CN112798294A - Diesel fork truck reinforced test detection system and implementation method - Google Patents
Diesel fork truck reinforced test detection system and implementation method Download PDFInfo
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Abstract
The invention discloses a test strengthening detection system for a diesel fork lift truck and an implementation method thereof. The data information comprehensive processing module takes an ARM as a main control chip and performs data acquisition, data processing and communication in a time-sharing manner; the driving attitude resolving module acquires three-axis angles in the driving process of the forklift and is used for correction operation of the position of the forklift and judgment of the test process; the left and right wheel encoder module acquires the pulse number of left and right wheels of the forklift and is used for superposition calculation of the coordinate position of the forklift; the upper computer control screen is used for controlling the field test process and indicating the test state; the invention carries out whole-process detection on all test items in the strengthening test process of the diesel fork truck, has convenient system operation and high automation level, and can meet the actual requirements of engineering tests.
Description
Technical Field
The invention relates to the field of testing and detecting of forklift performance strengthening, in particular to a detection technology for a strengthening experiment process of an internal combustion balance weight type forklift.
Background
With the development of the warehouse logistics industry in recent years, the demand of the forklift is increasing. The forklift is used as a main carrying tool in the warehouse logistics industry, and the internal combustion balance weight type forklift (for short, the internal combustion forklift) is the most widely applied one, and is favored by the majority of enterprises. However, the industrial production technology level in China is relatively backward compared with developed countries such as Europe and America, the quality of the forklift has the problems of high failure rate, poor reliability and the like, and in order to solve the problems, the country sets up the corresponding industrial standard JB/T3300-2010 of the whole machine test of the counter-balanced forklift.
In order to ensure the reliability of the forklift, forklift manufacturers can detect the forklift according to an industry standard before the forklift leaves a factory, and the strengthening test of the diesel forklift required by the industry standard JB/T3300-2010 is relatively complicated and time-consuming, namely: the test of the diesel fork lift truck requires continuous work for not less than 8 hours on a test runway with the perimeter of more than 150 meters and containing test items such as obstacle blocks, uphill and downhill slopes, bends, weight loading blocks and the like, and not only speed and time requirements are provided for each test item, but also a series of operations including loosening a hand brake, no-load, full-load and the like need to be carried out in the test, so that the detection and monitoring of the diesel fork lift truck strengthening test are particularly important.
At present, the strengthening test process of the diesel fork truck is detected by a tester looking at the hand notes, a set of whole-process detection system is not available, more personnel are undoubtedly needed to participate in the test due to the requirements of complex test process, numerous test items, continuous long-time driving and the like, and even if the requirements are met, data similar to real-time position, real-time state and the like of the fork truck are difficult to accurately record. Therefore, a technology and a software and hardware system capable of automatically detecting the intensified test process of the diesel fork lift truck and accurately recording test data in real time are urgently needed to be researched and developed, the problems of time consumption, labor consumption and inaccurate measurement in the detection process are solved, and meanwhile, the detection efficiency and the intelligent degree of the detection process can be improved.
Disclosure of Invention
In order to overcome the defects and shortcomings in the conventional detection process and method, the invention provides a detection system for a diesel fork lift truck reinforcement test and an implementation method, wherein the detection system comprises the following steps: in the test process of the diesel fork truck along a test field, the information such as the speed, the position, the test state of the fork truck and the like is calculated in real time, the upper computer is used for displaying the test state in real time, the voice broadcast is used for reporting errors and prompting to a field tester in real time, and the remote monitoring station is used for monitoring the test process and storing test data. The system provided by the invention is simple to operate, reasonable in scheme and reliable in operation, and meets the detection requirements of actual engineering.
