, corresponding control advance motor advance；
Electric machine controller is retreated, for the fork truck backing signal by receiving TCP/IP module and receives fork truck direction of retreat
Signal, corresponding control retreat motor and retreat.
Further, relay group includes:
First relay, the second relay, third relay, the 4th relay, the 5th relay and the 6th relay；
14 terminals of first relay are connected with the steering output unit of TCP/IP module, 5 ends of the first relay
Son is connected with the steering analog output unit of TCP/IP module, the steering of the steering output interface for receiving TCP/IP module
Instruction, and corresponding steering analog quantity, 1 end of the first relay are exported by the steering analog output interface circuit of TCP/IP module
Son connects fork-truck steering electric machine controller, and 9 terminals of the first relay connect the turn signal of angular transducer；
1 terminal and 13 terminals of the second relay of second relay, 13 terminals of the first relay, third relay
1 terminal of device, 13 terminals of the 4th relay, 13 terminals of the 5th relay and 13 terminals of the 6th relay are connected and are connect
Ground；5 terminals of the second relay connect 5 terminals of third relay and the automatic switch interface of TCP/IP, and the 9 of the second relay
The connection of 5 terminals of terminal and the 5th relay, the 5 terminals connection of 14 terminals and the 4th relay of the second relay；
The 8 terminals connection of 9 terminals and the 5th relay of the third relay, 14 terminals of third relay and the 4th
9 terminals of relay connect；
14 terminals of the 4th relay and the retrogressing output unit of TCP/IP module；
9 terminals of the 5th relay connect fork truck direction advance input signal, and 12 terminals of the 5th relay connect
Fork truck direction retreats input signal, 4 output fork truck direction advance amounts of the 5th relay, 1 end of the 5th relay
Son output fork truck direction back amount；
14 terminals of the 6th relay connect the speed output unit of TCP/IP module, 12 ends of the 6th relay
Son connects fork truck controller acceleration simulation amount input terminal, and 4 terminals of the 6th relay export fork truck controller acceleration mould
Analog quantity.
Further, TCP/IP module includes one or more sub- TCP/IP modules, and every sub- TCP/IP module contains
Corresponding IP address.
Further, comprising:
Router, for TCP/IP module to be accessed network；
Industrial personal computer is sent to TCP/IP by wired connection or wireless connection couple in router, by default fork truck control signal
Module.
TCP/IP module provided in this embodiment is to be linked by traditional ether net mode with industrial personal computer, therefore can adopt
The networking of industrial personal computer Yu TCP/IP module is realized with TCP/IP module and the direct-connected mode of industrial personal computer, it can also be by installing road additional
The connection that industrial personal computer Yu multiple TCP/IP modules are realized by the method for device, theoretically in same system, expansible TCP/
IP module can be infinitely more, therefore install more intermediate relays in system additional also to control more signals on mobile fork truck
Switching.
The communication modes of the TCP/IP module and industrial personal computer can be by the way of wired or using wireless
Mode, using wirelessly, need industrial personal computer install wireless routing module, and TCP/IP module needs be connected to no route
By device, wireless router state needs to be arranged to wireless ap mode.
Using a kind of mobile fork truck intelligence control system based on TCP/IP provided in this embodiment, by the way that industry control is arranged
The switching manually and automatically of fork truck control can be realized in machine, TCP/IP module and relay group, and cost is relatively low, improves
The working efficiency of fork truck.
Embodiment two
A kind of mobile fork truck intelligent control method based on TCP/IP is present embodiments provided, as shown in Fig. 1 to 2, this
Method comprising steps of
S1: judge whether current fork truck control model is manual mode；
S2: if so, switching to default fork truck manually controls the operation of Row control fork truck；
S3: if it is not, switching to default fork truck automatic control flow chart control fork truck operation.
Further, step S2 includes:
S21: bat-handle switch unit, standing switch unit, the automatic switch unit of control TCP/IP module do not export；
S22: the first default delay time is waited；
S23: steering output unit, retrogressing output unit, the speed output unit of control TCP/IP module do not export；
S24: reception manually controls the fork truck direction advance input signal of fork truck, fork truck direction is retreated into input signal and
The turn signal of fork truck angular transducer.
Further, step S3 includes:
Judge whether fork truck driving mode is steering；If so, the steering output unit output of control TCP/IP module turns
Corresponding analog quantity is exported to signal, and by the steering analog output unit of TCP/IP module；
Judge whether fork truck driving mode is advance；If so, the speed output unit of control TCP/IP module exports speed
Signal is spent, the retrogressing output unit of control TCP/IP module does not export, and and passes through the forward-reverse analog quantity of TCP/IP module
Output unit exports the advance analog quantity of corresponding fork truck；
Judge whether fork truck driving mode is retrogressing；If so, the speed output unit of control TCP/IP module exports speed
Signal is spent, the retrogressing output unit of control TCP/IP module exports backing signal, and and passes through the forward-reverse of TCP/IP module
Analog output unit exports the retrogressing analog quantity of corresponding fork truck.
