CN113184762B - Control method and device for lifting of stacking machine, stacking machine and storage medium - Google Patents
Control method and device for lifting of stacking machine, stacking machine and storage medium Download PDFInfo
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- CN113184762B CN113184762B CN202110588344.9A CN202110588344A CN113184762B CN 113184762 B CN113184762 B CN 113184762B CN 202110588344 A CN202110588344 A CN 202110588344A CN 113184762 B CN113184762 B CN 113184762B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The application provides a control method and device for lifting of a forklift, the forklift and a storage medium, the current load of the forklift is obtained, the load grade corresponding to the current load is determined according to the current load, the load of the forklift is divided into a plurality of load grades from no load to full load, a first engine rotating speed is obtained, the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period, a driving current is obtained according to the load grade and the first engine rotating speed, the driving current represents the lifting current of the forklift, and the opening and closing degree of a lifting proportional valve of the forklift is determined according to the driving current. The driving current is obtained by obtaining the current load of the forklift, determining the corresponding load grade according to the current load, and then according to the load grade and the first engine rotating speed. The opening degree of the lifting proportional valve is controlled according to the driving current, so that the lifting efficiency of the forklift is improved, and the driving force required by lifting is reasonably distributed through the opening degree of the lifting proportional valve.
Description
Technical Field
The application relates to the technical field of lifting control, in particular to a control method and device for lifting of a forklift, the forklift and a storage medium.
Background
At present, it is common to use fork lift trucks in handling, stacking and carrying operations, especially in port scenarios. When the stacker crane runs at idle speed to lift cargoes, the rotating speed of the engine is low easily, so that insufficient power is supplied to the engine, and the stacker crane is flameout finally, so that the lifting efficiency of the stacker crane is influenced.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a control method and device for lifting of a stacking machine, the stacking machine and a storage medium, and solves the problem of low lifting efficiency of the stacking machine.
According to an aspect of the present invention, there is provided a control method of stacker lifting, comprising: acquiring the current load of the forklift; determining a load grade corresponding to the current load according to the current load; wherein the load of the forklift is divided into a plurality of load grades from empty to full load; acquiring a first engine rotating speed; wherein the first engine speed represents the speed of the engine of the forklift in the current cycle; obtaining a driving current according to the load grade and the first engine rotating speed; wherein the drive current represents a lift current of the forklift; and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current.
In one embodiment, said deriving a drive current based on said load level and said first engine speed comprises: acquiring a second engine speed; wherein the second engine speed represents a speed of an engine of the forklift at a previous cycle; calculating a speed difference between the first engine speed and the second engine speed; and obtaining the driving current according to the load grade and the rotating speed difference value.
In an embodiment, the obtaining the driving current according to the load level and the rotation speed difference includes: determining a rotation speed difference grade corresponding to the rotation speed difference value according to the rotation speed difference value; wherein a difference value between the first engine speed and the second engine speed of the forklift is divided into a plurality of speed difference levels from a preset first difference value to a preset second difference value, and the first difference value is smaller than the second difference value; and obtaining the driving current according to the load grade and the rotating speed difference grade.
In an embodiment, the obtaining the driving current according to the load level and the rotational speed difference level includes: according to the load grade and the rotating speed difference grade, looking up a table to obtain a table look-up result; when the load grade is less than or equal to a preset load grade threshold value and the time for continuously acquiring the handle operation signal is greater than a preset time threshold value, calculating to obtain the driving current according to the table look-up result; wherein the driving current is equal to the result of the table look-up multiplied by a first preset coefficient.
In an embodiment, the obtaining the driving current according to the load level and the rotational speed difference level further includes: when the load grade is larger than the load grade threshold value or the time for continuously acquiring the handle operation signal is smaller than the time threshold value, calculating to obtain the driving current according to the table look-up result; and the driving current is equal to the result of the table look-up multiplied by a second preset coefficient, and the second preset coefficient is smaller than the first preset coefficient.
