CN110963442A - Control method for safe lifting operation of industrial vehicle - Google Patents
Control method for safe lifting operation of industrial vehicle Download PDFInfo
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- CN110963442A CN110963442A CN201910911091.7A CN201910911091A CN110963442A CN 110963442 A CN110963442 A CN 110963442A CN 201910911091 A CN201910911091 A CN 201910911091A CN 110963442 A CN110963442 A CN 110963442A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000005484 gravity Effects 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Classifications
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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
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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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- 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
-
- 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
- B66F9/0755—Position control; Position detectors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a control method for safe lifting operation of an industrial vehicle, which reliably acquires lifting current of the industrial vehicle during lifting operation in real time through an intelligent data acquisition terminal, transmits weight to a pump controller through a CAN (controller area network) communication network, and calculates the maximum lifting height of goods according to the relationship among load weight, lifting height and the gravity center position of the vehicle by the pump controller. By adopting the method, the lifting height of the pallet fork is limited according to the load weight of the goods, the gravity center position of the vehicle is ensured to be always in a stable area, the vehicle is prevented from overturning, and the personal safety and the property safety are guaranteed.
Description
Technical Field
The invention relates to a control method for safe lifting operation of an industrial vehicle.
Background
With the continuous expansion of the application field of industrial vehicles, the accident rate of industrial vehicles is also increasing year by year. Especially, the safety accidents caused by the falling of the goods due to the overturn of the vehicle are frequent. How to ensure the safe lifting operation of the industrial vehicle becomes a key problem in the practical application of the industrial vehicle. In the prior art, the industrial vehicle usually marks the maximum load weight of the vehicle on the vehicle nameplate for informing the operator of the maximum lifting weight of the vehicle. However, in actual operation, since an operator cannot accurately judge the weight of the cargo, the vehicle is often used to lift the cargo exceeding the rated load tonnage. As shown in fig. 1, when the vehicle lifts a load exceeding a rated load, the center of gravity of the vehicle is shifted as the height of the forks is raised. When the stability condition exceeds the limit, the vehicle can overturn, the goods can fall from the high altitude, meanwhile, the operator can be thrown out from the operation position, and the accident that the goods falling from the high altitude are easily damaged by industrial vehicles or the like can be easily caused.
The accident is not avoided, and the existing industrial vehicle is generally required to be provided with a top protection frame when leaving a factory so as to prevent goods from falling from a high place and injuring operators and ensure the personal safety of the operators. The method for installing the overhead guard can protect the safe operation of an operator to a certain extent, but the problem of overturning of the vehicle is still not solved fundamentally, and particularly when the vehicle overturns and the operator is thrown away, the overhead guard cannot play any role in protection, and the safety of the operator cannot be fully guaranteed. In addition, weighing sensors can be installed on part of vehicles along with the vehicles, the weight of cargos can be known, but the working environment of industrial vehicles is special, and the bumping and shaking in the working process can influence the accurate judgment of the sensors, so that the misjudgment of operators is caused. As such, load cells continue to be unable to prevent the vehicle from tipping over, and the safe operation of the operator continues to be greatly challenged.
Disclosure of Invention
The invention provides a safe and reliable operation lifting method to ensure the safety of industrial vehicles during lifting goods.
In order to solve the above problems, the present invention provides a method for controlling the safe lifting operation of an industrial vehicle, which reliably obtains the lifting current of the industrial vehicle during the lifting operation in real time through an intelligent data acquisition terminal, and transmits the weight to a pump controller through a CAN communication network, wherein the pump controller specifically comprises the following steps according to the relationship among the load weight, the lifting height and the gravity center position of the vehicle:
step A: after the vehicle is powered on, the pump motor controller continuously transmits the lifting current to the intelligent data acquisition terminal through the CAN communication network;
and B: after the intelligent data acquisition terminal is electrified and works, data interaction is carried out between the intelligent data acquisition terminal and a pump motor controller through a CAN communication network, a lifting current transmitted by the pump motor controller is obtained in real time, and the current value is transmitted to a controller in the intelligent data acquisition terminal;
and C: after receiving a lifting current transmitted by a CAN module, a controller in the intelligent data acquisition terminal extracts an effective value after the lifting current is stabilized, decomposes the stable lifting current value into n sections by using the extracted effective value at a minimum time interval, respectively calculates the lifting weight corresponding to each section, and finally calculates the actual lifting weight by an average algorithm;
step D: after the controller in the intelligent data acquisition terminal calculates the lifting weight, the weight value is transmitted to the pump motor controller through the CAN communication module;
step E: after the weight of the goods is obtained, the pump motor controller limits the maximum lifting height of the fork according to a load height curve calibrated by the vehicle and through the relationship among the load weight, the lifting height and the gravity center stable region.
The invention also provides a control method for the safe lifting operation of the industrial vehicle, wherein the calculation formula of the lifting current and the weight of the goods in the step C is as follows: and m is A × lnI-Error, wherein m is the lifting weight, A is the amplitude, I is the lifting current, and Error is the deviation value.
