CN116199160A - Fork truck stability monitoring system - Google Patents

Fork truck stability monitoring system Download PDF

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Publication number
CN116199160A
CN116199160A CN202310497527.9A CN202310497527A CN116199160A CN 116199160 A CN116199160 A CN 116199160A CN 202310497527 A CN202310497527 A CN 202310497527A CN 116199160 A CN116199160 A CN 116199160A
Authority
CN
China
Prior art keywords
forklift
controller
information
alarm
stability
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310497527.9A
Other languages
Chinese (zh)
Inventor
李明俭
高有山
宁志强
张广辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taiyuan University of Science and Technology
Original Assignee
Taiyuan University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taiyuan University of Science and Technology filed Critical Taiyuan University of Science and Technology
Priority to CN202310497527.9A priority Critical patent/CN116199160A/en
Publication of CN116199160A publication Critical patent/CN116199160A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • B66F9/07513—Details concerning the chassis
    • 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
    • B66F9/08—Masts; Guides; Chains
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • 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
    • 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)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention relates to a forklift stability monitoring system which comprises a controller, an open source unmanned aerial vehicle flight control system, a height sensor, a weight sensor, an alarm and a display, wherein the open source unmanned aerial vehicle flight control system, the height sensor, the weight sensor, the alarm and the display are connected with the controller; the controller is installed inside the forklift and is used for collecting data and then carrying out stability judgment calculation; the open source unmanned aerial vehicle flight control system is horizontally arranged on the forklift chassis and transmits the collected dip angle information to the controller; the height sensor and the weight sensor are respectively arranged on the gantry of the forklift and the fork teeth of the fork, and transmit the acquired height information and the weight information of the goods to the controller; the alarm and the display are respectively arranged at the top of the forklift and the front bedplate, and are used for receiving alarm information and video information sent by the controller, and respectively sending out an alarm and presenting the alarm information and the video information. The method and the device realize comprehensive monitoring on the front and back of the forklift, the transverse inclination angle, the lifting height of the goods and the weight of the lifted goods, so as to effectively avoid the overturning of the forklift during operation.