No. 13 terminals of all relays and No. 14 terminals are the coil of relay；
All relays 1,5,9, three terminals are one group of normally-open normally-close terminal；4,8, No. 12 terminals of relay are another
Group normally-open normally-close terminal, in same group of normally-open normally-close terminal；Such as 1,5,9, when the coil of intermediate relay obtains electric, i.e., No. 13 ends
When son and No. 14 terminals have electric current to pass through, No. 1 terminal of intermediate relay switches connection status, i.e., from No. 1 original terminal and 9
Number terminal, which is connected, to be changed into No. 1 terminal and is connected with No. 5 terminals.2 groups of terminals of intermediate relay are to be connected in parallel, that is, it is intermediate after
The 4 of electric appliance, 8,12 terminals are similar to 1,5,9 terminals, when coil energized state changes, 2 groups of normally-open normally-closes of intermediate relay
Terminal is acted after the same method.
Because switching signal is short-circuit ability generation movement, the standing switching signal of figure Central Plains fork truck and the accelerator of fork truck make
The switching signals such as energy are without cutting, and the digital output 1.0 and 2.0 of TCP/IP module directlys adopt mode in parallel and is connected to
Original route.
Digital output 4.0 realizes the analog quantity of fork truck rotary angle transmitter manually and automatically for controlling intermediate relay 1
Switching, while analog output A01 is exported as the angle signal of TCP/IP module, when intermediate relay disconnects, comes from fork truck
Original angular transducer signal is connected to motor steering controller, the mould of TCP/IP module output when intermediate relay closure
Analog quantity signal is connected to the controller of the steering motor of fork truck.
Digital output 5.1 realizes the Analog control of the movement velocity of fork truck, and real for controlling intermediate relay 6
Now switching manually and automatically, while analog output of the analog quantity A02 as TCP/IP module, for exporting fork truck movement speed
Signal is spent, when intermediate relay 6 disconnects, the speed of fork truck is connected directly to from the original movement velocity control signal of fork truck
The A02 analog quantity of TCP/IP module is connected to the speed control of fork truck when intermediate relay 6 is closed by controller, is realized
The common end of the automatic control of speed, A02 and A01 are connected to GND.
Intermediate relay 2,3,4,5 is the signal that forward-reverse is generated for cooperating, wherein intermediate relay 2, and intermediate
No. 1 terminal of relay 3 is connected to GND, and No. 5 terminals of intermediate relay 2 and intermediate relay 3 are connected to TCP/IP
The digital quantity switch module 6.0 of module, the COM terminal access+24V of digital quantity switch module 6.0, No. 14 of intermediate relay 4
Terminal is connected to the digital output module 5.0 of TCP/IP module, and No. 1 terminal of intermediate relay is connected to+24V, digital quantity
The end COM of output module 5.0 is also connected to+24V, and No. 14 terminal of intermediate relay 2 and 3 is respectively connected to relay 4
No. 5 terminals and No. 9 terminals, No. 9 terminal of intermediate relay 2 and 3 be respectively connected to No. 5 terminal of intermediate relay 5
With No. 8 terminal.
The beneficial effect of above-mentioned connection method is, when TCP/IP digital output module 6.0 in the closure state, it is intermediate
The output signal of relay 2 and intermediate relay 3 can be controlled by intermediate relay 4, due to No. 5 terminals of intermediate relay
It is one group of reciprocal terminal of normally-open normally-close terminal with No. 9 terminals, therefore when the coil of intermediate relay 4 is powered, in relay
The output terminal 9 and only one terminal of output terminal 15 of device are+24V, another is vacant state, therefore 2 He of relay
No. 14 terminals of relay 3 can only at a time have an access+24V, that is to say, that relay 2 and relay 3 are same
One moment, only one relay can be connected, and No. 9 terminal of that relay be connected can export+24V, without
No. 9 terminal of that relay of conducting exports 0V.Therefore in intermediate relay 2 and intermediate relay 3 being connected respectively to
Between relay 5 No. 8 terminal and No. 5 terminal, the effect of generation be, No. 8 terminal of intermediate relay 5 and No. 5 end
In synchronization, only one is+24V to son, and another is 0V.