The invention further provides a control method for the safe lifting operation of the industrial vehicle, and in the step C, the stable effective current value is obtained according to the following method: after the intelligent data acquisition terminal obtains the current, the current obtained at the next time is compared with the current obtained at the previous time, after the obtained comparison value is stabilized to be 0 for y times continuously, the current value at the current moment is used as a lifting reference value, the subsequent current values are compared with the reference value, abnormal values are filtered out, normal values are reserved, and preparation is made for subsequent calculation.
The invention further provides a control method for the safe lifting operation of the industrial vehicle, wherein the abnormal value is filtered in the step C, and the value with the deviation larger than 10 is filtered.
By adopting the method, the lifting height of the pallet fork is limited according to the load weight of the goods, the gravity center position of the vehicle is ensured to be always in a stable area, the vehicle is prevented from overturning, and the personal safety and the property safety are guaranteed.
Drawings
FIG. 1 is a schematic illustration of a prior art industrial vehicle experiencing a safety hazard.
FIG. 2 is a control system for implementing the control method for the safe lifting operation of the industrial vehicle.
Fig. 3 is a corresponding relationship between the weight of the cargo and the lifting height calculated by the method for controlling the safe lifting operation of the industrial vehicle according to the invention.
Detailed Description
The intelligent data acquisition terminal is directly used as a sub-component of the vehicle when leaving a factory to be installed in the industrial vehicle, so that the whole structure of the industrial vehicle is not required to be modified in the using process. The intelligent data acquisition terminal on the industrial vehicle CAN carry out data interaction with a motor controller of the industrial vehicle through a CAN communication network, is not influenced by a working environment, CAN reliably acquire the lifting current of the industrial vehicle during lifting operation in real time, calculates the weight of goods through the acquired lifting current, and transmits the weight to a pump controller through the CAN communication network, and the pump controller calculates the maximum lifting height of the goods according to the relation among load weight, lifting height and the gravity center position of the vehicle. The method comprises the following specific steps:
step one, a key switch on the vehicle is closed, power is respectively supplied to an intelligent data acquisition terminal and a pump motor controller through a battery of the vehicle body, after the key switch is closed, the whole vehicle is electrified, and the pump motor controller and the intelligent data acquisition terminal start to work;
and step two, after the vehicle is powered on, starting to lift the goods. When the vehicle lifts goods, the lifting current in the pump motor controller has a section of obvious lifting process, and after a period of time, the lifting current approaches to a stable value. The pump motor controller continuously transmits the lifting current to the intelligent data acquisition terminal through the high-efficiency and stable CAN communication network.
And step three, after the intelligent data acquisition terminal is electrified and works, performing data interaction with the pump motor controller through the CAN communication network, acquiring the lifting current transmitted by the pump motor controller in real time, and transmitting the current value to the controller in the intelligent data acquisition terminal.
Step four: after receiving a lifting current transmitted by a CAN module, a controller in the intelligent data acquisition terminal starts to filter and clean the lifting current, wherein the cleaning refers to repairing invalid values and missing values in data; and extracting an effective value after the lifting current is stable. The stable effective current value is obtained as follows: after the intelligent data acquisition terminal obtains the current, the current obtained at the next time is compared with the current obtained at the previous time, and after the obtained comparison value is stabilized to be 0 for y times continuously, the current value at the current time is used as a lifting reference value. Subsequent current values are compared to the reference value, abnormal values are filtered out, for example, the deviation is larger than 10, and normal values are reserved for subsequent calculation.
Then, the extracted effective value is divided into n sections at a very small time interval, for example, at a time interval of every 1ms, the lifting weight is calculated by the lifting current until the lifting current of the section is completely converted, and then the lifting weights obtained from the sections are accumulated to calculate an average value as the actual lifting weight.
Because the corresponding stable lifting currents are different when the pump motor controller lifts cargoes of different weights, generally speaking, the lifting current and the cargo weight are in a linear relationship, and the calculation formula is as follows:
m＝A*lnI-Error，
wherein m is the lifting weight in kilograms; a is an amplitude value in the range of 2700 to 2800 (inclusive); error is weight Error, Error range is 13000-13500 (including boundary value), unit is kilogram.
Step five: after the controller in the intelligent data acquisition terminal calculates the lifting weight, the weight value is transmitted to the pump motor controller through the CAN communication module.
Step six: after the pump motor controller obtains the weight of the goods, according to the load height curve calibrated by forklift vehicles of different models, the lifting height of the pallet fork is limited through the relation among the load weight, the lifting height and the gravity center stable region, the maximum lifting height of the pallet fork is regulated, and the overturning of the vehicles is prevented. Here, the "maximum lifting height" is calculated from a "load curve formula experimentally calibrated by a manufacturer".
Referring to fig. 3, a counter-balanced forklift with a maximum lift height of 4000mm of the mast is used as an example: when the calculated load weight is 1500kg, the allowed maximum lifting height is 500 mm; when the calculated load weight is 1450kg, the allowed maximum lifting height is 550 mm; when the calculated load weight is 1400kg, the allowed maximum lifting height is 600 mm; according to a load curve formula calibrated by a manufacturer through experiments, the maximum lifting height is limited according to the actual load weight, and the vehicle is prevented from overturning.
