CN117302077B - Safety control method, system and device for picking vehicle - Google Patents

Safety control method, system and device for picking vehicle Download PDF

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Publication number
CN117302077B
CN117302077B CN202311605736.7A CN202311605736A CN117302077B CN 117302077 B CN117302077 B CN 117302077B CN 202311605736 A CN202311605736 A CN 202311605736A CN 117302077 B CN117302077 B CN 117302077B
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Prior art keywords
switch
key switch
closed
relay
control
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CN117302077A (en
Inventor
蒋堉
张鑫
王振宇
卻银槐
李凯
周高凯
俞军
向尚
胡滨
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Hangcha Group Co Ltd
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Hangcha Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • 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
    • B66F9/07568—Steering arrangements
    • 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
    • B66F9/07572—Propulsion arrangements
    • 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
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • 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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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The application discloses a safety control method, a safety control system and a safety control device for a picking vehicle, which are applied to the field of vehicle control. The method is applied to a vehicle comprising two operation tables, two emergency stop switches are arranged in a main loop, and key switches corresponding to different operation tables are respectively connected into corresponding relay control loops and a driving system, wherein: when the two emergency stop switches are closed, judging whether the corresponding key switch is closed or not; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified; and if the key switches are all closed, triggering an alarm device. Therefore, the vehicle control system has the advantages that on the basis of controlling a vehicle by adopting one operation table, the other operation table is added, and the visual blind area generated by an operator when the operator uses the single-side operation table is avoided. Meanwhile, the working efficiency of operators is improved.

Description

Safety control method, system and device for picking vehicle
Technical Field
The present application relates to the field of vehicle control, and in particular, to a method, system, and apparatus for safety control of a picker.
Background
In recent years, with rapid development of warehouse logistics, people put higher and higher demands on safety of electric warehouse vehicles. The picking vehicle plays a vital role in the picking task of the high shelf of the narrow lane as a rear-end showing of storage materials.
Because the design strictly considers operating personnel's safety, unilateral culling car operating system sets up the safety footboard in the function and guarantees operating personnel's driving safety, but unilateral driving operating personnel's view angle only has 180, and there is the blind area in the unilateral high-order reverse driving of narrow lane, and operating personnel's operation has the risk that causes major incident, and, present unilateral operating system, operating personnel switches at two actions of goods pick up and operation travel, can waste a large amount of goods picking time, reduces operating personnel's work efficiency.
In view of the foregoing, it would be desirable to find a method of controlling safety of a picker.
Disclosure of Invention
It is an object of the present application to provide a picker safety control method, system and apparatus. The problem that a user in the prior art has a driving blind area in a vehicle and the problem of lower working efficiency can be solved.
In order to solve the technical problem, the application provides a safety control method of a picking truck, which is applied to a vehicle comprising a first operation table and a second operation table, wherein a first emergency stop switch and a second emergency stop switch in a vehicle operation system are connected in series in a main loop, and key switches corresponding to the first operation table and the second operation table are respectively connected into a corresponding relay control loop and a driving system, and the control method comprises the following steps:
when the first emergency stop switch and the second emergency stop switch are both closed, judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed;
when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified;
and if the first key switch and the second key switch are both closed, triggering an alarm device.
Preferably, when any one key switch is closed, the corresponding relay control loop is controlled to be powered on, the corresponding driving system is connected to the main loop, so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be powered off, including:
When any key switch is closed, the corresponding interlocking control relay is controlled to be electrified, and auxiliary contacts of the interlocking control relay are disconnected;
controlling the corresponding instrument control relay to be electrified and disconnecting an auxiliary contact of the instrument control relay;
controlling the corresponding buzzer relay to be electrified and sucking the auxiliary contact of the instrument control relay;
triggering the electrifying relay to electrify, and sucking the auxiliary electric shock of the electrifying relay so as to connect the driving system corresponding to the closed key switch into the main loop and control the vehicle according to the driving system.
Preferably, if both the first key switch and the second key switch are closed, triggering the alarm device comprises:
the corresponding interlocking relay, the instrument relay and the buzzer relay are controlled to be electrified, the electrified relay is powered down, and auxiliary electric shock of each interlocking relay is disconnected;
and the auxiliary electric shock of the suction buzzer relay triggers the buzzer to alarm.
Preferably, the method further comprises:
judging whether the first emergency stop switch and the second emergency stop switch are both closed;
if yes, a step of judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are closed;
If not, controlling the interface of any operation platform to display the current state of the vehicle.
