CN112965410A - Electric forklift multifunctional control system based on state observer - Google Patents
Electric forklift multifunctional control system based on state observer Download PDFInfo
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- CN112965410A CN112965410A CN202110142027.4A CN202110142027A CN112965410A CN 112965410 A CN112965410 A CN 112965410A CN 202110142027 A CN202110142027 A CN 202110142027A CN 112965410 A CN112965410 A CN 112965410A
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- 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
- G05B19/0428—Safety, monitoring
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention discloses a state observer-based multifunctional control system of an electric forklift, which relates to the technical field of electric forklifts and comprises a central processing unit, a user center, a data comparison center, an execution center, a feedback center and a processing center, wherein the feedback center comprises a state observer and a data feedback module, and the processing center comprises a wireless receiving module, an MCU (microprogrammed control unit) controller, a map generation module, a map simulation module, a Bluetooth module and mobile phone map software. According to the invention, the convenience of driving and lifting of the electric forklift is increased, the distance, the driving speed and the lifting weight can be monitored in real time, the using effect is increased, the electric forklift can prevent external factor collision, can control the driving speed and the lifting weight, the layout map in a factory is conveniently simulated, the specific position of the electric forklift is conveniently searched according to the simulated map, and the maintenance efficiency is increased.
Description
Technical Field
The invention relates to the technical field of electric forklifts, in particular to a state observer-based multifunctional control system of an electric forklift.
Background
The electric forklift is a forklift that operates electrically, and most of them operate as a battery. The accumulator is one of the batteries, and the accumulator can store limited electric energy and be used in a proper place. The working principle of the device is to convert chemical energy into electric energy. The storage battery is arranged in the storage battery of the electric forklift. Note that: the battery is preferably not laid across! Because, the inside of the battery is usually 22-28% of dilute sulfuric acid. When the battery is placed right side, the electrolyte can submerge the polar plate, a space is left, if the battery is placed transversely, a part of the polar plate is exposed to the air, the polar plate of the battery is very unfavorable, and the observation hole of a general battery or the top of the battery is provided with an air outlet communicated with the outside, so the electrolyte placed transversely of the battery can easily flow out.
However, in the prior art, the traditional electric forklift control system cannot monitor and control the distance between the forklift and external factors, the running speed and the lifting weight in real time, so that the forklift is easy to damage.
Disclosure of Invention
The invention aims to provide an electric forklift multifunctional control system based on a state observer, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a multifunctional control system of an electric forklift based on a state observer comprises a central processing unit, a user center, a data comparison center, an execution center, a feedback center and a processing center, wherein the user center comprises an operation module, a plc control module and a display module, the execution center comprises a driving module, a hoisting module, a braking module, a warning module and an execution module, the feedback center comprises the state observer and a data feedback module, and the processing center comprises a wireless receiving module, an MCU controller, a map generation module, a map simulation module, a Bluetooth module and mobile phone map software;
the data comparison center is used for receiving an operation instruction stored in the plc control module and state information fed back by the data feedback module, the state observer comprises a plurality of distance sensors, speed sensors and pressure sensors, the distance sensors and the speed sensors are respectively and fixedly installed on a shell of the electric forklift, the GPS modules are provided with a plurality of GPS modules, the GPS modules are respectively and fixedly installed on each electric forklift, the map generation module is used for generating a three-dimensional map according to specific positions of a factory, the map simulation module is used for simulating the layout of the factory into the three-dimensional map and forming a satellite three-dimensional map, the mobile phone map software is downloaded from a mobile phone APP, the MCU controller is connected with the mobile phone map software through a Bluetooth module, and the MCU controller transmits the satellite three-dimensional map into the mobile phone map software, the wireless receiving module is wirelessly connected with the GPS module, the output end of the wireless output module is connected with the input end of the MCU controller, and the wireless receiving module is used for receiving the specific position of the electric forklift.
As a further scheme of the invention: the operation module is arranged in a driver operation room of the electric forklift and is used for controlling the driving module and the hoisting module.
As a still further scheme of the invention: and the plc control module is used for setting and storing the maximum running speed and the maximum hoisting weight of the electric forklift.
As a still further scheme of the invention: the display module is an ips screen and is used for displaying the running speed and the lifting weight of the electric forklift.
