CN110282580B - Fork inclination angle control system - Google Patents
Fork inclination angle control system Download PDFInfo
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- CN110282580B CN110282580B CN201910576790.0A CN201910576790A CN110282580B CN 110282580 B CN110282580 B CN 110282580B CN 201910576790 A CN201910576790 A CN 201910576790A CN 110282580 B CN110282580 B CN 110282580B
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07509—Braking
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the invention provides a fork inclination angle control system, which is applied to a forklift and comprises: the device comprises a processor, an operation screen, an acquisition module and a driving module, wherein the processor is respectively connected with the operation screen, the acquisition module and the driving module; the operation screen is used for receiving the inclination angle input by the user; the acquisition module is used for acquiring a fork inclination angle and a truck body inclination angle of the forklift; the processor is used for determining a target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, and sending a control signal to the driving module according to the target angle; the driving module is used for adjusting the angle of the pallet fork to be a target angle according to the control signal. The accuracy of the adjustment of the angle of the fork is improved.
Description
Technical Field
The embodiment of the invention relates to the field of forklifts, in particular to a fork inclination angle control system.
Background
Fork truck is industrial handling vehicle, can handle such as loading and unloading, stack to the piece goods, and wherein, fork truck includes fork and handle.
In practical applications, a driver usually operates the handle according to work experience, so as to control the inclination angle (upward inclination angle or downward inclination angle) of the fork, and thus, cargo can be loaded and unloaded, stacked and the like. At above-mentioned in-process, if navigating mate's work experience is not enough, at operating handle's in-process, lead to the inclination of the control fork of unable accuracy, and then lead to the upwards inclination of fork too big, the broken goods thing of fork, perhaps lead to the downward sloping angle of fork too big, the carriage or the tray that the broken goods thing of fork was located.
Disclosure of Invention
The embodiment of the invention provides a fork inclination angle control system, which is used for improving the accuracy of adjusting the angle of a fork.
In a first aspect, an embodiment of the present invention provides a fork tilt angle control system, including: applied to a forklift, the system comprising: a processor, an operation screen, an acquisition module and a driving module, wherein,
the processor is respectively connected with the operation screen, the acquisition module and the driving module;
the operation screen is used for receiving the inclination angle input by the user;
the acquisition module is used for acquiring a fork inclination angle and a truck body inclination angle of the forklift;
the processor is used for determining a target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, and sending the control signal to the driving module according to the target angle;
the driving module is used for adjusting the angle of the pallet fork to be the target angle according to the control signal.
In one possible embodiment, the drive module comprises: a first motor controller, a first motor, a handle, and a fork, wherein,
the first motor controller is respectively connected with the processor and the first motor, the first motor is further connected with the handle, and the handle is further connected with the fork;
the first motor controller is used for generating a driving pulse according to the received control signal and sending the driving pulse to the first motor;
the first motor is used for driving the handle to move according to the received driving pulse, so that the angle of the pallet fork is the target angle.
In another possible embodiment, the acquisition module comprises: a first sensor and a second sensor, wherein,
the first sensor and the second sensor are respectively connected with the processor;
the first sensor is used for collecting the angle of the fork to obtain the inclination angle of the fork;
the second sensor is used for collecting the inclination angle of the forklift body to obtain the inclination angle of the forklift body.
In another possible embodiment, the acquisition module further includes: a third sensor disposed at a fork end of the fork, the third sensor coupled to the processor;
the third sensor is used for measuring a first distance between the fork end and an obstacle;
the processor is further used for acquiring the first distance and sending the first distance to the operation screen;
the operation screen is further used for displaying the first distance.
In another possible implementation, the processor is further configured to:
if the first distance is larger than the second distance and smaller than the third distance, sending first prompt information to the operation screen, wherein the first prompt information is used for prompting that an obstacle exists in front of the forklift;
and if the first distance is smaller than or equal to the second distance, sending second prompt information to the operation screen, wherein the second prompt information is used for prompting braking processing of the forklift.
In another possible embodiment, the system further comprises: a braking module connected with the processor;
the processor is further configured to send a braking signal to the braking module after determining that the first distance is less than or equal to the second distance;
and the braking module is used for stopping the operation of the forklift according to the received braking signal.