In an embodiment, when the load level is less than or equal to a preset load level threshold and the time for continuously acquiring the handle operation signal is greater than a preset time threshold, calculating the driving current according to the table look-up result includes: when the load grade is less than or equal to the load grade threshold value, the time for continuously acquiring the handle operation signal is greater than the time threshold value, and the first engine rotating speed is greater than a preset rotating speed threshold value, calculating to obtain the driving current according to the table look-up result and the handle operation signal; and the driving current is equal to the table look-up result multiplied by a first preset coefficient and multiplied by the output value of the handle operation signal.
In an embodiment, said obtaining the driving current according to the load level and the rotational speed difference level further comprises: and when the first engine rotating speed is less than a preset rotating speed threshold value, setting the driving current to be a preset current value.
According to an aspect of the present invention, there is provided a control apparatus for lifting a forklift, comprising: the load obtaining module is used for obtaining the current load of the forklift; the load grade determining module is used for determining the load grade corresponding to the current load according to the current load; wherein the load of the forklift is divided into a plurality of load levels from no load to full load; the first engine rotating speed acquisition module is used for acquiring a first engine rotating speed, wherein the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period; the current module is used for obtaining driving current according to the load grade and the first engine rotating speed; wherein the driving current represents the current of the forklift lifting; and the opening degree determining module is used for determining the opening degree of a lifting proportional valve of the forklift according to the driving current.
According to an aspect of the present invention, there is provided a forklift comprising: an engine for providing a lifting driving force; the lifting oil cylinder is connected with the engine and used for providing lifting hydraulic pressure; the lifting proportional valve is connected with the lifting oil cylinder and used for controlling the output proportion of hydraulic oil; a controller connected to the lift proportional valve, the controller configured to: acquiring the current load of the forklift; determining a load grade corresponding to the current load according to the current load; wherein the load of the forklift is divided into a plurality of load grades from empty to full load; acquiring a first engine rotating speed, wherein the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period; obtaining a driving current according to the load grade and the first engine rotating speed; wherein the driving current represents the current of the forklift lifting; and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current.
According to another aspect of the present invention, a storage medium is provided. The storage medium stores a computer program for executing any of the above-described control methods for forklift lifting.
The application provides a control method and device for lifting of a forklift, the forklift and a storage medium, and the control method comprises the following steps: the method comprises the steps of obtaining the current load of the forklift, determining the load grade corresponding to the current load according to the current load, dividing the load of the forklift into a plurality of load grades from no load to full load, obtaining the first engine rotating speed, wherein the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period, obtaining driving current according to the load grade and the first engine rotating speed, wherein the driving current represents the lifting current of the forklift, and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current. The driving current is obtained by obtaining the current load of the forklift, determining the corresponding load grade according to the current load, and then according to the load grade and the first engine rotating speed. The opening degree of the lifting proportional valve is controlled according to the driving current, so that the lifting efficiency of the forklift is improved, and the driving force required by lifting is reasonably distributed through the opening degree of the lifting proportional valve.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural diagram of a fuzzy controller according to an exemplary embodiment of the present application.
Fig. 2 is a schematic diagram of a forklift application fuzzy controller according to another exemplary embodiment of the present application.
Fig. 3 is a flowchart illustrating a control method for the lift of the forklift according to an exemplary embodiment of the present disclosure.
Fig. 4 is a schematic flow chart of obtaining a driving current according to an exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart of obtaining a driving current according to another exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart of obtaining a driving current according to another exemplary embodiment of the present application.
Fig. 7 is a schematic diagram of a control device for raising a forklift according to an exemplary embodiment of the present application.
Fig. 8 is a schematic diagram of a control device for raising of the forklift according to another exemplary embodiment of the present application.
Fig. 9 is a schematic diagram of a control device for raising of the forklift according to another exemplary embodiment of the present application.
Fig. 10 is a schematic structural diagram of a forklift provided in an exemplary embodiment of the present application.