As a still further scheme of the invention: the driving module comprises a driving motor and a steering motor, and the driving motor and the steering motor are respectively used for controlling the rotation and the steering of the driving wheel of the electric forklift.
As a still further scheme of the invention: the lifting module comprises an outer gantry, an inner gantry, a carrying backrest, a pallet fork, a lifting rod and a lifting oil cylinder, wherein the inner gantry is fixedly connected to the front side of the electric forklift, the outer gantry is fixedly mounted on the front side of the inner gantry, the carrying backrest is fixedly connected to the front side of the outer gantry, the pallet fork is arranged on the front side of the bottom of the outer gantry, the lifting oil cylinder and the lifting rod are used for lifting the pallet fork, and the pressure sensor is fixedly mounted on the pallet fork.
As a still further scheme of the invention: the brake module is including going brake mechanism and jack-up brake mechanism, the brake mechanism that goes is used for braking electric fork truck's drive wheel, and goes brake mechanism and be mechanical friction brake, jack-up brake mechanism is used for braking the lifting cylinder, and jack-up brake mechanism is electromagnetic braking ware.
As a still further scheme of the invention: the warning module comprises a speed photoelectric alarm, a weight photoelectric alarm and a distance photoelectric alarm, wherein the speed photoelectric alarm is used for overspeed alarm, the weight photoelectric alarm is used for overweight alarm, and the distance photoelectric alarm is used for collision alarm.
As a still further scheme of the invention: and the data feedback module is used for converting the electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmitting the analog signals to the display module and the data comparison center.
As a still further scheme of the invention: the control system comprises the following operation steps:
step S1: the map generation module generates a three-dimensional map according to the specific position of a factory, the map simulation module simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, and the MCU controller transmits the satellite three-dimensional map of the factory into mobile phone map software of a mobile phone end;
step S2: the maximum driving speed and the maximum lifting weight of the electric forklift are set through a plc control module, and then the maximum contact distance, the maximum driving speed and the maximum lifting weight are transmitted to a data comparison center;
step S3: an operator sits in an operating room of the electric forklift and issues a driving instruction and a hoisting instruction through the operating module respectively, the central processing unit transmits the driving instruction and the hoisting instruction to the driving module and the hoisting module respectively, the driving motor and the steering motor control rotation and steering of a driving wheel of the electric forklift respectively until a fork of the electric forklift is positioned below a cargo to be transported, and then the hoisting oil cylinder and the lifting rod do work to drive the fork to move upwards so as to lift the cargo to be transported and transport the cargo;
step S4: meanwhile, a distance sensor, a speed sensor and a pressure sensor of the state observer respectively monitor the distance, the speed and the weight in real time, a data feedback module converts electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmits the analog signals to a display module and a data comparison center, the display module respectively displays the distance between external factors and the electric forklift, the driving speed of the electric forklift and the lifting weight of the electric forklift, and the data comparison center compares the real-time monitored data with the maximum contact distance, the maximum driving speed and the maximum lifting weight set in the step S2;
step S5: when the real-time distance between the external factors and the electric forklift is not less than the maximum contact distance, the data comparison center transmits a distance alarm instruction to the central processing unit, the central processing unit controls the distance photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time running speed of the electric forklift is not less than the maximum running speed, the data comparison center transmits an overspeed alarm instruction to the central processing unit, the central processing unit controls the speed photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time hoisting weight of the electric forklift is not less than the maximum hoisting weight, the data comparison center transmits an overweight alarm instruction to the central processing unit, the central processing unit controls the weight photoelectric alarm to give an alarm and controls the hoisting brake mechanism of the brake module to work, and parking is realized;
step S6: the GPS module transmits the position of the braking electric forklift to the MCU controller through the wireless receiving module, the MCU controller simulates the position of the braking electric forklift to the satellite three-dimensional map generated in the step S1 through the Bluetooth module, and a maintainer can directly find the electric vehicle braked in a factory according to mobile phone map software to carry out rapid maintenance.