Step seven: and returning to the normal state after the unloading of the vehicle is finished.
The method limits the lifting height of the pallet fork according to the load weight of the goods, ensures that the gravity center position of the vehicle is always in a stable area, avoids the vehicle from overturning, and ensures personal safety and property safety.
Other embodiments
In addition, install gravity sensor additional at present fork truck and can reform transform the structure of whole car, also be an implementation mode. However, such a solution not only increases the cost of the vehicle, but also brings new points of failure due to the introduction of new equipment. Meanwhile, due to the complex working environment of the industrial vehicle, the application of the sensor is easily interfered, so that misjudgment is caused, and the operation is influenced. In the application occasions with low precision requirements, the method can be used as an alternative scheme.
Claims (6)
1. A control method for the safe lifting operation of an industrial vehicle comprises the following steps:
step A: after the vehicle is powered on, the pump motor controller continuously transmits the lifting current to the intelligent data acquisition terminal through the CAN communication network;
and B: after the intelligent data acquisition terminal is electrified and works, data interaction is carried out between the intelligent data acquisition terminal and a pump motor controller through a CAN communication network, a lifting current transmitted by the pump motor controller is obtained in real time, and the current value is transmitted to a controller in the intelligent data acquisition terminal;
and C: after receiving a lifting current transmitted by a CAN module, a controller in the intelligent data acquisition terminal extracts an effective value after the lifting current is stabilized, decomposes the stabilized lifting current value into n sections, respectively calculates the lifting weight corresponding to each section, and finally calculates the actual lifting weight through an average algorithm;
step D: after the controller in the intelligent data acquisition terminal calculates the lifting weight, the weight value is transmitted to the pump motor controller through the CAN communication module;
step E: after the weight of the goods is obtained, the pump motor controller limits the maximum lifting height of the fork according to a load height curve calibrated by the vehicle and through the relationship among the load weight, the lifting height and the gravity center stable region.
2. The control method for the safe lifting operation of the industrial vehicle according to claim 1, characterized in that: and C, a calculation formula of the lifting current and the weight of the goods in the step C is as follows:
m＝A*lnI-Error，
wherein m is the lifting weight in kilograms; a is an amplitude value in the range of 2700-2800; error is Error weight, the Error range is 13000-13500, and the unit is kilogram.
3. The control method for the safe lifting operation of the industrial vehicle according to claim 1, characterized in that: in step C, the stable effective current value is obtained as follows: after the intelligent data acquisition terminal obtains the current, the current obtained at the next time is compared with the current obtained at the previous time, after the obtained comparison value is stabilized to be 0 for y times continuously, the current value at the current moment is used as a lifting reference value, the subsequent current values are compared with the reference value, abnormal values are filtered out, normal values are reserved, and preparation is made for subsequent calculation.
4. A control method for safe lifting operation of an industrial vehicle according to claim 3, characterized in that: and C, filtering out the abnormity, wherein the value is obtained by filtering the value with the deviation larger than 10.
5. A control method for safe lifting operation of an industrial vehicle according to claim 3, characterized in that: and the time interval between the current obtained at the next time and the current obtained at the previous time is 1ms, the lifting weight is calculated through the lifting current until the lifting current of the section is converted, then the lifting weights obtained at each section are accumulated, and the average value is calculated to be used as the actual lifting weight.
6. A method for controlling a safety lifting operation of an industrial vehicle as claimed in claim 1, wherein before step a, the method further comprises an initial step of: and closing a key switch on the vehicle, electrifying the whole vehicle, and starting the pump motor controller and the intelligent data acquisition terminal to work.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910911091.7A CN110963442B (en) | 2019-09-25 | 2019-09-25 | Control method for safe lifting operation of industrial vehicle |
| CN202011266538.9A CN112390196B (en) | 2019-09-25 | 2019-09-25 | Control system for safe lifting |
| CN202011266540.6A CN112390198B (en) | 2019-09-25 | 2019-09-25 | Method for screening lifting current in vehicle safety operation |
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| CN201910911091.7A CN110963442B (en) | 2019-09-25 | 2019-09-25 | Control method for safe lifting operation of industrial vehicle |
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| CN202011266538.9A Division CN112390196B (en) | 2019-09-25 | 2019-09-25 | Control system for safe lifting |
| CN202011266540.6A Division CN112390198B (en) | 2019-09-25 | 2019-09-25 | Method for screening lifting current in vehicle safety operation |
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Cited By (1)
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| CN118405637A (en) * | 2024-07-01 | 2024-07-30 | 杭叉集团股份有限公司 | Control method and device for low-order picking vehicle and low-order picking vehicle |
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|---|---|
| CN112390198A (en) | 2021-02-23 |
| CN112390196A (en) | 2021-02-23 |
| CN112390198B (en) | 2022-01-18 |
| CN112390196B (en) | 2022-03-18 |
| CN110963442B (en) | 2020-10-16 |
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