The technical scheme adopted by the invention is a detection system for a diesel fork lift truck reinforcement test, which comprises: the system comprises a system power management module (1), a forklift body information relay module (2), a data information comprehensive processing module (4), a body information sensor group (5), a traveling attitude resolving module (14), a left and right wheel encoder module (15), a GPS positioning module (16), a language broadcasting module (17), an upper computer control screen (18), an LED indicating module (19), a gateway data transmission module (20) and a remote monitoring station (22).
All units or modules that need the power supply in system power management module (1) connected system, fork truck automobile body information relay module (2) link to each other with automobile body information sensor group (5), fork truck automobile body information relay module (2) still link to each other with data information integrated processing module (4), data information integrated processing module (4) still with go gesture resolve module (14), control round of encoder module (15), GPS orientation module (16), language is reported module (17), host computer control screen (18), LED indicating module (19), gateway data transmission module (20) link to each other, gateway data transmission module (20) still communicate with remote monitoring platform (22) through GPRS (21) network.
Data acquisition and processing flow: the test field where the forklift is located through a GPS positioning module (16), the pulse numbers of two wheels of the forklift are collected through a left wheel encoder module and a right wheel encoder module (15), the pulse numbers are used for superposing the coordinate positions of the forklift in the test field, the direction angle, the roll angle and the pitch angle of the forklift in the running process are collected through a running attitude calculation module (14), the coordinate positions of the forklift in the test field are corrected, forklift body information collected by a forklift body information sensor group (5) is packaged through a forklift body information relay module (2), the forklift body information is processed by a data information comprehensive processing module (4) and then sent to an upper computer control screen (18) to be displayed, and a gateway data transmission module (20) to be forwarded to a remote monitoring platform, wherein a voice broadcasting module (17) and an LED indicating module (19) are respectively used for reminding a driver and indicating the state of a detection system.
A data communication interface: the data information comprehensive processing module (4) is communicated with the forklift body information relay module (2) and the gateway data transmission module (20) through the RS485 interface (3) and the RS485 interface (10) respectively, the data information comprehensive processing module (4) is communicated with the GPS positioning module (16) and the liquid crystal display module (18) through the UART interface (7) and the UART interface (9) respectively, and the data information comprehensive processing module (4) is also communicated with the voice broadcast module (17) through the SPI interface (8).
The vehicle body information sensor group (5) comprises an infrared sensor (11), a vibration sensor (12) and a strain type pressure sensor (13) and is respectively used for acquiring forklift body information of a forklift such as a hand brake state, an engine state and a load state.
The system power relation module (1) centrally designs and manages the voltages used in the system: in order to meet the requirements of practical engineering tests, a 12V lithium battery is adopted for supplying power, and the voltage is stabilized to 12V by an LTC3780 voltage stabilizing module; the input voltage of the TPS54331DR buck module is 12V and the output voltage is 5V; the input voltage of the AMS1117-3.3 voltage reduction module is 5V, and the output voltage is 3.3V.
Fixed position of sensors and modules: an infrared probe of an infrared sensor (11) is fixed at a limit position pulled by a hand brake, a vibration sensor (12) is fixed on a frame where an engine is arranged, a strain type pressure sensor (13) is fixed at a pressed position between a fork and a fork frame after the load of the forklift, a driving posture resolving module (14) is required to be fixed in parallel on the plane of a forklift body, a Y axis points to the driving direction of the forklift, an X axis is perpendicular to the driving direction of the forklift, a left wheel encoder module and a right wheel encoder module (15) are fixed on the outer sides of hubs of two front wheels of the forklift and are coaxial with the hubs, an antenna of a GPS positioning module (16) is fixed at a place where the sky can be seen on the outer side of the forklift, and other modules are fixed together with an upper computer control screen.
The data information comprehensive processing module (4) adopts an embedded 32-bit high-performance controller of an intentional semiconductor ARM core, has enough pins and on-chip resources, can be simultaneously connected with two RS485 interfaces (3) (10), two UART interfaces (7) (9), an SPI interface (8) and an IIC interface (6) in a system, can realize a corresponding communication protocol and a required response sequence through a control program, has enough operational performance, and can process and calculate the acquired data through the control program, thereby obtaining the data required to be monitored in the process of the test for the strengthening of the balance weight type forklift, and then forwards the data to the remote monitoring station (22) through the gateway data transmission module (20).