Compared with the prior art, the invention has the beneficial effects that:
1. the running and hoisting convenience of the electric forklift is improved through the matched use of the user center, the operation module, the central processing unit, the execution unit, the driving module, the driving motor, the steering motor, the hoisting module, the outer gantry, the inner gantry, the carrying backrest, the pallet fork, the lifting rod and the hoisting oil cylinder;
2. the feedback center, the state observer, the distance sensor, the speed sensor, the pressure sensor, the data feedback module, the user center and the display module are used for realizing the function of state observation, monitoring the distance, the driving speed and the hoisting weight in real time and increasing the using effect;
3. through the cooperation of the feedback center, the state observer, the data feedback module, the user center, the plc control module, the data comparison center, the execution center, the brake module, the driving brake mechanism, the lifting brake mechanism, the warning module, the speed photoelectric alarm, the weight photoelectric alarm and the distance photoelectric alarm, the electric forklift can prevent external factors from colliding, control the driving speed and control the lifting weight;
4. through the cooperation use between map generation module, map simulation module, MCU controller, wireless output module, GPS module, bluetooth module and the cell-phone map software, conveniently imitate the overall arrangement map in the mill to the concrete position of braking electric fork truck is look for according to the map of simulation to the convenience, has increased the efficiency of overhauing.
Drawings
Fig. 1 is a system block diagram of an electric forklift multifunctional control system based on a state observer.
Fig. 2 is a flow chart of maintenance of the multifunctional control system of the electric forklift based on the state observer.
Fig. 3 is a processing center block diagram of an electric forklift multifunctional control system based on a state observer.
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, in an embodiment of the present invention, a state observer-based multifunctional control system for an electric forklift includes a central processing unit, a user center, a data comparison center, an execution center, a feedback center and a processing center, where the user center includes an operation module, a plc control module and a display module, the execution center includes a driving module, a hoisting module, a braking module, a warning module and an execution module, the feedback center includes a state observer and a data feedback module, and the processing center includes a wireless receiving module, an MCU controller, a map generation module, a map simulation module, a bluetooth module and mobile phone map software; the data contrast center is used for receiving the operating instruction that plc control module inside was stored and the state information of data feedback module feedback, and the state observer is including a plurality of distance sensor, speedtransmitter and pressure sensor, and a plurality of distance sensor and speedtransmitter are fixed mounting respectively on electric fork truck's car shell.
In some embodiments of the present invention, the operation module is disposed in a driver's operation room of the electric forklift, the operation module is used for controlling the driving module and the lifting module, the plc control module is used for setting and storing a maximum driving speed and a maximum lifting weight of the electric forklift, the display module is an ips screen, the display module is used for displaying the driving speed and the lifting weight of the electric forklift, the driving module comprises a driving motor and a steering motor, the driving motor and the steering motor are respectively used for controlling the rotation and the steering of a driving wheel of the electric forklift, the lifting module comprises an outer portal frame, an inner portal frame, a carrying backrest, a pallet fork, a lifting rod and a lifting cylinder, the inner portal frame is fixedly connected to the front side of the electric forklift, the outer portal frame is fixedly installed to the front side of the inner portal frame, the carrying backrest is fixedly connected to the front side of the outer portal frame, the pallet fork is disposed to the front side of the bottom of the outer, the pressure sensor is fixedly arranged on the goods fork.
The driving module is conveniently controlled through the operation module in the electric forklift operation chamber, so that the driving wheel of the electric forklift is controlled to rotate and turn through the driving motor and the steering motor, the electric forklift is enabled to run more conveniently, the lifting oil cylinder and the lifting rod are controlled to lift the pallet fork through the operation module, and lifting of cargoes is achieved.
In some embodiments of the present invention, the braking module includes a driving braking mechanism and a lifting braking mechanism, the driving braking mechanism is used for braking a driving wheel of the electric forklift, the driving braking mechanism is a mechanical friction brake, the lifting braking mechanism is used for braking a lifting cylinder, the lifting braking mechanism is an electromagnetic brake, the warning module includes a speed photoelectric alarm, a weight photoelectric alarm and a distance photoelectric alarm, the speed photoelectric alarm is used for overspeed alarm, the weight photoelectric alarm is used for overweight alarm, the distance photoelectric alarm is used for collision alarm, and the data feedback module is used for converting electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmitting the analog signals to the display module and the data comparison center.
