CN112209302A - Intelligent controller for improving manual electric forklift into robot - Google Patents
Intelligent controller for improving manual electric forklift into robot Download PDFInfo
- Publication number
- CN112209302A CN112209302A CN202011070558.9A CN202011070558A CN112209302A CN 112209302 A CN112209302 A CN 112209302A CN 202011070558 A CN202011070558 A CN 202011070558A CN 112209302 A CN112209302 A CN 112209302A
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- module
- robot
- forklift
- signal
- electric forklift
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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
- B66F9/07581—Remote controls
-
- 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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of forklift control, and discloses an intelligent controller for improving a manual electric forklift into a robot, which comprises a core processor, wherein the core processor is connected with a power supply conversion module, a communication module, a mode switching module, a safety protection sensor input module, an encoder and inertia unit input module, a control signal output module, a handle input signal module and a program maintenance circuit module; the invention also provides an intelligent control method for improving the manual electric forklift into the robot, which comprises the following steps: s1: initializing a system; s2: each interface is initialized. The invention can transform the original electric forklift which can only be manually controlled into the intelligent carrying robot platform which can be manually and automatically switched in a double mode, the controller monitors and measures the running state in the manual mode, and the controller can be completely controlled by the upper computer in the automatic mode, thereby reducing the consumption of human resources and greatly improving the carrying efficiency.
Description
Technical Field
The invention relates to the technical field of forklift control, in particular to an intelligent controller for improving a manual electric forklift into a robot.
Background
Inside the commodity circulation transport field, the electric drive's that uses fork truck is mostly manual control, and manpower resources consumes comparatively, and is especially higher to operational environment's requirement, and is not very used in the special storage commodity circulation of environment. The main use scenes are affected seriously by human factors. The electric drive forklift on the market today is mainly used by people. For example, the joint force of international and foreign linde, Mitsubishi, and international and foreign joint resources, the domestic triple-tandem work, and the like, and the main structure is mainly a single steering wheel structure.
However, in general, in severe environments such as strong wind, heavy rain, cold and hot, safety accidents are easily caused when people operate the forklift, the health of people is affected, the dependence of the forklift on people is too high, multiple devices cannot be combined into a network, the consumption of human resources is high, the carrying efficiency is low, and the requirements of people cannot be met.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent controller for improving a manual electric-driven forklift into a robot, and mainly solves the problems that the dependence of the existing forklift on people is too high, a plurality of devices cannot form a network, the consumption of human resources is high, the carrying efficiency is low, and the requirements of people cannot be met.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a with hand-operated electric fork truck improve intelligent control ware for robot, includes the core treater, the core treater is connected with power conversion module, communication module, mode switching module, safety protection sensor input module, encoder and inertial unit input module, control signal output module, handle input signal module, procedure maintenance circuit module.
The invention also provides an intelligent control method for improving the manual electric forklift into the robot, which comprises the following steps:
s1: initializing a system;
s2: initializing each interface;
s3: the controller is nodularized;
s4: the sensor detects whether the safety is ensured, if so, the next step is carried out, otherwise, the detection is carried out again and the maintenance is checked;
s5: reading information, and reading and issuing safety sensor information, steering wheel angular speed and inertial navigation information of J5, J6, J7, J8, J9 and J18;
s6: a mode switching step of switching between the manual mode and the automatic mode as required, in which the mode switching signal terminal J16 receives a signal and operates at the time of the mode switching in S6;
s7: subscribing the command, subscribing the navigation command by the communication signal terminals J10, J11 and J12, and then analyzing;
s8: in the forklift movement mode, when the forklift needs to rotate on site, the steering motor control signal output terminal J17 outputs a steering signal, when the forklift needs to run on a curve, the steering signal is output through the steering wheel driving motor control signal output terminal J15, and when the forklift needs to run on a straight line, the steering signal with zero angle is output through the steering wheel driving motor control signal output terminal J15.
Based on the foregoing solution, in S1, the control board power input terminal J4 is connected at the time of system initialization.
As a further scheme of the present invention, in S4, when detecting a sensor, the test ground terminal J1 is connected to detect whether it can be powered on normally, and can receive signals and transmit signals, so as to make a correct command judgment, and when needing to maintain, the program maintenance interface terminal J2 outputs signals to perform maintenance.