In another possible embodiment, the brake module includes: a second motor controller, a second motor, and a brake, wherein,
the second motor controller is respectively connected with the processor and the second motor, the second motor is also connected with the brake,
the second motor controller is used for generating a brake pulse according to the received brake signal and sending the brake pulse to the second motor,
and the second motor is used for driving the brake according to the received brake pulse so as to stop the forklift.
In another possible embodiment, the system further comprises: the alarm module is connected with the processor;
the processor is used for sending an alarm signal to the alarm module after determining that the first distance is greater than the second distance and less than or equal to the third distance;
the alarm module is used for early warning the first distance according to the received alarm signal.
In another possible embodiment, the alarm module includes: a buzzer and a light-emitting device, wherein,
the buzzer and the light-emitting device are respectively connected with the processor;
the buzzer is used for sounding according to the received alarm signal;
the light-emitting device is used for emitting light according to the received alarm signal.
In another possible implementation manner, the operation screen is further configured to display a working mode list of the handle, receive a selection operation triggered by the working mode list, and generate a selection instruction according to the selection operation, where the selection instruction carries an identifier of an automatic working mode;
and the processor is further used for sending the control signal to the driving module after determining that the working mode of the handle is the automatic working mode according to the identification of the automatic working mode in the selection instruction.
The fork inclination angle control system provided by the embodiment of the invention comprises: the device comprises a processor, an operation screen, an acquisition module and a driving module, wherein the processor is respectively connected with the operation screen, the acquisition module and the driving module. The operation screen is used for receiving the inclination angle input by the user. The acquisition module is used for acquiring the inclination angle of the fork and the inclination angle of the truck body of the forklift. The processor is used for determining a target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, and sending a control signal to the driving module according to the target angle. The driving module is used for adjusting the angle of the pallet fork to be a target angle according to the control signal. In the system, the processor inclination angle, the fork inclination angle and the vehicle body inclination angle determine the target angle, and the control signal is sent to the driving module according to the target angle, so that the driving module adjusts the angle of the fork into the target angle according to the control signal, the accuracy of adjustment of the angle of the fork is improved, and the problem that the fork breaks goods, a carriage or a tray and the like due to the fact that the angle of the fork cannot be accurately adjusted according to the working experience of an operator is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a fork tilt angle control system according to an embodiment of the present invention;
FIG. 2 is a first schematic structural diagram of a fork tilt angle control system according to an embodiment of the present invention;
FIG. 3 is a second schematic structural view of a fork tilt angle control system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third fork tilt angle control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic view of an application scenario of a fork tilt angle control system according to an embodiment of the present invention. As shown in fig. 1, includes: a forklift 10, a fork 101 provided on the forklift 1, and a load 11. Wherein, the goods 11 and the horizontal direction form an included angle a,
in practical application, be provided with fork inclination control system in fork truck 10, fork inclination control system includes the operation screen, after operating personnel acquires goods 11 and the ascending contained angle a of horizontal direction, can input contained angle a in the operation screen, thereby can increase the angle modulation of fork 101 to a, even make fork 101 and goods 11 on same direction, then operating personnel controls the process that fork truck 10 went forward, thereby make fork 101 can accurately insert goods 11, the upward inclination of having avoided the fork is too big, the fork breaks the goods, or the downward inclination of fork is too big, the fork breaks carriage or the tray that the goods was located.
The fork tilt angle control system shown in the present application will be described in detail below with reference to specific embodiments. It should be noted that the following embodiments may be combined with each other, and the description of the same or similar contents in different embodiments is not repeated.
Fig. 2 is a first schematic structural diagram of a fork tilt angle control system according to an embodiment of the present invention. As shown in fig. 2, the fork tilt control system includes: a processor 10, an operation screen 11, an acquisition module 12 and a driving module 13, wherein,
the processor 10 is respectively connected with the operation screen 11, the acquisition module 12 and the driving module 13;
the operation screen 11 is used for receiving an inclination angle input by a user;
the acquisition module 12 is used for acquiring a fork inclination angle and a truck body inclination angle of the forklift;
the processor 10 is configured to determine a target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, and send a control signal to the driving module 13 according to the target angle;
the driving module 13 is configured to adjust the angle of the fork to a target angle according to the control signal.