Fig. 11 is a schematic structural diagram of a forklift provided in another exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic structural diagram of a fuzzy controller according to an exemplary embodiment of the present application. As shown in fig. 1, the fuzzy controller 30 includes: fuzzification interface 31, database 32, rule base 33, fuzzy inference engine 34, and defuzzification interface 35.
The measured state of the forklift, namely the numerical value corresponding to the forklift is converted into the fuzzy quantity described by the human natural language through the fuzzification interface 31, the load of the forklift, the engine speed and the like are converted into the fuzzy quantity through the fuzzification interface 31, the data corresponding to the fuzzy quantity are obtained from the database 32, then the control rule can be obtained according to the human language control rule according to the rule base 33, the control rule and the data are subjected to the fuzzy inference machine 34 to obtain the fuzzy value of the output control quantity, the fuzzy value of the control quantity is subjected to the sharpening interface, namely the fuzzification interface 35 is converted into the accurate quantity accepted by an execution mechanism, and the output accurate quantity can be the driving current.
Fig. 2 is a schematic diagram of a forklift application fuzzy controller according to another exemplary embodiment of the present application. As shown in fig. 2, data output from forward and reverse gears of the forklift, handle lift data, engine stall (engine speed reduction) data, which is the reduction in engine speed when the lift cylinders are driven, and load are input to the fuzzy controller 30. The load corresponds to the cylinder pressure, which is obtained during the lifting process. The driving current is obtained through the operation inside the fuzzy controller 30, and the opening and closing degree of the lifting proportional valve is driven through the driving current, so that the lifting oil cylinder is driven to lift cargoes.
Fig. 3 is a flowchart illustrating a control method for the lift of the forklift according to an exemplary embodiment of the present disclosure. The embodiment can be applied to a fork lift truck, as shown in fig. 3, and includes the following steps:
step 110: and acquiring the current load of the forklift.
The load is the actual weight of goods when the fork lift is carrying goods. For example 3 tons or 9 tons. In addition, the lifting power of the forklift is affected by the size of the load. Therefore, in order to determine the power required for the lifting of the forklift, it is necessary to acquire the current load of the forklift.
Step 120: and determining a load grade corresponding to the current load according to the current load, wherein the load of the forklift is divided into a plurality of load grades from no load to full load.
And (3) blurring the current load into a corresponding load grade by adopting a fuzzy control strategy (quantizing by using a fuzzy set theory and converting into a controller which can be realized mathematically so as to realize the control on the controlled object). The load grades may be classified into 7 equal parts from no load to full load, for example, if the full load is 7 tons, the load grades may be classified into 1 grade corresponding to 0 to 1 ton, 2 grade corresponding to 1 to 2 tons, 3 grade corresponding to 2 to 3 tons, 4 grade corresponding to 3 to 4 tons, 5 grade corresponding to 4 to 5 tons, 6 grade corresponding to 5 to 6 tons, and 7 grade corresponding to 6 to 7 tons. If the stacker is detected to carry 4.4 tons of goods, the load corresponding to 4.4 tons should be rated at 5 according to the above-described classification. The loads with similar values are divided into a load grade, so that fuzzy control is realized, and the driving current is relatively stable.
Step 130: a first engine speed is obtained, wherein the first engine speed represents the speed of the engine of the forklift in the current period.
A first engine speed is obtained, wherein the engine speed is related to the effective power of the engine, namely the effective power of the engine is changed along with the change of the engine speed. The engine speed is obtained at the present cycle, one of which is 80 ms.
Step 140: and obtaining a driving current according to the load grade and the first engine rotating speed, wherein the driving current represents the lifting current of the forklift.
The driving current can influence the lifting of the forklift, namely the driving current can be converted into power to drive the lifting oil cylinder to work. And the driving current value is accurately obtained according to the load grade and the first engine rotating speed, so that the lifting efficiency is improved.
Step 150: and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current.
