CN114803961A - Remote control system and control method for electric forklift - Google Patents
Remote control system and control method for electric forklift Download PDFInfo
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- CN114803961A CN114803961A CN202210573470.1A CN202210573470A CN114803961A CN 114803961 A CN114803961 A CN 114803961A CN 202210573470 A CN202210573470 A CN 202210573470A CN 114803961 A CN114803961 A CN 114803961A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000004088 simulation Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000009194 climbing Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a remote control system and a remote control method for an electric forklift, and belongs to the technical field of forklift control. The forklift truck remote control system comprises a remote operation module, an information acquisition module, a processing module and an execution module, wherein the information acquisition module, the processing module and the execution module are positioned on the forklift truck; the processing module comprises a map generating unit, a map simulating unit, a map control unit and a controller unit; the execution module comprises a driving unit, a hoisting unit, a braking unit and a warning unit; the operation module comprises a plc control unit, an operation unit and a display unit; the information acquisition module acquires forklift position information and operation information of each operating mechanism in real time through a plurality of sensing devices with different functions, which are arranged on the electric forklift, and transmits acquired data to the controller unit and the display unit of the remote operation module.
Description
Technical Field
The invention relates to the technical field of forklift control, in particular to a remote control system and a remote control method for an electric forklift.
Background
The electric forklift is a carrying vehicle for loading and unloading, stacking, short-distance transportation and heavy object carrying operation of finished pallet goods, and is particularly widely applied in the logistics industry. However, the conventional electric forklift needs an operator to operate on the forklift, safety accidents are easily caused when the operation is poor in environment, and with the increasing development of new energy industry and the appearance of various freight transportation scenes, the electric forklift which can meet the functions of the conventional forklift and can be remotely controlled is urgently required to be produced, but at present, a mature electric forklift remote control system is not available in China.
Disclosure of Invention
The invention provides a remote control system and a remote control method for an electric forklift, which are used for realizing remote control of the electric forklift.
The invention is realized by the following technical scheme: a remote control system of an electric forklift comprises a remote operation module, an information acquisition module, a processing module and an execution module, wherein the information acquisition module, the processing module and the execution module are positioned on the forklift; the information acquisition module is used for acquiring the specific position of a factory, the specific position of the electric forklift, the speed and the hoisting weight information of the electric forklift; the processing module comprises a map generating unit, a map simulating unit, a map control unit and a controller unit; the map generation unit is used for generating a three-dimensional map according to the specific position of the factory; the map simulation unit is used for simulating the layout of a factory into a three-dimensional map and forming a satellite three-dimensional map; the map control unit is used for transmitting a satellite three-dimensional map into the map control unit, the map control unit receives specific position information of the electric forklift and sends the specific position information to the controller unit, and the controller unit is used for controlling the speed of the electric forklift, the steering of the forklift, the lifting speed of a fork and the lifting position of the fork according to instructions sent by the operation module; the execution module comprises a driving unit, a hoisting unit, a braking unit and a warning unit; all units are electrically connected; the driving unit is used for controlling the rotation and the steering of a driving wheel of the electric forklift; the hoisting unit is used for controlling the lifting fork; the braking unit is used for braking a driving wheel and a fork tool of the electric forklift; the warning unit is used for alarming overspeed, overweight and obstacle; the operation module comprises a plc control unit, an operation unit and a display unit; the plc control unit is used for setting the speed and the hoisting weight of the electric forklift; the operation unit is used for sending out a control instruction according to the requirement of a user; the display unit is used for displaying the running speed, the hoisting weight and the position of the electric forklift; the information acquisition module is used for acquiring forklift position information and operation information of each operating mechanism in real time through a plurality of sensing devices with different functions, which are arranged on the electric forklift, and transmitting acquired data to the controller unit and the display unit of the remote operation module.
The information acquisition module is arranged on the forklift and is electrically connected with the controller unit; the execution module is electrically connected with the processing module, and the processing module is in wireless network communication connection with the operation module.
Furthermore, the driving unit comprises a driving motor and a steering column on the forklift, and is used for controlling the rotation and the steering of the driving wheel of the electric forklift.
Furthermore, the running brake mechanism is used for braking a driving wheel of the electric forklift, and the hoisting brake mechanism is used for braking the fork tool.
Furthermore, the warning unit 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 obstacle alarm; namely, the speed photoelectric alarm, the weight photoelectric alarm and the distance photoelectric alarm respectively monitor the speed, the weight and the distance of the forklift in real time, and respectively transmit monitoring signals to the display unit of the remote operation module in a communication manner.