Optionally, the processor may be a single chip microcomputer or a central processing unit CPU.
Optionally, the operation panel 11 may be a touch-type liquid crystal display panel, and may also be a non-touch-type liquid crystal display panel.
For example, when the operation panel 11 is a touch-sensitive liquid crystal display, the user can input the tilt angle directly on the touch-sensitive liquid crystal display with a finger.
For example, when the operation panel 11 is a non-touch type liquid crystal display panel, the user may input the tilt angle on the non-touch type liquid crystal display panel through an auxiliary device (e.g., a wired mouse or a wireless mouse).
In particular, the acquisition module 12 may include a first sensor and a second sensor. Wherein, the fork inclination of fork truck can be gathered to first sensor, and fork truck's automobile body inclination can be gathered to the second sensor.
It should be noted that, after determining the target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, the processor 10 may generate a control signal according to the target angle and send the control signal to the driving module 13.
Specifically, the driving module 13 includes a fork, and after the driving module 13 receives the control signal, a driving pulse is generated according to the control signal, and the driving pulse controls to make the angle of the fork be a target angle.
The fork inclination angle control system provided by the embodiment of the invention comprises: the device comprises a processor, an operation screen, an acquisition module and a driving module, wherein the processor is respectively connected with the operation screen, the acquisition module and the driving module. The operation screen is used for receiving the inclination angle input by the user. The acquisition module is used for acquiring the inclination angle of the fork and the inclination angle of the truck body of the forklift. The processor is used for determining a target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, and sending a control signal to the driving module according to the target angle. The driving module is used for adjusting the angle of the pallet fork to be a target angle according to the control signal. In the system, the processor inclination angle, the fork inclination angle and the vehicle body inclination angle determine the target angle, and the control signal is sent to the driving module according to the target angle, so that the driving module adjusts the angle of the fork into the target angle according to the control signal, the accuracy of adjustment of the angle of the fork is improved, and the problem that the fork breaks goods, a carriage or a tray and the like due to the fact that the angle of the fork cannot be accurately adjusted according to the working experience of an operator is avoided.
On the basis of the above embodiment, the following will further describe the fork tilt angle control system provided by the embodiment of the present invention with reference to the embodiment of fig. 3. Specifically, please refer to fig. 3.
Fig. 3 is a schematic structural diagram of a second fork tilt angle control system according to an embodiment of the present invention. On the basis of fig. 2, as shown in fig. 3, the driving module 13 in the fork tilt angle control system includes: a first motor controller 131, a first motor 132, a handle 133, and a fork 134, wherein,
the first motor controller 131 is respectively connected with the processor 10 and the first motor 132, the first motor 132 is further connected with a handle 133, and the handle 133 is further connected with the fork 134;
the first motor controller 131 is configured to generate a driving pulse according to the received control signal and send the driving pulse to the first motor 132;
the first motor 132 is configured to move the handle 133 according to the received driving pulse, so that the angle of the fork 134 is a target angle.
It should be noted that the handle 133 is a fork tilt handle, and the handle 133 is used to adjust the tilt angle of the fork 134. The first motor controller 131 is a stepper motor controller. The first motor 132 is a stepper motor.
In one possible embodiment, the acquisition module comprises: a first sensor 121 and a second sensor 122, wherein,
the first sensor 121 and the second sensor 122 are respectively connected with the processor;
the first sensor 121 is used for collecting the angle of the fork 134 to obtain the inclination angle of the fork;
the second sensor 122 is used for acquiring the inclination angle of the forklift body to obtain the inclination angle of the forklift body.
Specifically, the first sensor 121 is a fork tilt sensor, and the second sensor 122 is a body tilt sensor.
In practical applications, the first sensor 121 may be mounted on a mast fixedly connected to the forks, i.e., may acquire the fork angle. The second sensor 122 may be mounted on the frame of a forklift (e.g., the tow bar of a forklift).