The driving current can adjust the opening degree of the lifting proportional valve, and the opening degree of the lifting proportional valve can determine the power of the engine, so that the lifting is carried out. By determining the opening and closing degree of the lifting proportional valve of the forklift, reasonable driving force can be obtained in the lifting process of the forklift, the rotating speed of the engine is increased, and the phenomenon that the engine is easy to stall at a lower rotating speed is prevented.
The application provides a control method and device for lifting of a forklift, the forklift and a storage medium, and the control method comprises the following steps: the method comprises the steps of obtaining the current load of the forklift, determining the load grade corresponding to the current load according to the current load, dividing the load of the forklift into a plurality of load grades from no-load to full-load, obtaining the first engine rotating speed, wherein the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period, obtaining driving current according to the load grade and the first engine rotating speed, wherein the driving current represents the lifting current of the forklift, and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current. The driving current is obtained by obtaining the current load of the forklift, determining the corresponding load grade according to the current load, and then according to the load grade and the first engine rotating speed. The opening degree of the lifting proportional valve is controlled according to the driving current, so that the lifting efficiency of the forklift is improved, and the driving force required by lifting is reasonably distributed through the opening degree of the lifting proportional valve.
Fig. 4 is a schematic flow chart of obtaining a driving current according to an exemplary embodiment of the present application. As shown in fig. 4, on the basis of the above embodiment, step 140 may include the following steps:
step 141: a second engine speed is obtained, wherein the second engine speed represents the speed of the engine of the forklift during the previous period.
And acquiring the rotating speed of the engine of the forklift in the previous period, wherein the second engine rotating speed is the rotating speed of the first engine rotating speed in the previous period. And determining the change of the current lifting demand according to the rotating speed of the previous period and the rotating speed of the current period.
Step 142: a rotational speed difference between the first engine rotational speed and the second engine rotational speed is calculated.
By calculating the rotating speed difference value between the first engine rotating speed and the second engine rotating speed, the rotating speed difference value can be clearly compared with the effective power of the engine in the current period and the previous period.
Step 143: and obtaining the driving current according to the load grade and the rotating speed difference.
Because the load and the rotating speed are conditions influencing the driving current, the driving current is obtained according to the load grade and the rotating speed difference value corresponding to the load.
Fig. 5 is a schematic flow chart of obtaining a driving current according to another exemplary embodiment of the present application. As shown in fig. 5, on the basis of the above embodiment, step 143 may include the following steps:
step 1431: and determining a rotation speed difference grade corresponding to the rotation speed difference value according to the rotation speed difference value, wherein the difference value between the first engine rotation speed and the second engine rotation speed of the forklift is divided into a plurality of rotation speed difference grades from a preset first difference value to a preset second difference value, and the first difference value is smaller than the second difference value.
The rotating speed difference value is fuzzified by determining the rotating speed difference grade, namely the rotating speed differences with similar values are put into one rotating speed difference grade, so that fuzzy control is realized, and the relative stability of the driving current is ensured. For example, a 1-speed difference level corresponds to a speed difference of 5 rpm or more, a 2-speed difference level corresponds to-5 to 5 rpm, a 3-speed difference level corresponds to-15 to-5 rpm, a 4-speed difference level corresponds to-25 to-15 rpm, a 5-speed difference level corresponds to-35 to-25 rpm, a 6-speed difference level corresponds to-45 to-35 rpm, a 7-speed difference level corresponds to-55 to-45 rpm, and an 8-speed difference level corresponds to-65 to-55 rpm.
Step 1432: and obtaining the driving current according to the load grade and the rotating speed difference grade.
And obtaining the driving current according to the numerical value corresponding to the load grade and the numerical value corresponding to the rotating speed difference grade.
In an embodiment, the specific implementation manner of step 1432 may be: and according to the load grade and the rotating speed difference grade, looking up a table to obtain a table look-up result. And when the load grade is less than or equal to a preset load grade threshold value and the time for continuously acquiring the handle operation signal is greater than a preset time threshold value, calculating to obtain the driving current according to a table look-up result, wherein the driving current is equal to the table look-up result multiplied by a first preset coefficient.