No. 4 terminal and No. 1 terminal of intermediate relay 5 are two common ends of normally-open normally-close relay group respectively
Son, and it is connected to the forward-reverse signal end of fork truck electric machine controller, therefore, when intermediate relay 5 passes through TCP/IP module
Digital output end 5.1 control it is electric after, actually No. 8 terminal of intermediate relay and No. 5 terminal are connected to
The signal end that moves forward and backward of fork truck electric machine controller, the signal can be controlled automatically by industrial personal computer by TCP/IP module
System.When intermediate relay 5 not it is electric, i.e., when the digital output end 5.1 of TCP/IP module is 0 state, the of intermediate relay 5
No. 4 terminals and No. 1 terminal have been actually connected to the direction signal that moves forward and backward of the original Manual accelerator of fork truck, because
This is to manually control state.
No. 14 terminals of above-mentioned intermediate relay 5 and 6 are connected to the digital output end 5.1 of TCP/IP module simultaneously, because
To need to open simultaneously forward-reverse switch when fork truck advances or retreats.
Above-mentioned hardware needs sequencing logically to control when controlling fork truck, logical order by software realization,
Software block diagram is as shown in Figure 2:
In figure, it is necessary first to judge fork truck selection manual mode or automatic mode, such as select manual mode, program needs
The relay of TCP/IP module output 1.0,2,0 is set 0, and sets 0 by the relay of TCP/IP module output 6.0, it will be after
Manual ringing in electric appliance 1 is connected to the steering motor controller of fork truck, after waiting 0.5 second, then passes through the letter of TCP/IP module
Relay 4 and relay 5 are set 0 by number output module 4.0,5.0 and 5.1, and fork truck is manually advanced backing signal access fork truck
Forward-reverse electric machine controller, and the manual acceleration and deceleration analog signals that fork truck accelerator is exported access to fork truck advance
Retreat the master controller of motor.
When fork truck selects automatic control mode, it is necessary first to the relay output 1.0,2,0 of TCP/IP module is set 1,
And set 1 by the relay of TCP/IP module output 6.0, after waiting 0.5 second, need to judge the movement of fork truck, be turn to,
Advance or retreat, if the movement of fork truck is divertical motion, needs to set the digital output 4.0 of TCP/IP module 1, and
The A01 analog signals of TCP/IP module are connected to the steering motor controller of fork truck, for example forward motion, then are needed TCP/
The digital output 5.1 of IP module sets 1,5.0 and sets 0, and the A02 analog signals of TCP/IP module are connected to the main drive of fork truck
Dynamic electric machine controller, for example backward movement then need to set the digital output 5.1 of TCP/IP module 1,5.0 and set 1, and will
The A02 analog signals of TCP/IP module are connected to the main drive motor controller of fork truck, to realize backward movement.
Using this method, the interlocking between handle of fork truck switching signal and fork truck standing switching signal can be realized, and
It realizes under different control models, selects different control flows, realize the intelligence of fork truck control, cost is relatively low, improves fork
The service efficiency of vehicle.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of mobile fork truck intelligence control system based on TCP/IP characterized by comprising
The default fork truck of generation for generating default fork truck control signal, and is controlled signal by Ethernet and sent by industrial personal computer
To TCP/IP module,
TCP/IP module, the default fork truck for receiving industrial personal computer generation controls signal, and received default fork truck control is believed
Number it is converted into corresponding default fork truck control analog signal；
Relay group is preset fork truck control analog signal based on the received and is carried out for receiving default fork truck control analog signal
Corresponding on-off；
Fork truck controller and relay group are attached according to default connection type, for passing through the relay in relay group
The corresponding control fork truck operation of on-off.
2. a kind of mobile fork truck intelligence control system based on TCP/IP according to claim 1, which is characterized in that work
Control machine includes:
HMI man-machine interface, for receiving default fork truck control instruction；
MCU generates default control signal for presetting fork truck control instruction based on the received, and passes through Ethernet for the pre- of generation
If fork truck control signal is sent to TCP/IP module.
3. a kind of mobile fork truck intelligence control system based on TCP/IP according to claim 1, which is characterized in that
TCP/IP module includes:
Bat-handle switch unit, for receiving handle of fork truck switch control signal；
Standing switch unit, for receiving fork truck standing switch control signal；
It is automatically switched unit, for opening and closing the automatic control signal of fork truck；
Output unit is turned to, for exporting fork truck steering controling signal；
Output unit is retreated, retreats control signal for exporting fork truck；
Speed output unit, for exporting fork truck movement velocity control signal；
Analog output unit is turned to, for exporting the analog quantity of fork-truck steering；
Forward-reverse analog output unit, the analog quantity moved forward or back for output fork vehicle.