Further, the plc control unit sets the speed and the lifting weight of the electric forklift differently according to the climbing, descending and flat conditions.
A remote control method of an electric forklift is used, and the specific control method is as follows:
s1, the information acquisition module acquires the specific position of the factory and the specific position information of the electric forklift and sends the information to the controller unit through a wireless network;
s2, the map generation unit generates a three-dimensional map according to the specific position and real-time information of the factory, the map simulation unit simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, the map control unit transmits the satellite three-dimensional map into the map control unit, and the map control unit sends the received specific position of the electric forklift to the controller unit;
s3, a user respectively issues a driving instruction and a lifting instruction through an operation unit, and the user confirms to reach a designated delivery point;
s4, sending a cargo conveying execution instruction;
s5, a user issues a driving instruction and a hoisting instruction through an operation unit of the remote operation module, the controller unit transmits the received driving instruction and the received hoisting instruction to the driving unit and the hoisting unit respectively, the driving motor and the steering column control rotation and steering of the driving wheel of the electric forklift respectively until the fork of the electric forklift is located below the goods to be transported, then the hoisting oil cylinder and the lifting rod do work to drive the fork to move upwards, the goods to be transported can be lifted, and the transportation of the goods is completed.
The invention has the beneficial effects that: the implementation of the invention can meet the requirements of various freight scenes, not only can meet the functions of the daily fork truck, but also can realize remote control, has simple and convenient operation, and is a relatively mature remote control system of the electric fork truck in China at present.
Drawings
Fig. 1 is a schematic structural diagram of the remote control system of the electric forklift truck.
Fig. 2 is a flow chart of the remote control of the electric forklift.
Detailed Description
In order to facilitate understanding of the technical solutions of the present invention for those skilled in the art, the structure and the control method of the present invention are further described in detail with reference to the accompanying drawings and the detailed description. The particular embodiments described herein are illustrative only and are not limiting to the invention, which is to be given the full breadth of the appended claims and any and all equivalent embodiments thereof may be devised without departing from the spirit and scope of the present invention as defined by the following claims.
It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
As shown in fig. 1, the structure of the remote control system for the electric forklift is as follows: the forklift truck remote control system comprises a remote operation module, and an information acquisition module, a processing module and an execution module which are positioned on the forklift truck.
The information acquisition module is used for acquiring forklift position information and operation information of each operating mechanism in real time through a plurality of sensing devices with different functions, which are arranged on the electric forklift, and transmitting acquired data to the controller unit and the display unit of the remote operation module. The sensing equipment with different functions is arranged at different positions of the electric forklift.
The processing module comprises a map generating unit, a map simulating unit, a map control unit and a controller unit; the map generation unit is used for generating a three-dimensional map according to the specific position of the factory; the map simulation unit is used for simulating the layout of a factory into a three-dimensional map and forming a satellite three-dimensional map; the map control unit is used for transmitting a satellite three-dimensional map into the map control unit, the map control unit receives specific position information of the electric forklift and sends the specific position information to the controller unit, and the controller unit is used for controlling the speed of the electric forklift, the steering of the forklift, the lifting speed of a fork and the lifting position of the fork according to instructions sent by the operation module;
the execution module comprises a driving unit, a hoisting unit, a braking unit and a warning unit; all units are electrically connected; the driving unit is used for controlling the rotation and the steering of a driving wheel of the electric forklift; the hoisting unit is used for controlling the lifting fork; the braking unit is used for braking a driving wheel and a fork tool of the electric forklift; the warning unit is used for alarming overspeed, overweight and obstacle;
the operation module comprises a plc control unit, an operation unit and a display unit; the plc control unit is used for setting the speed and the hoisting weight of the electric forklift; the operation unit is used for sending out a control instruction according to the requirement of a user; the display unit is used for displaying the running speed, the hoisting weight and the position of the electric forklift;
the information acquisition module is used for acquiring forklift position information and operation information of each operating mechanism in real time through a plurality of sensing devices with different functions, which are arranged on the electric forklift, and transmitting acquired data to the controller unit and the display unit of the remote operation module. The information acquisition module of this embodiment mainly collects
The information acquisition module is arranged on the forklift and is electrically connected with the controller unit; the execution module is electrically connected with the processing module, and the processing module is in wireless network communication connection with the operation module.
The driving unit comprises a driving motor and a steering column on the forklift and is used for controlling the rotation and steering of the driving wheel of the electric forklift.