According to the load grade and the rotating speed difference grade, the empirical value corresponding to the load grade and the rotating speed difference grade can be obtained through table lookup, the empirical value is a table lookup result, and the empirical value is empirical data obtained in experimental tests. An intermediate result may be set, and the table lookup result corresponds to the intermediate result, which may be set according to the situation. And then when the load grade is less than or equal to the preset load grade threshold value and the time for continuously acquiring the handle operation signal is greater than the preset time threshold value, calculating to obtain the driving current according to the intermediate result, wherein the continuously acquired handle operation signal represents that the user operates the handle. For example, the load level is 2, the preset load level threshold is 3, and the time for continuously acquiring the handle operation signal is 5s (seconds), and the preset time threshold is 2.5s, then when the load level 2 is less than or equal to the preset load level threshold 3 and the time for continuously acquiring the handle operation signal is greater than the preset time threshold 2.5s, the driving current is calculated according to the intermediate result. If the driving current is equal to the intermediate result multiplied by a first predetermined coefficient, for example, the first predetermined coefficient may be 1.2, and the intermediate result is 3, the driving current is equal to 3 multiplied by 1.2, i.e., the driving current is 3.6 amperes.
In an embodiment, the specific implementation manner of step 1432 may be: and when the load grade is greater than the load grade threshold value or the time for continuously acquiring the handle operation signal is less than the time threshold value, calculating to obtain the driving current according to the table look-up result, wherein the driving current is equal to the table look-up result multiplied by a second preset coefficient, and the second preset coefficient is less than the first preset coefficient.
And when the load grade is greater than the preset load grade threshold value and the time for continuously acquiring the handle operation signal is less than the preset time threshold value, calculating to obtain the driving current according to the table look-up result. For example, the load level is 5, the preset load level threshold is 3, the time for continuously acquiring the handle operation signal is 2s (seconds), and the preset time threshold is 2.5s, when the load level 5 is greater than the preset load level threshold 3 and the time for continuously acquiring the handle operation signal is less than the preset time threshold 2.5s, the driving current is calculated according to the table lookup result. The driving current is equal to the result of table lookup multiplied by a second preset coefficient, wherein the second preset coefficient is smaller than the first preset coefficient, taking the second preset coefficient as 1 as an example, and the result of table lookup is 3, then the driving current is equal to 3 multiplied by 1, that is, the driving current is 3 amperes.
In an embodiment, the control method for the lifting of the forklift may further include: and when the load grade is less than or equal to the load grade threshold value, the time for continuously acquiring the handle operation signal is greater than the time threshold value, and the first engine rotating speed is greater than a preset rotating speed threshold value, calculating to obtain a driving current according to the table look-up result and the handle operation signal, wherein the driving current is equal to the output value of the table look-up result multiplied by a first preset coefficient and multiplied by the handle operation signal.
When the load level is less than or equal to the load level threshold value, the time for continuously acquiring the handle operation signal is greater than the time threshold value, and the first engine rotating speed is greater than the preset rotating speed threshold value, the driving current is calculated according to the table look-up result and the handle operation signal, the load level 2 and the load level threshold value are 3, the time for continuously acquiring the handle operation signal is 2 seconds, the time threshold value is 2.5 seconds, the first engine rotating speed is 600 revolutions per minute, and the preset rotating speed threshold value is 550 revolutions per minute, and when the load level 2 is less than or equal to the load level threshold value 3, the time for continuously acquiring the handle operation signal is 2 seconds greater than the time threshold value 2.5 seconds, and the first engine rotating speed 600 revolutions per minute is greater than the preset rotating speed threshold value 550 revolutions per minute, the driving current is calculated according to the table look-up result and the handle operation signal. The driving current is equal to the table look-up result multiplied by a first preset coefficient and multiplied by an output value of the handle operation signal, the output value of the handle operation signal can be 0-1000,0 to represent that the handle is not operated, 1000 represents a corresponding output value when the angle of the handle operation is the maximum value, and the output value of the handle operation signal is in positive correlation with the driving current. Taking table lookup result 3, the first predetermined coefficient being 1.2, and the output value of the handle operation signal being 500 as an example, the driving current is equal to 3 times 1.2 times 500, i.e. the driving current is equal to 1800 ma.