The voice broadcasting module (17) is used for reminding a tester of carrying out necessary test operation and error operation in the process of the reinforcing test of the counter-weight forklift.
The LED indicating module (19) is provided with 2 LED indicating lamps, namely a red LED indicating lamp and a green LED indicating lamp, and the initialization stage is respectively used for indicating whether the GPS positioning module (16) and the driving posture resolving module (14) are initialized successfully or not, and the initialization is turned off to indicate that the initialization is successful; in the data acquisition and communication stage, the two lamps flicker to indicate that the data information comprehensive processing module (4) is normally communicated with the upper computer display screen (16) and the gateway data transmission module (20).
The forklift body information relay box module (2) can be connected with a plurality of sensors in the forklift body information sensor group (5), and converts the acquired signals into a single signal to be output to the data information comprehensive processing module (4) through the RS485 interface (3) in a serial mode, so that the accuracy of data acquisition of the plurality of sensors is ensured.
The remote monitoring station (22) can receive test data of a plurality of forklifts for strengthening test through a GPRS (21) network, and is used for reproducing the movement track, monitoring the real-time test condition and storing the test data.
Preferably, the data information comprehensive processing module (4) adopts an embedded 32-bit high-performance controller STM32F103ZET6 with an Italian semiconductor ARM Crotex-M3 kernel, and the chip is provided with 5 available serial ports, 144 pins and 4 universal timers and meets the requirements of 4 communication serial ports and 3 universal timers required by a system.
Preferably, the GPS positioning module (16) adopts an ATK-1218BD module, and has the advantages of small volume, high positioning speed, positioning accuracy meeting the experimental requirements and the like.
Preferably, the driving attitude settlement module (14) adopts an MPU6050 chip, which integrates a 3-axis gyroscope and a 3-axis acceleration sensor inside, can realize attitude settlement by using a DMP digital motion processor arranged inside, and then outputs the attitude settlement to the main control ARM chip through an IIC interface.
Preferably, a tester can operate the upper computer control screen (18) to send different instructions to the data information comprehensive processing module (4) through the UART interface (9) to control the communication of the upper computer control screen and the data information comprehensive processing module with the forklift body information relay module (2), the driving posture resolving module (14), the GPS positioning module (16), the upper computer control screen (18) and the gateway data transmission module (20).
Preferably, the implementation method of the test strengthening detection system for the diesel fork lift truck comprises the following steps:
step 2, sequentially sending identification code information of the forklift to be detected to a data information comprehensive processing module (4) through an upper computer control screen (18) in the invention, and then sending the identification code information of the forklift to a remote monitoring station (22) through a gateway data transmission module (20) to be used as a forklift identification code;
step 4, after the collected data are processed through the data information comprehensive processing module (4) in the invention, the test information of the forklift is sent to the upper computer control screen (18) and the remote monitoring console (22), and the test condition is broadcasted through the voice broadcasting module (17);
and 5, sending an instruction to the data information comprehensive processing module (4) through the upper computer control screen (18) to finish the reinforcing test of the balance weight type forklift, and finally turning off the power supply.
Compared with the prior art and the implementation method, the invention has the following beneficial effects:
1. the invention detects each test item in the strengthening test process of the diesel fork truck proposed in the industry standard, including real-time XY coordinates of the fork truck in the test, the speed when passing obstacles, the starting and stopping operation when climbing, the load and no-load operation in the driving process, the driving time of each circle, the total test time of the fork truck and the like, and after the test data is uploaded to a remote monitoring platform, the test process of the fork truck can be remotely and accurately reproduced and the test data can be stored.