The braking unit comprises a running braking mechanism and a hoisting braking mechanism on the forklift, the running braking mechanism is used for braking a driving wheel of the electric forklift, and the hoisting braking mechanism is used for braking the fork.
A speed sensing device in the warning unit adopts a speed photoelectric alarm, a weight sensing device adopts a weight photoelectric alarm, and a distance sensing device adopts a distance photoelectric alarm; 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 obstacle alarm; the speed photoelectric alarm, the weight photoelectric alarm and the distance photoelectric alarm respectively monitor the speed, the weight and the distance of the forklift in real time, respectively communicate and transmit monitoring signals to the display unit of the remote operation module, and the display unit is installed on the frame.
The plc control unit in the remote control module sets the speed and the lifting weight of the electric fork-lift truck differently depending on the climbing, downhill and level ground conditions.
As shown in fig. 2, a remote control flow chart of an electric forklift, a remote control method of an electric forklift specifically includes:
s1, the information acquisition module acquires the specific position of the factory and the specific position information of the electric forklift and sends the information to the controller unit through a wireless network;
s2, the map generation unit generates a three-dimensional map according to the specific position and real-time information of the factory, the map simulation unit simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, the map control unit transmits the satellite three-dimensional map into the map control unit, and the map control unit sends the received specific position of the electric forklift to the controller unit;
s3, a user respectively issues a driving instruction and a lifting instruction through an operation unit, and the user confirms to reach a designated delivery point;
s4, sending a delivery goods execution instruction,
s5, a user issues a driving instruction and a hoisting instruction through an operation unit of the remote operation module, the controller unit transmits the received driving instruction and the received hoisting instruction to the driving unit and the hoisting unit respectively, the driving motor and the steering column control rotation and steering of the driving wheel of the electric forklift respectively until the fork of the electric forklift is located below the goods to be transported, then the hoisting oil cylinder and the lifting rod do work to drive the fork to move upwards, the goods to be transported can be lifted, and the transportation of the goods is completed.
Claims (6)
1. The utility model provides an electric fork truck remote control system which characterized in that, it includes: the system comprises a remote operation module, an information acquisition module, a processing module and an execution module which are positioned on the forklift;
the information acquisition module is used for acquiring the specific position of a factory, the specific position of the electric forklift and the speed and hoisting weight information of the electric forklift
The processing module comprises a map generating unit, a map simulating unit, a map control unit and a controller unit; the map generation unit is used for generating a three-dimensional map according to the specific position of the factory; the map simulation unit is used for simulating the layout of a factory into a three-dimensional map and forming a satellite three-dimensional map; the map control unit is used for transmitting a satellite three-dimensional map into the map control unit, the map control unit receives specific position information of the electric forklift and sends the specific position information to the controller unit, and the controller unit is used for controlling the speed of the electric forklift, the steering of the forklift, the lifting speed of a fork and the lifting position of the fork according to instructions sent by the operation module;
the execution module comprises a driving unit, a hoisting unit, a braking unit and a warning unit; all units are electrically connected; the driving unit is used for controlling the rotation and the steering of a driving wheel of the electric forklift; the hoisting unit is used for controlling the lifting of the fork; the braking unit is used for braking a driving wheel and a fork tool of the electric forklift; the warning unit is used for alarming overspeed, overweight and obstacle;
the operation module comprises a plc control unit, an operation unit and a display unit; the plc control unit is used for setting the speed and the hoisting weight of the electric forklift; the operation unit is used for sending out a control instruction according to the requirement of a user; the display unit is used for displaying the running speed, the hoisting weight and the position of the electric forklift;
the information acquisition module is used for acquiring forklift position information and operation information of each operating mechanism in real time through a plurality of sensing devices with different functions, which are arranged on the electric forklift, and transmitting acquired data to the controller unit and the display unit of the remote operation module;
the information acquisition module is arranged on the forklift and is electrically connected with the controller unit; the execution module is electrically connected with the processing module, and the processing module is in wireless network communication connection with the operation module.
2. The unmanned electric forklift remote control system according to claim 1, characterized in that: the driving unit comprises a driving motor and a steering column on the forklift and is used for controlling the rotation and steering of the driving wheel of the electric forklift.
3. The unmanned electric forklift remote control system according to claim 1, characterized in that: the braking unit comprises a running braking mechanism and a hoisting braking mechanism on the forklift, the running braking mechanism is used for braking a driving wheel of the electric forklift, and the hoisting braking mechanism is used for braking the fork.