Further, in S4, after detecting the security of the sensor, it is further checked whether the node connection is successful, if not, the previous step is returned to perform the detection, and if so, the next step is performed.
On the basis of the foregoing scheme, the measurement is performed through the inertial measurement unit module terminal J3 in S5 when information is read.
In a still further aspect of the present invention, in S6, different operation modes are switched according to different requirements, and when the manual mode is switched, the handle signal input terminal J14 receives an input signal.
Further, in S8, when the up-down operation is required, the up-down signal is output from the large current control signal input and up-down signal terminal J13.
(III) advantageous effects
Compared with the prior art, the invention provides the intelligent controller for improving the manual electric forklift into the robot, and the intelligent controller has the following beneficial effects:
1. the invention can transform the original electric forklift which can only be manually controlled into the intelligent carrying robot platform which can be manually and automatically switched in a double mode, wherein the controller monitors and measures the running state in the manual mode, and the controller can be completely controlled by the upper computer in the automatic mode.
2. The invention can achieve the purpose of carrying without depending on human operation in a severe environment, can form a network by a plurality of devices, reduces the consumption of human resources under the scheduling of the upper computer, and greatly improves the carrying efficiency.
3. According to the invention, through the detection of the sensor and the detection of whether the node connection is successful, the conditions that the signal transmission is interrupted or not can be avoided, and the normal implementation of the forklift control is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a system for modifying a manual electric forklift into an intelligent controller of a robot according to the invention;
fig. 2 is a schematic structural diagram of a wiring terminal of an intelligent controller for modifying a manual electric forklift into a robot according to the invention;
fig. 3 is a schematic flow structure diagram of an intelligent control method for improving a manual electric forklift into a robot according to the invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-3, an intelligent controller for improving a manual electric forklift into a robot comprises a core processor, wherein the core processor is connected with a power conversion module, a communication module, a mode switching module, a safety protection sensor input module, an encoder and inertia unit input module, a control signal output module, a handle input signal module and a program maintenance circuit module.
The invention also provides an intelligent control method for improving the manual electric forklift into the robot, which comprises the following steps:
s1: initializing a system;
s2: initializing each interface;
s3: the controller is nodularized;
s4: the sensor detects whether the safety is ensured, if so, the next step is carried out, otherwise, the detection is carried out again and the maintenance is checked;
s5: reading information, and reading and issuing safety sensor information, steering wheel angular speed and inertial navigation information of J5, J6, J7, J8, J9 and J18;
s6: mode switching, namely switching a manual mode and an automatic mode as required, wherein a mode switching signal terminal J16 receives signals and acts when the mode is switched in S6, an original electric forklift which can only be manually controlled can be transformed into an intelligent carrying robot platform which can be manually and automatically switched in a dual-mode, a controller monitors and measures the running state in the manual mode, and an upper computer can completely control the automatic mode;
s7: subscribing the command, subscribing the navigation command by the communication signal terminals J10, J11 and J12, and then analyzing;
s8: in the forklift movement mode, when the forklift needs to rotate on site, the steering motor control signal output terminal J17 outputs a steering signal, when the forklift needs to run on a curve, the steering signal is output through the steering wheel driving motor control signal output terminal J15, when the forklift needs to run on a straight line, the steering signal with zero angle is output through the steering wheel driving motor control signal output terminal J15, and the control is carried out through different terminals.
In the invention, in S1, a control board power input terminal J4 is communicated when a system is initialized, in S4, a test ground terminal J1 is connected when a sensor is detected to detect whether the sensor can be normally electrified or not, signals can be received and transmitted, correct instruction judgment is made, signals output by a program maintenance interface terminal J2 are maintained when maintenance is needed, in S4, whether node connection is successful or not is checked after the sensor is detected to be safe, if the node connection is unsuccessful, the previous step is returned for detection, and if the node connection is successful, the next step is carried out, so that the condition that signal transmission is interrupted or the signals are not transmitted can be avoided, and the normal implementation of forklift control is ensured.