Description

Fork truck stability monitoring system
Technical Field
The invention relates to the field of forklift stability monitoring, in particular to a forklift stability monitoring system.
Background
The flight control system (Flight control system) is called flight control for short, can be regarded as the brain of an aircraft, integrates the functions of a gyroscope, an accelerometer, a GPS and the like, and can measure the front-back dip angle and the roll angle of a forklift by means of the functions of the gyroscope and the accelerometer of the unmanned aerial vehicle flight control system.
Forklifts are quite dangerous if not properly operated, and accidents caused by misoperation of the forklifts occur endlessly every year. The capsizing is one of many accidents occurring in the daily operation process of the forklift, and because operators mainly depend on people to judge whether the weight and the lifting height of the lifted goods meet the safety standard or not when using the forklift, the operator can not grasp the degree of the lifting, and the operator can threaten the personal safety under the conditions of tipping, falling and capsizing of the forklift even seriously.
Disclosure of Invention
The invention aims to provide a forklift stability monitoring system which can comprehensively monitor the front-back inclination angle and the transverse inclination angle of a forklift, the lifting height of cargoes and the weight of the lifted cargoes so as to effectively avoid the overturning of the forklift during operation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a forklift stability monitoring system, comprising: the system comprises a controller, an open source unmanned aerial vehicle flight control system, a height sensor, a weight sensor, an alarm and a display;
the controller is arranged in the forklift and is used for collecting data and then carrying out stability judgment calculation;
the open source unmanned aerial vehicle flight control system is horizontally arranged on the forklift chassis and transmits the collected dip angle information to the controller;
the height sensor is arranged on a portal frame of the forklift and transmits the acquired height information to the controller;
the weight sensor is arranged on the fork teeth of the fork and transmits the acquired weight information of the lifted goods to the sensor;
the alarm and the display are respectively arranged at the top of the forklift and the front bedplate, and are used for receiving alarm information and video information sent by the controller, and respectively sending out and presenting an alarm according to the alarm information and the video information.
Optionally, the controller is an embedded computer host, and the embedded computer host is connected with a power supply of the forklift. And the embedded computer host is internally provided with a visual program for checking the longitudinal and transverse stability of the forklift, a Mission Planner ground station and a stability experiment.
Optionally, the open source unmanned aerial vehicle flight control system is connected with the controller through a data transmission radio station.
Optionally, the height information collected by the height sensor is an analog signal, and the analog signal is converted into a digital signal by the acquisition card and is transmitted to the controller through a serial port.
Optionally, the weight information of the lifted cargo collected by the weight sensor is also an analog signal, and the analog signal is converted into the digital signal through the collecting card and is transmitted to the controller through the serial port.
Optionally, the alarm is a voice prompt, and the voice prompt is connected with the controller through an audio special line.
Optionally, the display is connected with the controller through a video line; the display receives the video information transmitted by the controller, and the video information is displayed on a screen after being processed.
According to the forklift stability monitoring system provided by the invention, the unmanned aerial vehicle flight control system, the height sensor and the weight sensor are used for respectively obtaining the inclination angle information, the height information and the weight information, the front-back inclination angle and the transverse inclination angle of the forklift are obtained through the inclination angle information, the lifting cargo height of the forklift is obtained through the height information, the lifting cargo weight of the forklift is obtained through the weight information, the obtained data are imported into the controller, the controller performs stability checking and transmits the checking result to the alarm, the alarm is used for identifying and alarming according to the identification result, and meanwhile, the controller also can be used for sending video information to the display, so that a dynamic picture of a forklift stability experiment can be seen on the display. The operation can effectively avoid the overturning of the forklift during the operation.
Drawings
Fig. 1 is a schematic structural diagram of a forklift stability monitoring system provided by the invention;
fig. 2 is a workflow diagram of a forklift stability monitoring system provided by the present invention;
reference numerals: 1. a controller; 2. an open source unmanned aerial vehicle flight control system; 3. a weight sensor; 4. a height sensor; 5. a display; 6. an alarm.
Detailed Description
The invention will be further described in detail with reference to the drawings and the specific embodiments in order to make the objects, technical solutions and advantages of the invention more apparent.
The invention relates to a forklift stability monitoring system, as shown in fig. 1, which comprises a controller 1, an open source unmanned aerial vehicle flight control system 2, a weight sensor 3, a height sensor 4, a display 5 and an alarm 6;
the controller 1 is an embedded computer host, and the embedded computer host is connected with a power supply of the forklift through a special power line, and when the forklift is started, three programs of longitudinal and transverse forklift stability check, a Mission Planner ground station and a visualization program of a stability experiment are automatically activated to run.
The open source unmanned aerial vehicle flight control system 2 is horizontally arranged on a forklift chassis and uploads the acquired angle information to the controller 1 through a data transmission station.
The 3 weight sensors 3 are uniformly arranged on the fork teeth of the forklift and transmit the acquired weight information to the controller 1. In this embodiment, the weight sensor 3 is connected to the serial port of the embedded computer host through a serial port line.
The height sensor 4 is mounted on the gantry and transmits the collected height information to the controller 1. In this embodiment, the height sensor 4 is connected to the serial port of the embedded computer host via a serial port line.
The display 5 is mounted on the front bedplate of the forklift and receives video information output by the controller 1. In this embodiment, the display 5 is connected to the embedded host computer via a video line.
The alarm 6 is arranged at the top of the forklift and receives alarm information output by the controller 1. And sending out an alarm according to the alarm information. Wherein the alarm 6 is an audio alarm. In this embodiment, the alarm 6 employs a speaker connected to the controller 1 via an audio line for playing an alarm alert tone.
As shown in fig. 2, the present invention provides an operating principle of a forklift stability monitoring system.
When the forklift works, the overturning accidents of the forklift can be caused due to improper operation of operators or excessive weight of loaded cargoes, excessive lifting height, excessive road gradient and the like. Safety regulations such as maximum loading capacity of the forklift, lifting height range of the forklift, inclination angle range of the forklift and the like are set for safety. The forklift stability monitoring system of the embodiment monitors whether the forklift overturns during working.
When the forklift is powered on, the embedded computer host automatically activates the visual programs of the longitudinal and transverse stability check, the Mission Planner ground station and the stability experiment of the forklift to run.
When the forklift operates, the open source unmanned aerial vehicle flight control system automatically collects inclination angle information, the inclination angle information is divided into longitudinal inclination angle information and transverse inclination angle information, the two inclination angle information is uploaded to the controller through the data transmission radio station, a Mision Planner ground station program is subjected to secondary development in the computer, and then a correlation function is called to obtain two required inclination angle values from the Mision Planner. And finally, the two obtained angle values are imported into a longitudinal and transverse stability checking program in real time.
Meanwhile, the 3 weight sensors can automatically collect weight information of the lifted goods, average the collected weight information, the weight information is an analog signal, the weight information is converted into a digital signal through a collecting card, the digital signal is transmitted to a controller through a serial port line, and the weight value is imported into a longitudinal and transverse stability checking program in real time.
Meanwhile, the height sensor can automatically collect the height information of the lifted goods, the height information at the moment is also an analog signal, the analog signal is converted into a digital signal through the collecting card, and the obtained height value is imported into a longitudinal and transverse stability checking program in real time.
After the longitudinal inclination angle value, the transverse inclination angle value, the height value and the weight value are respectively imported into a longitudinal stability checking program and a transverse stability checking program, the longitudinal inclination angle value, the transverse inclination angle value, the height value and the weight value are combined with basic data of a forklift existing in the program, the combined gravity center of the forklift and cargoes at the moment is calculated through a combined gravity center calculating method, and then whether the overturning risk exists is judged according to whether the calculated combined gravity center exceeds a supporting plane of the forklift.
After the judging result is generated, the controller can send out alarm information according to the judging result, if the forklift has a overturning danger, the alarm information can be immediately transmitted to the alarm through an audio line, and voice alarm prompt is carried out. If the forklift does not have the overturning danger, alarm information can not be sent out.
Meanwhile, a fork truck stability experiment visualization program installed in the embedded computer host also can run, the dynamic picture of the experiment is generated into video information, and then the controller transmits the video information to the display through a video line.
The display receives the video information transmitted by the controller and displays the video information on a screen so that an operator can clearly see the operation posture of the forklift.
The fork truck stability monitoring system of this embodiment carries out comprehensive monitoring and warning and demonstration fork truck's operation gesture to fork truck portal back-and-forth inclination, fork truck transverse inclination, fork truck rise the cargo height, and fork truck rise the weight of cargo to avoid fork truck emergence accident of overturning.
The invention is not related in part to the same or implemented in part by the prior art.
The foregoing is a detailed description of the present invention and is also of the embodiments described in connection with fig. 1 and 2, and it should not be taken to limit the practice of the invention to these descriptions. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims (7)