In a possible implementation manner, the operation screen is further configured to display a working mode list of the handle 134, receive a selection operation triggered by the working mode list, and generate a selection instruction according to the selection operation, where the selection instruction carries an identifier of an automatic working mode;
and the processor is also used for sending the control signal to the driving module after determining that the working mode of the handle is the automatic working mode according to the identification of the automatic working mode in the selection instruction.
Optionally, the working mode list includes a manual working mode and an automatic working mode.
In practical applications, the operator may select any one of the operation modes in the operation mode list.
Specifically, when the operation panel is a touch liquid crystal display, the operation panel is configured to click a working mode in the working mode list to implement an input selection operation into the operation panel.
Specifically, when the operation panel is a non-touch type liquid crystal display, a user may click a working mode in the working mode list on the non-touch type liquid crystal display through an auxiliary device (e.g., a wired mouse or a wireless mouse) to implement an input selection operation into the operation panel.
It should be noted that, after selecting the manual mode of operation, the operator can control the handle 133 to move, thereby adjusting the tilt angle of the fork 134.
It should be noted that upon selection of the automatic operating mode, the processor may send a control signal to the drive module to adjust the tilt angle of the forks 134.
In practical application, in the process of adjusting the inclination angle of the fork 134, the processor can acquire the inclination angle of the fork acquired by the first sensor in real time and send the acquired inclination angle of the fork to the operation screen, so that the operation screen can display the inclination angle of the fork in real time.
In one possible embodiment, the fork tilt control system further comprises: a third sensor 123, wherein,
the third sensor 123 is arranged at the fork end of the fork 134, and the third sensor 123 is connected with the processor 10;
the third sensor 123 is used for measuring a first distance between the fork end and an obstacle;
the processor 10 is further configured to obtain a first distance, and send the first distance to the operation screen 11;
the operation panel 11 is also used to display the first distance.
Alternatively, a laser ranging sensor, an ultrasonic ranging sensor, a third sensor 123, an infrared ranging sensor, and the like.
In the present application, the third sensor 123 may be disposed at the fork end of the fork by a punch-through installation.
In one possible implementation, the processor 10 is further configured to:
if the first distance is greater than the second distance and less than the third distance, sending first prompt information to the operation screen 11, wherein the first prompt information is used for prompting that an obstacle exists in front of the operation screen;
and if the first distance is smaller than or equal to the second distance, sending second prompt information to the operation screen, wherein the second prompt information is used for prompting to brake the forklift.
Wherein the second distance and the third distance are pre-stored in the processor 10.
Alternatively, the second distance and the third distance may take values of 10 meters, 20 meters, and the like. Specifically, in the present application, specific values of the second distance and the third distance are not limited.
Specifically, the first prompt information is used for the obstacle in front, so that the operator can be cautiously driven, and the pedestrian avoidance measures are taken to avoid accidents.
Specifically, second prompt information is used for the suggestion and brakes fork truck and handle, avoids operating personnel can't observe the position of fork goods end, and leads to the fork to go into apart from too big, damages goods behind, or wall scheduling problem.
It should be noted that the operation screen may display the first prompt message or the second prompt message.
The working process of the fork inclination angle control system provided by the embodiment of the invention comprises the following steps: the processor acquires a first distance acquired by the third sensor in real time, and sends first prompt information to the operation screen when the first distance is greater than a second distance and smaller than a third distance, and sends second prompt information to the operation screen when the first distance is smaller than or equal to the second distance, wherein the second prompt information is used for prompting to brake the forklift. After the forklift is braked, the processor determines a target angle according to a fork inclination angle acquired by the first sensor, a vehicle body inclination angle acquired by the second sensor and an inclination angle received by the operation screen, generates a control signal according to the target angle, sends the control signal to the first motor controller, generates a driving pulse according to the control signal, sends the driving pulse to the first motor, and drives the handle to move according to the driving pulse to adjust the angle of the fork to the target angle. In the process, be greater than the second distance and be less than the third distance at first distance, then send first tip information to the operation screen, make operating personnel can be cautiously driven, and take pedestrian's dodge the measure, avoid the occurence of failure, be less than or equal to the second distance at first distance, then send second tip information to the operation screen, avoid operating personnel can't observe the position of fork goods end, and lead to the fork to go into apart from too big, damage goods behind goods or wall scheduling problem, the improvement carries out the accuracy adjusted to the angle of fork.