4. The unmanned electric forklift remote control system according to claim 1, characterized in that: the warning unit 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 obstacle alarm; namely, the speed photoelectric alarm, the weight photoelectric alarm and the distance photoelectric alarm respectively monitor the speed, the weight and the distance of the forklift in real time, and transmit monitoring signals to the display unit of the remote operation module through wireless network communication connection.
5. The unmanned electric forklift remote control system according to claim 1, wherein the plc control unit sets different speeds and lifting weights of the electric forklift depending on the climbing, descending and flat conditions.
6. A remote control method of an electric forklift is characterized in that the remote control system of the electric forklift of claim 1 is used, and the specific control method is as follows:
s1, the information acquisition module acquires the specific position of the factory and the specific position of the electric forklift and transmits the specific positions to the controller unit through wires;
s2, the map generation unit generates a three-dimensional map according to the specific position and real-time information of the factory, the map simulation unit simulates the layout of the factory into the three-dimensional map and forms a satellite three-dimensional map, the map control unit transmits the satellite three-dimensional map into the map control unit, and the map control unit sends the received specific position of the electric forklift to the controller unit;
s3, a user respectively issues a driving instruction and a lifting instruction through an operation unit, and the user confirms to reach a designated delivery point;
s4, sending a delivery goods execution instruction,
s5, a user issues a driving instruction and a hoisting instruction through an operation unit of the remote operation module, the controller unit transmits the received driving instruction and the received hoisting instruction to the driving unit and the hoisting unit respectively, the driving motor and the steering column control rotation and steering of the driving wheel of the electric forklift respectively until the fork of the electric forklift is located below the goods to be transported, then the hoisting oil cylinder and the lifting rod do work to drive the fork to move upwards, the goods to be transported can be lifted, and the transportation of the goods is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210573470.1A CN114803961B (en) | 2022-05-25 | 2022-05-25 | Remote control system and control method for electric forklift |
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| CN202210573470.1A CN114803961B (en) | 2022-05-25 | 2022-05-25 | Remote control system and control method for electric forklift |
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| CN114803961A true CN114803961A (en) | 2022-07-29 |
| CN114803961B CN114803961B (en) | 2023-05-12 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202794942U (en) * | 2012-08-29 | 2013-03-13 | 杭州华叉科技有限公司 | Remote monitoring system of electric fork-lift truck |
| CN207404782U (en) * | 2017-10-25 | 2018-05-25 | 福建农林大学 | A kind of electric intelligent fork truck |
| CN109809334A (en) * | 2019-03-01 | 2019-05-28 | 航天通用技术(北京)有限公司 | A method of for transferring fork truck operation and lifting |
| CN111153351A (en) * | 2020-03-05 | 2020-05-15 | 安徽宇锋仓储设备有限公司 | Remote control battery four-wheel counterweight type forklift |
| CN112960620A (en) * | 2021-04-02 | 2021-06-15 | 北京天地玛珂电液控制系统有限公司 | Forklift speed limiting safety control system |
| CN112965410A (en) * | 2021-02-02 | 2021-06-15 | 江苏航运职业技术学院 | Electric forklift multifunctional control system based on state observer |
-
2022
- 2022-05-25 CN CN202210573470.1A patent/CN114803961B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202794942U (en) * | 2012-08-29 | 2013-03-13 | 杭州华叉科技有限公司 | Remote monitoring system of electric fork-lift truck |
| CN207404782U (en) * | 2017-10-25 | 2018-05-25 | 福建农林大学 | A kind of electric intelligent fork truck |
| CN109809334A (en) * | 2019-03-01 | 2019-05-28 | 航天通用技术(北京)有限公司 | A method of for transferring fork truck operation and lifting |
| CN111153351A (en) * | 2020-03-05 | 2020-05-15 | 安徽宇锋仓储设备有限公司 | Remote control battery four-wheel counterweight type forklift |
| CN112965410A (en) * | 2021-02-02 | 2021-06-15 | 江苏航运职业技术学院 | Electric forklift multifunctional control system based on state observer |
| CN112960620A (en) * | 2021-04-02 | 2021-06-15 | 北京天地玛珂电液控制系统有限公司 | Forklift speed limiting safety control system |
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Inventor after: Wang Wei Inventor after: Si Shuqing Inventor after: Li Kai Inventor after: Yang Liu Inventor after: Zhang Jianing Inventor before: Si Shuqing Inventor before: Li Kai Inventor before: Wang Wei Inventor before: Yang Liu Inventor before: Zhang Jianing |