2. The position of a test field where the forklift is located is positioned by adopting a GPS, and the XY coordinate position of the forklift in the training field in the test is mainly used for superposition calculation of the coordinate position where the forklift is located by acquiring the pulse number of a two-wheel encoder, then the driving attitude of the forklift in the driving process is acquired by a driving attitude calculation module, the course angle of the forklift is calculated, and the XY coordinate range is combined for correction calculation of the forklift position, so that the accumulated error of the XY coordinate is reduced, the positioning precision of the real-time position of the forklift in the test is improved, and the precision of the needed GPS module is reduced, thereby reducing the cost of the system.
3. The system is simple to operate, the software interface of the upper computer is friendly, and for a forklift to be tested, a tester only needs to input basic information such as wheel diameter, wheel track, vehicle identification codes and the like once every day on the control screen of the upper computer, and then only needs to click start, pause and end buttons in the control screen of the upper computer, so that the collection and transmission of test data can be started, paused or ended, and the requirements of an actual test site are met.
4. The system has high automation level, and after the click is started, the system can fully automatically acquire all required project test data in the running process of the forklift, the upper computer can display the current test state, and can remind a tester of performing corresponding test operation at each project through voice, and simultaneously can send the test data to the remote monitoring console for remote monitoring and storage, so that manpower and material resources are saved, and the detection efficiency of the diesel forklift in a strengthened test stage is improved.
5. The system has wide application range, and before the test is started, a tester needs to input the actual wheel diameter and the wheel track of the forklift on an upper computer to be used for calculating the real-time coordinates of the forklift in the test, so the system is suitable for all sizes of internal combustion forklifts.
Drawings
Fig. 1 is a schematic diagram of a test detection system for a strengthening test of a diesel fork lift truck and an implementation method of the test detection system.
Fig. 2 is a schematic diagram of a system power management module according to an embodiment of the invention, including differentiation voltages of different levels.
Fig. 3 is an interface design of a GPS test field positioning module and an ARM according to an embodiment of the present invention.
FIG. 4 shows the interface design of the vehicle attitude calculation chip MPU6050 and ARM according to the preferred embodiment of the invention.
Fig. 5 is an interface design of a voice broadcast chip ISD1760 and an ARM according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of calculating the increment of the running rotation angle of the forklift by a two-wheel encoder according to the embodiment of the invention.
Fig. 7 is a schematic diagram of an enhanced test field map and 5 coordinate correction points of an internal combustion balance weight type forklift truck according to an embodiment of the present invention, which are derived from the industry standard JB/T3300-2010.
Fig. 8 is a timing diagram of data acquisition processing and communication according to an embodiment of the present invention.
FIG. 9 is a flowchart of a hardware system program according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
As shown in fig. 1, fig. 1 is a system for testing an intensified test of an internal combustion forklift truck, which includes a system power management module (1), a forklift truck body information relay module (2), a data information comprehensive processing module (4), a truck body information sensor group (5), a driving attitude calculation module (14), left and right wheel encoder modules (15), a GPS positioning module (16), a language broadcast module (17), an upper computer control screen (18), an LED indication module (19), a gateway data transmission module (20), and a remote monitoring console (22), wherein the truck body information sensor group (5) includes an infrared sensor, a vibration sensor and a strain pressure sensor. The communication interfaces among the modules are as follows: the data information comprehensive processing module (4) is communicated with the forklift body information relay module (2) and the gateway data transmission module (20) through the RS485 interface (3) and the RS485 interface (10) respectively, the data information comprehensive processing module (4) is communicated with the GPS positioning module (16) and the liquid crystal display module (18) through the UART interface (7) and the UART interface (9) respectively, and the data information comprehensive processing module (4) is also communicated with the voice broadcast module (17) through the SPI interface (8).