On the basis of any of the above embodiments, the fork tilt control system shown in the present application will be described in further detail with reference to fig. 4. Please refer to fig. 4.
Fig. 4 is a schematic structural diagram of a third fork tilt angle control system according to an embodiment of the present invention. On the basis of fig. 3, as shown in fig. 4, the fork tilt angle control system further includes: the brake module 14 is, among other things,
the brake module 14 is connected with the processor 10;
the processor 10 is further configured to send a braking signal to the braking module 14 after determining that the first distance is less than or equal to the second distance;
the brake module 14 is used for stopping the operation of the forklift according to the received brake signal.
In one possible embodiment, the braking module 14 comprises: a second motor controller 141, a second motor 142, and a brake 143, wherein,
the second motor controller 141 is connected to the processor and the second motor 142, respectively, the second motor 142 is further connected to the brake 143,
the second motor controller 141 is configured to generate a brake pulse according to the received brake signal, transmit the brake pulse to the second motor 142,
the second motor 142 is used for driving the brake 143 according to the received brake pulse, so as to stop the operation of the forklift.
In one possible embodiment, the fork tilt control system further comprises: the alarm module 15, the alarm module 15 is connected with the processor 10;
the processor 10 is configured to send an alarm signal to the alarm module 15 after determining that the first distance is greater than the second distance and less than the third distance;
and the alarm module 15 is used for early warning that an obstacle exists in front of the forklift according to the received alarm signal.
In a possible embodiment, the alarm module 15 comprises: a buzzer 151 and a light emitting device 152, wherein,
the buzzer 151 and the light-emitting device 152 are respectively connected with the processor 10;
the buzzer 151 is used for sounding according to the received alarm signal;
the light emitting device 152 is used for emitting light according to the received alarm signal.
Specifically, the light emitting device 152 may be a light emitting diode. Alternatively, the light emitting device 152 may include N light emitting diodes, where N is greater than or equal to 1. It should be noted that N leds can be respectively connected to the processor 10.
Alternatively, the buzzer 151 may also be connected in parallel with the light emitting device 152, wherein the N light emitting diodes are connected in parallel.
The working process of the fork inclination angle control system provided by the embodiment of the invention comprises the following steps: the processor acquires the first distance acquired by the third sensor in real time, the first distance is greater than the second distance and smaller than the third distance, first prompt information is sent to the operation screen, and meanwhile, an alarm signal is sent to the buzzer and the light-emitting device in the alarm module, so that the buzzer makes a sound, the light-emitting device emits light to remind pedestrians in the front of avoiding, and the running safety of the forklift is improved. When the first distance is smaller than or equal to the second distance, second prompt information is sent to the operation screen, meanwhile, a braking signal is sent to the second motor controller, the second motor controller generates a braking pulse according to the braking signal, the braking pulse is sent to the second motor, and the second motor drives the brake according to the braking pulse so that the forklift stops running. After the forklift stops running, the processor determines a target angle according to a fork inclination angle acquired by the first sensor, a vehicle body inclination angle acquired by the second sensor and an inclination angle received by the operation screen, generates a control signal according to the target angle, sends the control signal to the first motor controller, generates a driving pulse according to the control signal by the first motor controller, sends the driving pulse to the first motor, and drives the handle to move according to the driving pulse by the first motor so as to adjust the angle of the fork to the target angle. In the process, when the first distance is greater than the second distance and less than the third distance, the buzzer makes a sound, the light-emitting device emits light, the front pedestrian is reminded of avoiding, and the running safety of the forklift is improved. When first distance is less than or equal to the second distance, send second prompt message to the operation screen, avoid operating personnel can't observe the position of fork goods end, and lead to the fork to go into apart from too big, damage goods behind or wall scheduling problem, improve the accuracy of adjusting the angle of fork.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A fork tilt control system for a forklift, the system comprising: a processor, an operation screen, an acquisition module and a driving module, wherein,
the processor is respectively connected with the operation screen, the acquisition module and the driving module;
the operation screen is used for receiving the inclination angle input by the user;
the acquisition module is used for acquiring a fork inclination angle and a truck body inclination angle of the forklift;
the processor is used for determining a target angle according to the inclination angle, the fork inclination angle and the vehicle body inclination angle, and sending the control signal to the driving module according to the target angle;
the driving module is used for adjusting the angle of the pallet fork to be the target angle according to the control signal.