The distance, the speed and the weight are respectively monitored in real time through the distance sensor, the speed sensor and the pressure sensor, the data feedback module converts the electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals, and respectively transmitting the analog signals to a display module and a data comparison center, wherein the display module respectively displays the distance between the external factors and the electric forklift, the running speed of the electric forklift and the lifting weight of the electric forklift, the data comparison center compares the real-time monitored data with the maximum contact distance, the maximum running speed and the maximum lifting weight set by a plc control module to obtain a comparison result, and the comparison result is displayed by a speed photoelectric alarm, a weight photoelectric alarm and a distance photoelectric alarm, meanwhile, the braking is realized through the running braking mechanism and the hoisting braking mechanism, and the damage to the electric forklift is prevented.
In some embodiments of the invention, the plurality of GPS modules are provided, the plurality of GPS modules are respectively and fixedly installed on each electric forklift, the map generation module is used for generating a three-dimensional map according to a specific position of a factory, the map simulation module is used for simulating the layout of the factory into the three-dimensional map and forming a satellite three-dimensional map, mobile phone map software is downloaded from a mobile phone APP, the MCU controller is connected with the mobile phone map software through the bluetooth module, the MCU controller transmits the satellite three-dimensional map into the mobile phone map software, the wireless receiving module is wirelessly connected with the GPS module, the output end of the wireless output module is connected with the input end of the MCU controller, and the wireless receiving module is used for receiving the specific position of the electric forklift.
Through the map generation module, the map simulation module, the MCU controller, the wireless output module, the GPS module, the Bluetooth module and the mobile phone map software, the site layout in factories and factories is simulated into a satellite three-dimensional map, the position of the braked electric forklift is simulated into the satellite three-dimensional map of the factories, and a maintainer can download the mobile phone map software through a mobile phone, so that the specific position of the braked electric forklift in the factories can be mastered according to the satellite three-dimensional map, the searching is facilitated, and the overhauling efficiency is improved.
The control system operates as follows:
step S1: the map generation module generates a three-dimensional map according to the specific position of a factory, the map simulation module simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, and the MCU controller transmits the satellite three-dimensional map of the factory into mobile phone map software of a mobile phone end;
step S2: the maximum driving speed and the maximum lifting weight of the electric forklift are set through a plc control module, and then the maximum contact distance, the maximum driving speed and the maximum lifting weight are transmitted to a data comparison center;
step S3: an operator sits in an operating room of the electric forklift and issues a driving instruction and a hoisting instruction through the operating module respectively, the central processing unit transmits the driving instruction and the hoisting instruction to the driving module and the hoisting module respectively, the driving motor and the steering motor control rotation and steering of a driving wheel of the electric forklift respectively until a fork of the electric forklift is positioned below a cargo to be transported, and then the hoisting oil cylinder and the lifting rod do work to drive the fork to move upwards so as to lift the cargo to be transported and transport the cargo;
step S4: meanwhile, a distance sensor, a speed sensor and a pressure sensor of the state observer respectively monitor the distance, the speed and the weight in real time, a data feedback module converts electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmits the analog signals to a display module and a data comparison center, the display module respectively displays the distance between external factors and the electric forklift, the driving speed of the electric forklift and the lifting weight of the electric forklift, and the data comparison center compares the real-time monitored data with the maximum contact distance, the maximum driving speed and the maximum lifting weight set in the step S2;
step S5: when the real-time distance between the external factors and the electric forklift is not less than the maximum contact distance, the data comparison center transmits a distance alarm instruction to the central processing unit, the central processing unit controls the distance photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time running speed of the electric forklift is not less than the maximum running speed, the data comparison center transmits an overspeed alarm instruction to the central processing unit, the central processing unit controls the speed photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time hoisting weight of the electric forklift is not less than the maximum hoisting weight, the data comparison center transmits an overweight alarm instruction to the central processing unit, the central processing unit controls the weight photoelectric alarm to give an alarm and controls the hoisting brake mechanism of the brake module to work, and parking is realized;
step S6: the GPS module transmits the position of the braking electric forklift to the MCU controller through the wireless receiving module, the MCU controller simulates the position of the braking electric forklift to the satellite three-dimensional map generated in the step S1 through the Bluetooth module, and a maintainer can directly find the electric vehicle braked in a factory according to mobile phone map software to carry out rapid maintenance.