Preferably, the method further comprises:
self-checking operation is carried out on the self-checking device to obtain a self-checking result;
if the self-checking result does not meet the preset requirement, controlling the interface of any one operation platform to display a corresponding self-checking fault code;
if the self-checking result meets the preset requirement, the self-switching logic judgment is carried out;
if the switches corresponding to the preset switch types are all activated, a step of judging whether the first emergency stop switch and the second emergency stop switch are both closed is carried out.
Preferably, the self-checking operation is performed on the self-checking device to obtain a self-checking result, including:
and detecting whether the direction control module, the traction control module, the driving system, the battery state and the remote car locking module have faults or not, and taking the detection result as a self-detection result.
In order to solve the technical problem, the application also provides a safety control system of a picking vehicle, which is applied to a vehicle comprising a first operation table and a second operation table, wherein a first emergency stop switch and a second emergency stop switch in the vehicle operation system are connected in series in a main loop, and key switches corresponding to the first operation table and the second operation table are respectively connected into a corresponding relay control loop and a corresponding driving system, and the control system comprises:
The judging module is used for judging whether the first key switch corresponding to the first operation table or the second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are both closed;
the control module is used for controlling the corresponding relay control loop to be electrified when any one key switch is closed, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system and control the relay control loop corresponding to the other key switch to be electrified;
and the alarm module is used for triggering the alarm device if the first key switch and the second key switch are both closed.
For solving the technical problem, the application also provides a safety control device of a picking vehicle, which comprises: the device comprises a first operation table, a second operation table, a first group of preset devices, a second group of preset devices and a controller;
integrally mounting a first group of preset devices on a first operation table;
integrally mounting a second set of preset devices on a second operation table; wherein the mounting positions of the same devices in the first group of preset devices and the second group of preset devices on different operation tables are relatively consistent;
the controller is integrally arranged in any operation table and connected with the first group of preset devices and the second group of preset devices through hard wires, and is used for judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are both closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device.
Preferably, the method further comprises: a first safety pedal and a second safety pedal;
the first safety pedal is arranged on the bottom plate, and the position relation between the first safety pedal and the first operation table meets the requirement of a preset position relation;
the second safety pedal is arranged on the bottom plate, and the position relation between the second safety pedal and the second operation table meets the requirement of the preset position relation.
Preferably, the first set of preset devices comprises: the first emergency stop switch, the first steering wheel, the first instrument, the first control key, the first accelerator, the first left and right guardrail switches, the first left hand signal switch, the first roadway signal switch, the first pedal switch and the first display interface;
the second set of preset devices includes: the system comprises a second emergency stop switch, a second steering wheel, a second instrument, a second control key, a second accelerator, a second left-right guardrail switch, a second left-hand signal switch, a second roadway signal switch, a second pedal switch and a second display interface.
The application provides a safety control method of a picking vehicle, which is applied to a vehicle comprising a first operation table and a second operation table, wherein a first scram switch and a second scram switch in a vehicle operation system are connected in series in a main loop, and key switches corresponding to the first operation table and the second operation table are respectively connected into a corresponding relay control loop and a driving system, and the control method comprises the following steps: when the first emergency stop switch and the second emergency stop switch are both closed, judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device. Therefore, the vehicle control system has the advantages that the vehicle is controlled by one console on the basis of the traditional vehicle control system by the other console, operators can switch the console to control the vehicle at any time, and a single-side operating system is also adopted on the basis of the two consoles. Two operation tables on the vehicle can control the vehicle, so that the visual blind area generated by an operator when one operation table is used is avoided. Meanwhile, when the two actions of picking up and operating and running are switched, operators respectively use different operation tables, so that the picking time of the cargoes is shortened, and the working efficiency of the operators is improved.
Drawings
For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling safety of a picking truck according to an embodiment of the present application;
fig. 2 is a frame diagram of a power supply control system provided in an embodiment of the present application;
FIG. 3 is an electrogram on a control loop provided in an embodiment of the present application;
FIG. 4 is a hardware block diagram of a picker provided by an embodiment of the present application;
FIG. 5 is a specific detection flow chart provided in an embodiment of the present application;
FIG. 6 is a block diagram of a safety control system for a picker according to another embodiment of the present application;
FIG. 7 is a schematic view of an appearance of a picker according to an embodiment of the present application;
fig. 8 is a detailed schematic of a picker provided in an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments herein without making any inventive effort are intended to fall within the scope of the present application.