1. A forklift stability monitoring system, comprising: the system comprises a controller, an open source unmanned aerial vehicle flight control system, a height sensor, a weight sensor, an alarm and a display;
the controller is arranged in the forklift and is used for collecting data and then carrying out stability judgment calculation;
the open source unmanned aerial vehicle flight control system is horizontally arranged on the forklift chassis and transmits the collected dip angle information to the controller;
the height sensor is arranged on a portal frame of the forklift and transmits the collected height information to the controller;
the weight sensor is arranged on the fork teeth of the fork and transmits the collected weight information of the goods to the controller;
the alarm and the display are respectively arranged at the top of the forklift and the front bedplate, and are used for receiving alarm information and video information sent by the controller, and respectively sending out and presenting an alarm according to the alarm information and the video information.
2. The forklift stability monitoring system of claim 1, wherein said controller is an embedded computer host, said embedded computer host being connected to a forklift power supply. And the embedded computer host is internally provided with a visual program for checking the longitudinal and transverse stability of the forklift, a Mission Planner ground station and a forklift stability experiment. The principle of the longitudinal and transverse stability checking software of the forklift is that a plate is placed under the full-load forklift, the plate is lifted by a certain angle, the operation is repeated, when the full-load forklift is about to topple, the angle is taken as a critical angle, and the combined gravity center of the forklift and cargoes exceeds the supporting plane of the forklift; the supporting plane is a plane where four wheels of the forklift are located; the mixing Planner ground station program is an interaction platform of the unmanned aerial vehicle and the ground, and records the flight attitude, altitude, course angle, inclination angle information and the like of the unmanned aerial vehicle; the Visual program for the forklift stability test is a program for realizing dynamic display of the forklift stability test on a computer screen by adopting Visual C++ programming.
3. The forklift stability monitoring system of claim 1, wherein said open source unmanned aerial vehicle flight control system is connected to said controller via a data transfer station.
4. The forklift stability monitoring system of claim 1, wherein said height information collected by said height sensor is an analog signal, converted to a digital signal by an acquisition card, and transmitted to said controller via a serial port.
5. The forklift stability monitoring system according to claim 1, wherein the weight information of the lifted cargo collected by the weight sensor is also an analog signal, and the analog signal is converted into the digital signal by the collection card and transmitted to the controller through the serial port.
6. The forklift stability monitoring system of claim 1, wherein said alarm is a voice prompt, said voice prompt being connected to said controller by an audio dedicated line.
7. The forklift stability monitoring system of claim 1, wherein said display is connected to said controller by a video line; the display receives the video information transmitted by the controller, and the video information is displayed on a screen after being processed.
CN202310497527.9A 2023-05-05 2023-05-05 Fork truck stability monitoring system Pending CN116199160A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310497527.9A CN116199160A (en) 2023-05-05 2023-05-05 Fork truck stability monitoring system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310497527.9A CN116199160A (en) 2023-05-05 2023-05-05 Fork truck stability monitoring system

Publications (1)

Publication Number Publication Date
CN116199160A true CN116199160A (en) 2023-06-02

Family

ID=86515024

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310497527.9A Pending CN116199160A (en) 2023-05-05 2023-05-05 Fork truck stability monitoring system

Country Status (1)

Country Link
CN (1) CN116199160A (en)

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