The working principle of the invention is as follows:
firstly, the maximum driving speed and the maximum hoisting weight of the electric forklift are set through a plc control module, then the maximum contact distance, the maximum driving speed and the maximum hoisting weight are transmitted to a data comparison center, an operator sits in an operation chamber of the electric forklift and respectively issues a driving instruction and a hoisting instruction through the operation module, a central processing unit respectively transmits the driving instruction and the hoisting instruction to the driving module and the hoisting module, the driving motor and a steering motor respectively control the rotation and the steering of a driving wheel of the electric forklift until a fork of the electric forklift is positioned below a goods to be transported, then a hoisting oil cylinder and a lifting rod do work to drive the fork to move upwards, the goods to be transported can be lifted, the transportation of the goods is realized, and meanwhile, a distance sensor, a speed sensor and a pressure sensor of a state observer respectively monitor the distance, the speed and the weight in real time, the data feedback module converts electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmits the analog signals to the display module and the data comparison center, the display module respectively displays the distance between the external factors and the electric forklift, the running speed of the electric forklift and the lifting weight of the electric forklift, the data comparison center compares real-time monitored data with the set maximum contact distance, the maximum running speed and the maximum lifting weight, when the real-time distance between the external factors and the electric forklift is not less than the maximum contact distance, the data comparison center transmits a distance alarm instruction to the central processing unit, the central processing unit controls the distance photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time running speed of the electric forklift is not less than the maximum running speed, the data comparison center transmits an overspeed alarm instruction to the central processing unit, the central processing unit controls the speed photoelectric alarm to give an alarm and controls a running brake mechanism of the brake module to work, when the real-time hoisting weight of the electric forklift is not less than the maximum hoisting weight, the data comparison center transmits an overweight alarm instruction to the central processing unit, the central processing unit controls the weight photoelectric alarm to give an alarm and controls the hoisting brake mechanism of the brake module to work, and parking is realized, meanwhile, the map generation module generates a three-dimensional map according to the specific position of a factory, the map simulation module simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, the MCU controller transmits the satellite three-dimensional map of the factory into mobile phone map software at a mobile phone end, when the electric forklift brakes and parks, the GPS module transmits the position for braking the electric forklift to the MCU controller through the wireless receiving module, and the MCU controller simulates the position for braking the electric forklift to the satellite three-dimensional map generated in the step S1 through the Bluetooth, the maintainer can directly look for the electric motor car of interior braking of mill according to cell-phone map software to overhaul fast, increased the efficiency of overhauing.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides an electric fork-lift multifunctional control system based on state observer, includes central processing unit, user center, data contrast center, execution center, feedback center and processing center, its characterized in that: the user center comprises an operation module, a plc control module and a display module, the execution center comprises a driving module, a hoisting module, a braking module, a warning module and an execution module, the feedback center comprises a state observer and a data feedback module, and the processing center comprises a wireless receiving module, an MCU controller, a map generating module, a map simulating module, a Bluetooth module and mobile phone map software;
the data comparison center is used for receiving an operation instruction stored in the plc control module and state information fed back by the data feedback module, the state observer comprises a plurality of distance sensors, speed sensors and pressure sensors, the distance sensors and the speed sensors are respectively and fixedly installed on a shell of the electric forklift, the GPS modules are provided with a plurality of GPS modules, the GPS modules are respectively and fixedly installed on each electric forklift, the map generation module is used for generating a three-dimensional map according to specific positions of a factory, the map simulation module is used for simulating the layout of the factory into the three-dimensional map and forming a satellite three-dimensional map, the mobile phone map software is downloaded from a mobile phone APP, the MCU controller is connected with the mobile phone map software through a Bluetooth module, and the MCU controller transmits the satellite three-dimensional map into the mobile phone map software, the wireless receiving module is wirelessly connected with the GPS module, the output end of the wireless output module is connected with the input end of the MCU controller, and the wireless receiving module is used for receiving the specific position of the electric forklift.
2. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the operation module is arranged in a driver operation room of the electric forklift and is used for controlling the driving module and the hoisting module.
3. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: and the plc control module is used for setting and storing the maximum running speed and the maximum hoisting weight of the electric forklift.
4. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the display module is an ips screen and is used for displaying the running speed and the lifting weight of the electric forklift.
5. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the driving module comprises a driving motor and a steering motor, and the driving motor and the steering motor are respectively used for controlling the rotation and the steering of the driving wheel of the electric forklift.
6. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the lifting module comprises an outer gantry, an inner gantry, a carrying backrest, a pallet fork, a lifting rod and a lifting oil cylinder, wherein the inner gantry is fixedly connected to the front side of the electric forklift, the outer gantry is fixedly mounted on the front side of the inner gantry, the carrying backrest is fixedly connected to the front side of the outer gantry, the pallet fork is arranged on the front side of the bottom of the outer gantry, the lifting oil cylinder and the lifting rod are used for lifting the pallet fork, and the pressure sensor is fixedly mounted on the pallet fork.
7. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the brake module is including going brake mechanism and jack-up brake mechanism, the brake mechanism that goes is used for braking electric fork truck's drive wheel, and goes brake mechanism and be mechanical friction brake, jack-up brake mechanism is used for braking the lifting cylinder, and jack-up brake mechanism is electromagnetic braking ware.
8. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the warning module comprises a speed photoelectric alarm, a weight photoelectric alarm and a distance photoelectric alarm, wherein the speed photoelectric alarm is used for overspeed alarm, the weight photoelectric alarm is used for overweight alarm, and the distance photoelectric alarm is used for collision alarm.
9. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: and the data feedback module is used for converting the electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmitting the analog signals to the display module and the data comparison center.
10. The state observer-based electric forklift multifunctional control system according to claim 1, characterized in that: the control system comprises the following operation steps:
step S1: the map generation module generates a three-dimensional map according to the specific position of a factory, the map simulation module simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, and the MCU controller transmits the satellite three-dimensional map of the factory into mobile phone map software of a mobile phone end;
step S2: the maximum driving speed and the maximum lifting weight of the electric forklift are set through a plc control module, and then the maximum contact distance, the maximum driving speed and the maximum lifting weight are transmitted to a data comparison center;
step S3: an operator sits in an operating room of the electric forklift and issues a driving instruction and a hoisting instruction through the operating module respectively, the central processing unit transmits the driving instruction and the hoisting instruction to the driving module and the hoisting module respectively, the driving motor and the steering motor control rotation and steering of a driving wheel of the electric forklift respectively until a fork of the electric forklift is positioned below a cargo to be transported, and then the hoisting oil cylinder and the lifting rod do work to drive the fork to move upwards so as to lift the cargo to be transported and transport the cargo;
step S4: meanwhile, a distance sensor, a speed sensor and a pressure sensor of the state observer respectively monitor the distance, the speed and the weight in real time, a data feedback module converts electric signals of the distance sensor, the speed sensor and the pressure sensor into analog signals and respectively transmits the analog signals to a display module and a data comparison center, the display module respectively displays the distance between external factors and the electric forklift, the driving speed of the electric forklift and the lifting weight of the electric forklift, and the data comparison center compares the real-time monitored data with the maximum contact distance, the maximum driving speed and the maximum lifting weight set in the step S2;
step S5: when the real-time distance between the external factors and the electric forklift is not less than the maximum contact distance, the data comparison center transmits a distance alarm instruction to the central processing unit, the central processing unit controls the distance photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time running speed of the electric forklift is not less than the maximum running speed, the data comparison center transmits an overspeed alarm instruction to the central processing unit, the central processing unit controls the speed photoelectric alarm to give an alarm and controls the running brake mechanism of the brake module to work, when the real-time hoisting weight of the electric forklift is not less than the maximum hoisting weight, the data comparison center transmits an overweight alarm instruction to the central processing unit, the central processing unit controls the weight photoelectric alarm to give an alarm and controls the hoisting brake mechanism of the brake module to work, and parking is realized;
step S6: the GPS module transmits the position of the braking electric forklift to the MCU controller through the wireless receiving module, the MCU controller simulates the position of the braking electric forklift to the satellite three-dimensional map generated in the step S1 through the Bluetooth module, and a maintainer can directly find the electric vehicle braked in a factory according to mobile phone map software to carry out rapid maintenance.
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| CN202110142027.4A CN112965410A (en) | 2021-02-02 | 2021-02-02 | Electric forklift multifunctional control system based on state observer |
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| CN202110142027.4A Pending CN112965410A (en) | 2021-02-02 | 2021-02-02 | Electric forklift multifunctional control system based on state observer |
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Cited By (1)
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| CN114803961A (en) * | 2022-05-25 | 2022-07-29 | 徐州徐工特种工程机械有限公司 | Remote control system and control method for electric forklift |
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