Fig. 6 is a schematic flow chart of obtaining a driving current according to another exemplary embodiment of the present application. As shown in fig. 6, step 143 may further include the steps of:
step 1433: and when the first engine rotating speed is less than the preset rotating speed threshold value, setting the driving current to be a preset current value.
When the first engine rotation speed is less than the preset rotation speed threshold, the driving current is obtained, and when the first engine rotation speed is 500 rpm and the preset rotation speed threshold is 550 rpm, for example, the driving current is obtained when the first engine rotation speed is 500 rpm and is less than the preset rotation speed threshold 550 rpm. The driving current is smaller than a preset current value, which may be 0.
Exemplary devices
Fig. 7 is a schematic diagram of a control device for raising a forklift according to an exemplary embodiment of the present application. As shown in fig. 7, the control device 20 for the lift of the stacker includes: the control device comprises a load obtaining module 201 for obtaining the current load of the forklift, a load grade determining module 202 for determining the load grade corresponding to the current load according to the current load, wherein the load of the forklift is divided into a plurality of load grades from no load to full load, a first engine rotating speed obtaining module 203 for obtaining a first engine rotating speed, the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period, a current module 204 for obtaining a driving current according to the load grade and the first engine rotating speed, the driving current represents the current for lifting the forklift, and an opening and closing degree determining module 205 for determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current.
The embodiment provides a control device that stacker lifted, includes: the control device comprises a load obtaining module 201 used for obtaining the current load of the forklift, a load grade determining module 202 used for determining the load grade corresponding to the current load according to the current load, wherein the load of the forklift is divided into a plurality of load grades from no load to full load, a first engine rotating speed obtaining module 203 used for obtaining a first engine rotating speed, the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period, a current module 204 used for obtaining a driving current according to the load grade and the first engine rotating speed, the driving current represents the lifting current of the forklift, and an opening and closing degree determining module 205 used for determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current. The driving current is obtained by obtaining the current load of the forklift, determining the corresponding load grade according to the current load, and then according to the load grade and the first engine rotating speed. The opening degree of the lifting proportional valve is controlled according to the driving current, so that the lifting efficiency of the forklift is improved, and the driving force required by lifting is reasonably distributed through the opening degree of the lifting proportional valve.
Fig. 8 is a schematic diagram of a control device for raising of the forklift according to another exemplary embodiment of the present application. As shown in fig. 8, the current module 204 includes:
the second engine acquiring submodule 2041 is configured to acquire a second engine speed, where the second engine speed represents a speed of the engine of the forklift in a previous cycle.
And the rotation speed difference value operator module 2042 is used for calculating the rotation speed difference value between the first engine rotation speed and the second engine rotation speed.
And the driving submodule 2043 is configured to obtain a driving current according to the load grade and the rotation speed difference.
In one embodiment, the driver module 2043 may be configured as follows: determining a rotation speed difference grade corresponding to the rotation speed difference value according to the rotation speed difference value; the difference value between the first engine rotating speed and the second engine rotating speed of the forklift is divided into a plurality of rotating speed difference levels from a preset first difference value to a preset second difference value, the first difference value is smaller than the second difference value, and the driving current is obtained according to the load level and the rotating speed difference level.
In one embodiment, the driver module 2043 may be configured as follows: and according to the load grade and the rotating speed difference grade, looking up a table to obtain a table look-up result. When the load grade is less than or equal to a preset load grade threshold value and the time for continuously acquiring the handle operation signal is greater than a preset time threshold value, calculating to obtain the driving current according to a table look-up result; wherein the driving current is equal to the result of the table look-up multiplied by a first predetermined coefficient.