The system power relation module (1) centrally designs and manages the voltages used in the system, as shown in fig. 2. In order to meet the requirements of practical engineering tests, a 12V lithium battery is adopted for supplying power, and the voltage is stabilized to 12V by an LTC3780 voltage stabilizing module; the input voltage of the TPS54331DR buck module is 12V and the output voltage is 5V; the input voltage of the AMS1117-3.3 voltage reduction module is 5V, and the output voltage is 3.3V.
Preferably, the data information comprehensive processing module (4) adopts an embedded 32-bit high-performance controller STM32F103ZET6 with an Italian semiconductor ARM Crotex-M3 kernel, and the chip is provided with 5 available serial ports, 144 pins and 4 universal timers, so that the requirements of 4 communication serial ports and 3 timers required by a system are met.
The positioning of the diesel fork truck in the test mainly comprises a driving attitude calculation module (14), a left wheel encoder module (15), a right wheel encoder module (15) and a GPS positioning module (16). The GPS positioning module (16) adopts an optimal ATK1218BD module, then communicates with the ARM main control chip through a UART interface, and the wiring is shown in FIG. 3; the driving attitude calculation module (14) adopts an optimized MPU6050 chip, a 3-axis gyroscope and a 3-axis acceleration sensor are integrated in the driving attitude calculation module, attitude settlement can be realized by utilizing a DMP digital motion processor arranged in the driving attitude calculation module, and then the driving attitude calculation module is communicated with a main control ARM chip through an IIC interface, wherein the wiring mode is shown in figure 4; the preferred number of lines of the left and right wheel encoder modules (15) is 400 lines. In the three modules, the GPS positioning module (16) is only used for positioning a test site, the positioning precision is within 5m, the accurate positioning of the diesel fork truck in the test is mainly realized through a driving attitude calculation module (14) and a left wheel encoder module and a right wheel encoder module (15) together, wherein the left wheel encoder and the right wheel encoder play a leading role in positioning, and the attitude calculation module plays a correcting role.
The accurate XY positioning algorithm of the forklift in the test field mainly adopts a calculus idea, and the XY coordinate increment of the forklift is calculated every 20ms in the driving process of the forklift and then is accumulated on the XY coordinates. The wheel diameter of the diesel fork truck is known as R, the wheel track is known as D, the pulse number of each circle of the encoder is 1600 pulses after 4 times multiplication, and the pulse number is recorded as N, so the running distance Delta S of the fork truck corresponding to each pulse of the encoder can be obtained according to the formula (1).
In the running process of the forklift, the system reads the pulse numbers of the left and right wheel encoders at intervals of 20ms, and the pulse numbers are respectively recorded as PlAnd PrThen, the increment of the travel distance of the left wheel and the right wheel within 20ms can be calculated according to the formulas (2) and (3), and is respectively recorded as delta SlAnd Δ Sr。
ΔSl＝ΔS*Pl (2)
ΔSr＝ΔS*Pr (3)
FIG. 6 is a schematic diagram of a method for calculating the rotation angle increment Δ α during the forklift driving process, wherein Δ L can replace Δ S according to the idea that straight lines in differentiation are replaced by circular arcslAnd Δ SrSo that the arc difference value according to the formula (4) can be obtainedAnd obtaining the rotation angle increment delta alpha corresponding to the camber value.
By alpha1Representing the camber value of the last 20ms forklift truck corner, alpha representing the camber value of the current forklift truck corner, X1And Y1Indicating the last 20ms coordinate value and X and Y indicating the coordinate value of the current truck. Then the real-time X and Y coordinate values of the forklift in the test field can be calculated by the formulas (5), (6) and (7).