It should be noted that in S5, measurement is performed through the inertial measurement unit module terminal J3 when information is read, in S6, different operation modes are switched according to different needs, when the manual mode is switched, the handle signal input terminal J14 receives an input signal, in S8, when lifting is needed, a large-current control signal is input and a lifting signal is output through the lifting signal terminal J13, the purpose of carrying can be achieved in a severe environment without depending on human operation, a plurality of devices can be networked, under the scheduling of an upper computer, the consumption of human resources is reduced, and the carrying efficiency is greatly improved.
In the description herein, it is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a with hand-operated electric fork truck improves intelligent control ware for robot, includes core processor, its characterized in that, core processor is connected with power conversion module, communication module, mode switching module, safety protection sensor input module, encoder and inertial unit input module, control signal output module, handle input signal module, procedure maintenance circuit module.
2. An intelligent control method for improving a manual electric forklift into a robot is characterized by comprising the following steps:
s1: initializing a system;
s2: initializing each interface;
s3: the controller is nodularized;
s4: the sensor detects whether the safety is ensured, if so, the next step is carried out, otherwise, the detection is carried out again and the maintenance is checked;
s5: reading information, and reading and issuing safety sensor information, steering wheel angular speed and inertial navigation information of J5, J6, J7, J8, J9 and J18;
s6: a mode switching step of switching between the manual mode and the automatic mode as required, in which the mode switching signal terminal J16 receives a signal and operates at the time of the mode switching in S6;
s7: subscribing the command, subscribing the navigation command by the communication signal terminals J10, J11 and J12, and then analyzing;
s8: in the forklift movement mode, when the forklift needs to rotate on site, the steering motor control signal output terminal J17 outputs a steering signal, when the forklift needs to run on a curve, the steering signal is output through the steering wheel driving motor control signal output terminal J15, and when the forklift needs to run on a straight line, the steering signal with zero angle is output through the steering wheel driving motor control signal output terminal J15.
3. The intelligent controller for improving the hand-driven electric forklift into the robot as claimed in claim 2, wherein in S1, the control board power input terminal J4 is communicated when the system is initialized.
4. The intelligent controller for improving the hand-driven electric forklift into the robot as claimed in claim 2, wherein the S4 is connected with a test ground terminal J1 to detect whether the hand-driven electric forklift can be normally powered on, can receive and transmit signals, makes a correct command judgment, and outputs a signal to the program maintenance interface terminal J2 for maintenance when the hand-driven electric forklift needs to be maintained.
5. An intelligent controller for improving a manual electric forklift into a robot as claimed in claim 3, wherein in the step S4, after detecting the safety of the sensor, the node connection is checked whether the node connection is successful, if not, the node connection is returned to the previous step for detection, and if so, the node connection is returned to the next step for detection.
6. An intelligent controller for converting a hand-driven electric forklift into a robot as claimed in claim 2, wherein the measurement is performed by the inertial measurement unit module terminal J3 when reading the information in S5.
7. An intelligent controller for converting a hand-operated electric forklift into a robot as claimed in claim 2, wherein different operation modes are switched according to different requirements in the S6, and the handle signal input terminal J14 receives input signals when the manual mode is switched.
8. An intelligent controller for converting a hand-driven electric forklift into a robot as claimed in claim 2, wherein the lifting signal is outputted from the high current control signal input and the ascending and descending signal terminal J13 when lifting is required in S8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070558.9A CN112209302A (en) | 2020-10-09 | 2020-10-09 | Intelligent controller for improving manual electric forklift into robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070558.9A CN112209302A (en) | 2020-10-09 | 2020-10-09 | Intelligent controller for improving manual electric forklift into robot |
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| Publication Number | Publication Date |
|---|---|
| CN112209302A true CN112209302A (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011070558.9A Withdrawn CN112209302A (en) | 2020-10-09 | 2020-10-09 | Intelligent controller for improving manual electric forklift into robot |
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| Country | Link |
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| CN (1) | CN112209302A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114200927A (en) * | 2021-11-12 | 2022-03-18 | 北京时代富臣智能科技有限公司 | Logistics robot system |
-
2020
- 2020-10-09 CN CN202011070558.9A patent/CN112209302A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114200927A (en) * | 2021-11-12 | 2022-03-18 | 北京时代富臣智能科技有限公司 | Logistics robot system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210112 |
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| WW01 | Invention patent application withdrawn after publication |