In one embodiment, the driver module 2043 may be configured as follows: when the load grade is less than or equal to the load grade threshold value, the time for continuously acquiring the handle operation signal is greater than the time threshold value, and the first engine rotating speed is greater than a preset rotating speed threshold value, calculating to obtain driving current according to a table look-up result and the handle operation signal; the driving current is equal to the table look-up result multiplied by a first preset coefficient and multiplied by an output value of the handle operation signal.
Fig. 9 is a schematic diagram of a control device for raising of the forklift according to another exemplary embodiment of the present application. As shown in fig. 9, the current module 204 includes:
the driving current submodule 2044 is configured to set the driving current to a preset current value when the first engine speed is less than the preset speed threshold.
Exemplary fork lift
Fig. 10 is a schematic structural diagram of a fork lift truck according to an exemplary embodiment of the present application. As shown in fig. 10, the forklift 10 includes: an engine 301, a lift cylinder 302, a lift proportional valve 303, and a controller 304. The engine 301 is used to provide a lifting driving force. A lift cylinder 302 is connected to the engine 301, the lift cylinder 302 being used to provide lift fluid pressure. And a lifting proportional valve 303, wherein the lifting proportional valve 303 is connected with the lifting oil cylinder 302. The lift proportional valve 303 is used to control the output ratio of the hydraulic oil. The controller 304 is connected with the lift proportional valve 303, and the controller 304 is used for: the current load of the forklift 10 is acquired. And determining a load grade corresponding to the current load according to the current load, wherein the load of the forklift 10 is divided into a plurality of load grades from no load to full load. Acquiring a first engine speed, wherein the first engine speed represents the rotation speed of the engine 301 of the forklift 10 in the current period, and obtaining a driving current according to the load level and the first engine speed, wherein the driving current represents the current for lifting the forklift 10. The opening degree of the lifting proportional valve 303 of the forklift 10 is determined according to the driving current.
Next, a forklift according to an embodiment of the present application is described with reference to fig. 11. The forklift may be either or both of the first device and the second device, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.
FIG. 11 illustrates a block diagram of a fork lift truck according to an embodiment of the present application.
As shown in fig. 11, the forklift 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the fork lift 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the control methods of the forklift lifting of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the forklift 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
Where the forklift is a stand-alone device, the input means 13 may be a communications network connector for receiving the collected input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the forklift 10 relevant to the present application are shown in fig. 11, and components such as buses, input/output interfaces, and the like are omitted. In addition, the fork lift truck 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the control method of stacker lifting according to various embodiments of the present application described in the "exemplary methods" section of this specification above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in the control method of stacker lifting according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (9)
1. A control method for lifting of a stacker is characterized by comprising the following steps:
acquiring the current load of the forklift;
determining the load grade corresponding to the current load according to the current load; wherein the load of the forklift is divided into a plurality of load grades from empty to full load;
acquiring a first engine rotating speed; wherein the first engine speed represents the speed of the engine of the forklift in the current cycle;
acquiring a second engine speed; wherein the second engine speed represents a speed of an engine of the forklift during a previous cycle;
calculating a speed difference between the first engine speed and the second engine speed;
obtaining a driving current according to the load grade and the rotating speed difference value; wherein the drive current represents a lift current of the forklift; and
and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current.
2. The control method for lifting of the forklift according to claim 1, wherein the obtaining of the driving current according to the load level and the difference between the rotation speeds comprises:
determining a rotation speed difference grade corresponding to the rotation speed difference value according to the rotation speed difference value; wherein a difference value between the first engine speed and the second engine speed of the forklift is divided into a plurality of speed difference levels from a preset first difference value to a preset second difference value, and the first difference value is smaller than the second difference value; and
and obtaining the driving current according to the load grade and the rotating speed difference grade.