2. The system of claim 1, wherein the drive module comprises: a first motor controller, a first motor, a handle, and a fork, wherein,
the first motor controller is respectively connected with the processor and the first motor, the first motor is further connected with the handle, and the handle is further connected with the fork;
the first motor controller is used for generating a driving pulse according to the received control signal and sending the driving pulse to the first motor;
the first motor is used for driving the handle to move according to the received driving pulse, and the angle of the pallet fork is adjusted to be the target angle.
3. The system of claim 2, wherein the acquisition module comprises: a first sensor and a second sensor, wherein,
the first sensor and the second sensor are respectively connected with the processor;
the first sensor is used for collecting the angle of the fork to obtain the inclination angle of the fork;
the second sensor is used for collecting the inclination angle of the forklift body to obtain the inclination angle of the forklift body.
4. The system of claim 3, wherein the acquisition module further comprises: a third sensor disposed at a fork end of the fork, the third sensor coupled to the processor;
the third sensor is used for measuring a first distance between the fork end and an obstacle;
the processor is further used for acquiring the first distance and sending the first distance to the operation screen;
the operation screen is further used for displaying the first distance.
5. The system of claim 4, wherein the processor is further configured to:
if the first distance is larger than the second distance and smaller than the third distance, sending first prompt information to the operation screen, wherein the first prompt information is used for prompting that an obstacle exists in front of the forklift;
and if the first distance is smaller than or equal to the second distance, sending second prompt information to the operation screen, wherein the second prompt information is used for prompting braking processing of the forklift.
6. The system of claim 5, further comprising: a braking module connected with the processor;
the processor is further configured to send a braking signal to the braking module after determining that the first distance is less than or equal to the second distance;
and the braking module is used for stopping the operation of the forklift according to the received braking signal.
7. The system of claim 6, wherein the braking module comprises: a second motor controller, a second motor, and a brake, wherein,
the second motor controller is respectively connected with the processor and the second motor, the second motor is also connected with the brake,
the second motor controller is used for generating a brake pulse according to the received brake signal and sending the brake pulse to the second motor,
and the second motor is used for driving the brake according to the received brake pulse so as to stop the forklift.
8. The system of claim 5, further comprising: the alarm module is connected with the processor;
the processor is used for sending an alarm signal to the alarm module after determining that the first distance is greater than the second distance and less than or equal to the third distance;
the alarm module is used for early warning the first distance according to the received alarm signal.
9. The system of claim 8, wherein the alarm module comprises: a buzzer and a light-emitting device, wherein,
the buzzer and the light-emitting device are respectively connected with the processor;
the buzzer is used for sounding according to the received alarm signal;
the light-emitting device is used for emitting light according to the received alarm signal.
10. The system according to any one of claims 2 to 9, wherein the operation screen is further configured to display a working mode list of the handle, receive a selection operation triggered by the working mode list, and generate a selection instruction according to the selection operation, where the selection instruction carries an identifier of an automatic working mode;
and the processor is further used for sending the control signal to the driving module after determining that the working mode of the handle is the automatic working mode according to the identification of the automatic working mode in the selection instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN113003490A (en) * | 2019-11-06 | 2021-06-22 | 苏州力佳达电子科技有限公司 | Pallet forklift with adjustable handle |
| CN111847320B (en) * | 2020-08-26 | 2022-01-28 | 合肥工业大学 | Self-calibration system and method for material handling tool |
| CN113173525A (en) * | 2021-06-02 | 2021-07-27 | 合肥哈工库讯智能科技有限公司 | Outdoor unmanned laser fork truck |
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