α＝α1+Δα
(5)
X＝X1+[(ΔSl+ΔSr)/2]*sin(α*180°/π)
(6)
Y＝Y1+[(ΔSl+ΔSr)/2]*cos(α*180°/π)
(7)
In order to ensure that the real-time coordinate position of the forklift is more accurate in the test and reduce the accumulative error of positioning, A is added in the test detection1、A2、A3、A4、A5Five coordinate correction points as shown in fig. 7. And the five correction points are judged by the angle value of the heading angle in the driving attitude calculation module (14) and the coordinate range of XY. For example: the coordinates of the starting point are (0,0), when the forklift runs to the position that the X coordinate is between-500 mm and 500mm, the Y coordinate is between 11250mm and 12250, and if the angle value of the heading angle changes more than 80 degrees, the forklift runs to A1And (4) correcting the position near the point, wherein the corrected X coordinate is 0, the corrected Y coordinate is 11750mm, and the like.
Next, in conjunction with the industry standard test site of fig. 7, a monitoring basis is given for each test item: judging the load conditions of different cargo positions through a strain type pressure sensor (13) and the coordinate range of the strain type pressure sensor; whether the obstacle block passes or not is judged by taking the roll angle value of the roll angle after the roll angle data in the driving attitude calculation module (14) and the sliding filtering processing as a judgment basis; the judgment of the ramp is that the angle of pitch in the driving attitude calculation module (14) is used, and when the angle value of the pitch is stably kept between 3 and 5 degrees, the ramp enters an uphill test stage; the parking and starting operation in the uphill test is judged through the hand brake state and the engine state collected by the vibration sensor (12) and the infrared sensor (11). When reaching above-mentioned every experimental stage, voice broadcast module (17) all can broadcast the sound and remind the tester to carry out relevant test operation and the error operation that has gone on, still can remind on-the-spot tester whether this experimental process of circle meets the requirements after every circle of test, and voice broadcast module (17) adopts SPI communication interface (8) to be connected with ARM main control chip, and the interface design is shown in figure 5.
Because the ARM main control chip in the system not only needs to carry out the collection and processing of data, still need carry out lasting data transmission operation with fork truck automobile body information relay module (2), host computer control screen (18), remote control platform (22), so in order to keep the smoothness nature of communication, prevent to produce mutual interruption of communication, carried out the chronogenesis division as shown in fig. 8: mainly divided into a small cycle every 20ms and a large cycle every 100 ms. The data acquisition and processing are performed in turn each 20ms small cycle, for example: and calculating the coordinates of the forklift in the test field through the pulse number of the left and right wheel encoders and the angle value of the attitude settlement module. Reading data in the forklift information relay module (2) once between 40ms and 60ms of each 100ms major cycle for judging whether a tester performs related test operation; sending data such as the speed, the driving direction, the coordinates and the like to the upper computer for refreshing the display screen for display once between 60ms and 80ms of each 100ms major cycle; and transmitting data such as the vehicle speed, the coordinates, the effective test turns, the current total test time and the like to the remote control console once between 80ms and 100ms of each 100ms major cycle for the remote control console to reproduce the test and store the test data.
As shown in fig. 9, it is a diagram of the hardware system program execution, including initialization of each module, data acquisition, data processing, data communication, and the like.
The implementation method of the test strengthening detection system of the diesel fork lift truck comprises the following steps:
step 2, sequentially sending identification code information of the forklift to be detected to a data information comprehensive processing module (4) through an upper computer control screen (18) in the invention, and then sending the identification code information of the forklift to a remote monitoring station (22) through a gateway data transmission module (20) to be used as a forklift identification code;
step 4, after the collected data are processed through the data information comprehensive processing module (4) in the invention, the test information of the forklift is sent to the upper computer control screen (18) and the remote monitoring console (22), and the test condition is broadcasted through the voice broadcasting module (17);
and 5, sending an instruction to the data information comprehensive processing module (4) through the upper computer control screen (18) to finish the reinforcing test of the balance weight type forklift, and finally turning off the power supply.