4. a kind of mobile fork truck intelligence control system based on TCP/IP according to claim 1, which is characterized in that fork
Vehicle controller includes:
Steering motor controller, the steering letter for the turn signal and receiving angle sensor by receiving TCP/IP module
Number, corresponding control steering motor movement；
Advance electric machine controller for the fork truck progress signal by receiving TCP/IP module and receives fork truck direction of advance letter
Number, corresponding control advance motor advances；
Electric machine controller is retreated, for the fork truck backing signal by receiving TCP/IP module and receives fork truck direction of retreat letter
Number, corresponding control retreats motor and retreats.
5. a kind of mobile fork truck intelligence control system based on TCP/IP according to claim 4, which is characterized in that after
Electric appliance group includes:
First relay, the second relay, third relay, the 4th relay, the 5th relay and the 6th relay；
14 terminals of first relay are connected with the steering output unit of TCP/IP module, 5 terminals of the first relay and
The steering analog output unit of TCP/IP module connects, and refers to for receiving the steering of steering output interface of TCP/IP module
It enables, and corresponding steering analog quantity, 1 terminal of the first relay is exported by the steering analog output interface circuit of TCP/IP module
Fork-truck steering electric machine controller is connect, 9 terminals of the first relay connect the turn signal of angular transducer；
1 terminal and 13 terminals of the second relay of second relay, 13 terminals of the first relay, third relay
1 terminal, 13 terminals of the 4th relay, 13 terminals of the 5th relay and 13 terminal connect and grounds of the 6th relay；The
5 terminals of two relays connect 5 terminals of third relay and the automatic switch interface of TCP/IP, 9 terminals of the second relay
It is connected with 5 terminals of the 5th relay,
The 5 terminals connection of 14 terminals and the 4th relay of second relay；
The 8 terminals connection of 9 terminals and the 5th relay of the third relay, 14 terminals and the 4th relay of third relay
9 terminals of device connect；
14 terminals of the 4th relay and the retrogressing output unit of TCP/IP module；
9 terminals of the 5th relay connect fork truck direction advance input signal, and 12 terminals of the 5th relay connect fork truck
Direction retreats input signal, and the 4 of the 5th relay export fork truck direction advance amounts, and 1 terminal of the 5th relay is defeated
Fork truck direction back amount out；
14 terminals of the 6th relay connect the speed output unit of TCP/IP module, and 12 terminals of the 6th relay connect
4 terminals of fork truck controller acceleration simulation amount input terminal, the 6th relay export fork truck controller acceleration simulation amount.
6. a kind of mobile fork truck intelligence control system based on TCP/IP according to claim 1, which is characterized in that
TCP/IP module includes one or more sub- TCP/IP modules, and every sub- TCP/IP module contains corresponding IP address.
7. a kind of mobile fork truck intelligence control system based on TCP/IP according to claim 1, which is characterized in that packet
It includes:
Router, for TCP/IP module to be accessed network；
The industrial personal computer is sent to TCP/IP by wired connection or wireless connection couple in router, by default fork truck control signal
Module.
8. a kind of mobile fork truck intelligent control method based on TCP/IP, which is characterized in that comprising steps of
S1: judge whether current fork truck control model is manual mode；
S2: if so, switching to default fork truck manually controls the operation of Row control fork truck；
S3: if it is not, switching to default fork truck automatic control flow chart control fork truck operation.
9. a kind of mobile fork truck intelligent control method based on TCP/IP according to claim 8, which is characterized in that step
Suddenly S2 includes:
S21: bat-handle switch unit, standing switch unit, the automatic switch unit of control TCP/IP module do not export；
S22: the first default delay time is waited；
S23: steering output unit, retrogressing output unit, the speed output unit of control TCP/IP module do not export；
S24: reception manually controls the fork truck direction advance input signal of fork truck, fork truck direction is retreated into input signal and fork truck
The turn signal of angular transducer.
10. a kind of mobile fork truck intelligent control method based on TCP/IP according to claim 8, which is characterized in that
Step S3 includes:
Judge whether fork truck driving mode is steering；If so, the steering output unit output of control TCP/IP module turns to letter
Number, and corresponding analog quantity is exported by the steering analog output unit of TCP/IP module；
Judge whether fork truck driving mode is advance；If so, the speed output unit output speed letter of control TCP/IP module
Number, the retrogressing output unit of control TCP/IP module does not export, and and passes through the forward-reverse analog output of TCP/IP module
Unit exports the advance analog quantity of corresponding fork truck；
Judge whether fork truck driving mode is retrogressing；If so, the speed output unit output speed letter of control TCP/IP module
Number, the retrogressing output unit of control TCP/IP module exports backing signal, and and is simulated by the forward-reverse of TCP/IP module
Amount output unit exports the retrogressing analog quantity of corresponding fork truck.
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Application publication date: 20190524 |