3. The control method for forklift lifting according to claim 2, wherein said obtaining the driving current according to the load level and the rotation speed difference level comprises:
according to the load grade and the rotating speed difference grade, looking up a table to obtain a table look-up result; and
when the load grade is less than or equal to a preset load grade threshold value and the time for continuously acquiring the handle operation signal is greater than a preset time threshold value, calculating to obtain the driving current according to the table look-up result; wherein the driving current is equal to the result of the table look-up multiplied by a first preset coefficient.
4. The control method for lifting of the forklift as recited in claim 3, wherein the obtaining the driving current according to the load level and the speed difference level further comprises:
when the load grade is greater than the load grade threshold value or the time for continuously acquiring the handle operation signal is less than the time threshold value, calculating to obtain the driving current according to the table look-up result; and the driving current is equal to the result of the table look-up multiplied by a second preset coefficient, and the second preset coefficient is smaller than the first preset coefficient.
5. The control method for lifting of the forklift according to claim 3, wherein when the load level is less than or equal to a preset load level threshold and the time for continuously acquiring the handle operation signal is greater than a preset time threshold, calculating the driving current according to the table look-up result comprises:
when the load grade is less than or equal to the load grade threshold value, the time for continuously acquiring the handle operation signal is greater than the time threshold value, and the first engine rotating speed is greater than a preset rotating speed threshold value, calculating to obtain the driving current according to the table look-up result and the handle operation signal; and the driving current is equal to the table look-up result multiplied by a first preset coefficient and multiplied by the output value of the handle operation signal.
6. The control method for forklift lift according to claim 2, wherein said deriving said drive current based on said load level and said speed difference level further comprises:
and when the first engine rotating speed is less than a preset rotating speed threshold value, setting the driving current to be a preset current value.
7. A control device for lifting of a forklift, comprising:
the load obtaining module is used for obtaining the current load of the forklift;
the load grade determining module is used for determining the load grade corresponding to the current load according to the current load; wherein the load of the forklift is divided into a plurality of load grades from empty to full load;
the system comprises a first engine rotating speed acquisition module, a second engine rotating speed acquisition module and a control module, wherein the first engine rotating speed acquisition module is used for acquiring a first engine rotating speed, and the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period;
the current module is used for acquiring the rotating speed of a second engine; wherein the second engine speed represents a speed of an engine of the forklift during a previous cycle; calculating a speed difference between the first engine speed and the second engine speed;
obtaining a driving current according to the load grade and the rotating speed difference value; wherein the driving current represents the current of the forklift lifting; and
and the opening degree determining module is used for determining the opening degree of a lifting proportional valve of the forklift according to the driving current.
8. A fork lift truck, comprising:
an engine for providing a lifting driving force;
the lifting oil cylinder is connected with the engine and used for providing lifting hydraulic pressure;
the lifting proportional valve is connected with the lifting oil cylinder and used for controlling the output proportion of hydraulic oil;
a controller connected to the lift proportional valve, the controller configured to:
acquiring the current load of the forklift;
determining a load grade corresponding to the current load according to the current load; wherein the load of the forklift is divided into a plurality of load grades from empty to full load;
acquiring a first engine rotating speed, wherein the first engine rotating speed represents the rotating speed of an engine of the forklift in the current period;
acquiring a second engine speed; wherein the second engine speed represents a speed of an engine of the forklift during a previous cycle;
calculating a speed difference between the first engine speed and the second engine speed;
obtaining a driving current according to the load grade and the rotating speed difference value; wherein the driving current represents the current of the forklift lifting; and
and determining the opening and closing degree of a lifting proportional valve of the forklift according to the driving current.
9. A computer-readable storage medium storing a computer program for executing the control method of forklift lift according to any one of claims 1 to 6.
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| CN202110588344.9A CN113184762B (en) | 2021-05-27 | 2021-05-27 | Control method and device for lifting of stacking machine, stacking machine and storage medium |
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