The above description only describes the preferred embodiments of the present invention, and does not limit the present invention, and it should be understood that various changes, modifications, substitutions and improvements, etc. made to the embodiments by those skilled in the art without departing from the principle and spirit of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a diesel fork truck strengthens experimental detecting system which characterized in that: all units or modules needing power supply in the system power management module (1) connecting system, a forklift truck body information relay module (2) is connected with a truck body information sensor group (5), the forklift truck body information relay module (2) is also connected with a data information comprehensive processing module (4), the data information comprehensive processing module (4) is also connected with a driving attitude calculation module (14), a left wheel encoder module (15) and a right wheel encoder module (15), a GPS positioning module (16), a language broadcast module (17), an upper computer control screen (18), an LED indication module (19), a gateway data transmission module (20), and the gateway data transmission module (20) is also communicated with a remote monitoring station (22) through a GPRS (21) network.
2. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: data acquisition and processing flow: the test field where the forklift is located through a GPS positioning module (16), the pulse numbers of two wheels of the forklift are collected through a left wheel encoder module and a right wheel encoder module (15), the pulse numbers are used for superposing the coordinate positions of the forklift in the test field, the direction angle, the roll angle and the pitch angle of the forklift in the running process are collected through a running attitude calculation module (14), the coordinate positions of the forklift in the test field are corrected, forklift body information collected by a forklift body information sensor group (5) is packaged through a forklift body information relay module (2), the forklift body information is processed by a data information comprehensive processing module (4) and then sent to an upper computer control screen (18) to be displayed, and a gateway data transmission module (20) to be forwarded to a remote monitoring platform, wherein a voice broadcasting module (17) and an LED indicating module (19) are respectively used for reminding a driver and indicating the state of a detection system.
3. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: a data communication interface: the data information comprehensive processing module (4) is communicated with the forklift body information relay module (2) and the gateway data transmission module (20) through the RS485 interface (3) and the RS485 interface (10) respectively, the data information comprehensive processing module (4) is communicated with the GPS positioning module (16) and the liquid crystal display module (18) through the UART interface (7) and the UART interface (9) respectively, and the data information comprehensive processing module (4) is also communicated with the voice broadcast module (17) through the SPI interface (8).
4. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: the vehicle body information sensor group (5) comprises an infrared sensor (11), a vibration sensor (12) and a strain type pressure sensor (13) and is respectively used for acquiring forklift body information of a forklift such as a hand brake state, an engine state and a load state.
5. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: the system power supply management module (1) designs and manages the voltage used in the system in a centralized way: in order to meet the requirements of practical engineering tests, a 12V lithium battery is adopted for supplying power, and the voltage is stabilized to 12V by an LTC3780 voltage stabilizing module; the input voltage of the TPS54331DR buck module is 12V and the output voltage is 5V; the input voltage of the AMS1117-3.3 voltage reduction module is 5V, and the output voltage is 3.3V.
6. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: fixed position of sensors and modules: an infrared probe of an infrared sensor (11) is fixed at the limit position pulled by a hand brake, a vibration sensor (12) is fixed on a frame where an engine is located, and a strain type pressure sensor (13) is fixed at the pressed position between a fork and a fork frame after the load of the forklift is carried; the running attitude resolving module (14) is required to be fixed on the plane of a forklift body in parallel, the Y axis points to the running direction of the forklift, and the X axis is perpendicular to the running direction of the forklift; left and right wheel encoder modules (15) are fixed on the outer sides of hubs of two front wheels of the forklift and are coaxial with the hubs, an antenna of a GPS positioning module (16) is fixed on the outer side of the forklift and can be used for seeing the sky, and other modules and an upper computer control screen (18) are fixed together at a place where a tester can operate conveniently.
7. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: the data information comprehensive processing module (4) adopts an embedded 32-bit high-performance controller of an ideological semiconductor ARM core, has enough pins and on-chip resources, can be simultaneously connected with two RS485 interfaces (3) (10), two UART interfaces (7) (9), an SPI interface (8) and an IIC interface (6) in a system, can realize corresponding communication protocols and response sequences required by the system through a control program, has enough operational performance, can process and calculate the acquired data through the control program, thereby obtaining the data required to be monitored in the process of the heavy-duty forklift reinforcement test, and then forwards the data to the remote monitoring console (22) through the gateway data transmission module (20).
8. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: the voice broadcasting module (17) is used for reminding a tester of carrying out necessary test operation and error operation in the running process of the forklift in the process of the reinforcing test of the counter-weight forklift;
the LED indicating module (19) is provided with 2 LED indicating lamps, namely a red LED indicating lamp and a green LED indicating lamp, and the initialization stage is respectively used for indicating whether the GPS positioning module (16) and the driving posture resolving module (14) are initialized successfully or not, and the initialization is successful when the GPS positioning module and the driving posture resolving module are turned off; in the data acquisition and communication stage, the two lamps flicker to indicate that the data information comprehensive processing module (4) is normally communicated with the upper computer display screen (16) and the gateway data transmission module (20).
9. The diesel fork lift truck reinforcement test detection system according to claim 1, characterized in that: the left and right wheel encoder modules (15) and the driving attitude calculation module (14) jointly realize coordinate calculation and coordinate correction of the diesel fork truck in a test field:
according to the wheel diameter R of the diesel fork truck and the pulse number N of the encoder after 4 times multiplication, the driving distance delta S of the fork truck corresponding to each pulse of the encoder is obtained by a formula (1):
respectively marked as P according to the pulse number of the left and right wheel encoders within every 20ms in the running process of the forkliftlAnd PrThen, the increment of the travel distance of the left and right wheels within 20ms can be obtained from the equations (2) and (3), and is respectively recorded as Δ SlAnd Δ Sr：
ΔSl＝ΔS*Pl (2)
ΔSr＝ΔS*Pr (3)
According to the idea of replacing circular arc with straight line in differential, the left wheel rotates by the arc value Delta S in the turning process of the forkliftlArc value Delta S of right wheelrThe difference of (a) can be replaced by a straight line segment Δ L, and the rotation angle increment Δ α corresponding to the radian value can be obtained by the formula (4):
camber value alpha according to last 20ms forklift rotation angle1The camber value alpha of the current forklift rotation angle and the last coordinate value X of 20ms1And Y1And the real-time coordinate values X and Y of the forklift in a test field can be calculated by the formulas (5), (6) and (7):
α＝α1+Δα (5)
X＝X1+[(ΔSl+ΔSr)/2]*sin(α*180°/π) (6)
Y＝Y1+[(ΔSl+ΔSr)/2]*cos(α*180°/π) (7)
according to the course angle in the driving attitude calculation module (14) and the current coordinate values X and Y of the forklift, A in the field1、A2、A3、A4、A5And correcting the coordinates of the position.
10. The implementation method of the diesel fork lift truck reinforcement test detection system carried out according to the system of claim 1, comprising the following steps:
step 1: fixing a vehicle body information sensor group (5), a left wheel encoder module, a right wheel encoder module (16) and the like at corresponding positions on the forklift, turning on a power supply, and waiting for the initialization of each part to be successful;
step 2: the identification code information of the forklift to be detected is sequentially sent to the data information comprehensive processing module (4) through the upper computer control screen (18), and then is sent to the remote monitoring station (22) through the gateway data transmission module (20) to be used as the identification code of the forklift;
and step 3: an instruction is sent to the data information comprehensive processing module (4) through the upper computer control screen (18) to start a balance weight type forklift strengthening test, and the sensors and the modules continuously acquire data and send the data to the data information comprehensive processing module (4);
and 4, step 4: after the collected data are processed through the data information comprehensive processing module (4), test information of the forklift is sent to an upper computer control screen (18) and a remote monitoring console (22), and test conditions are broadcasted through the voice broadcasting module (17);
and 5: and sending an instruction to the data information comprehensive processing module (4) through the upper computer control screen (18) to finish the reinforcing test of the balance weight type forklift, and finally turning off the power supply.
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