The core of the application is to provide a safety control method, system and device for a picker.
In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.
In recent years, with rapid development of warehouse logistics, people put higher and higher demands on safety of electric warehouse vehicles. The picking vehicle plays a vital role in the picking task of the high shelf of the narrow lane as a rear-end showing of storage materials.
Because the design strictly considers operating personnel's safety, unilateral culling car operating system sets up the safety footboard in the function and guarantees operating personnel's driving safety, but unilateral driving operating personnel's view angle only has 180, and there is the blind area in the unilateral high-order reverse driving of narrow lane, and operating personnel's operation has the risk that causes major incident, and, present unilateral operating system, operating personnel switches at two actions of goods pick up and operation travel, can waste a large amount of goods picking time, reduces operating personnel's work efficiency.
Fig. 1 is a flowchart of a safety control method for a picker according to an embodiment of the present application, as shown in the drawings, including the following steps:
S10: and when the first emergency stop switch and the second emergency stop switch are both closed, judging whether the first key switch corresponding to the first operation platform or the second key switch corresponding to the second operation platform is closed.
In a specific embodiment, the present application provides a safety control method for a picking vehicle, so in a hardware structure, a vehicle needs to include two operation tables, namely a first operation table and a second operation table, and in order to ensure unilateral use and safety of the two operation tables, a whole vehicle system also needs to include a first emergency stop switch and a second emergency stop switch, the first emergency stop switch and the second emergency stop switch are connected in series in a main loop, and when any one emergency stop switch is disconnected, the vehicle cannot be controlled according to the operation tables so as to ensure driving safety. Meanwhile, since two operation tables are arranged in the vehicle, but the operator in the vehicle has only one operation table, the operator can only operate one operation table at the same time, and therefore, each operation table corresponds to a single driving system and relay control loop so as to control the vehicle.
When both the first emergency stop switch and the second emergency stop switch are closed, that is, when the vehicle can run, it is necessary to determine whether the first key switch corresponding to the first operation console or the second key switch corresponding to the second operation console is closed, that is, determine which operation console is selected by the operator to control the vehicle.
S11: when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified.
S12: and if the first key switch and the second key switch are both closed, triggering an alarm device.
In a specific embodiment, when the first key switch is closed, it is indicated that the operator selects the first operation platform, and controls the vehicle according to the relay control loop and the driving system corresponding to the first operation platform, and simultaneously, the relay control loop corresponding to the second key switch is controlled to be powered down, so that the situation that the two operation platforms control the vehicle simultaneously is avoided. Correspondingly, when the second key switch is closed, the operator selects the second operation platform, the vehicle is controlled according to the relay control loop and the driving system corresponding to the second operation platform, and meanwhile, the relay control loop corresponding to the first key switch is controlled to be powered down, so that the condition that the two operation platforms simultaneously control the vehicle is avoided.
When the first key switch and the second key switch are both closed, the vehicle is indicated to be abnormal, and one operator cannot operate the two operation tables to control the vehicle at the same time, so that the vehicle can trigger the alarm device to enable the operator to check the vehicle.
The application provides a safety control method of a picking vehicle, which is applied to a vehicle comprising a first operation table and a second operation table, wherein a first scram switch and a second scram switch in a vehicle operation system are connected in series in a main loop, and key switches corresponding to the first operation table and the second operation table are respectively connected into a corresponding relay control loop and a driving system, and the control method comprises the following steps: when the first emergency stop switch and the second emergency stop switch are both closed, judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system and control the relay control loop corresponding to the other key switch to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device. Therefore, the vehicle control system has the advantages that the vehicle is controlled by one console on the basis of the traditional vehicle control system by the other console, operators can switch the console to control the vehicle at any time, and a single-side operating system is also adopted on the basis of the two consoles. Two operation tables on the vehicle can control the vehicle, so that the visual blind area generated by an operator when one operation table is used is avoided. Meanwhile, when the two actions of picking up and operating and running are switched, operators respectively use different operation tables, so that the picking time of the cargoes is shortened, and the working efficiency of the operators is improved.
On the basis of the above-described embodiments, as a preferred embodiment,
when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified, and the method comprises the following steps:
when any key switch is closed, the corresponding interlocking control relay is controlled to be electrified, and auxiliary contacts of the interlocking control relay are disconnected;
controlling the corresponding instrument control relay to be electrified and disconnecting an auxiliary contact of the instrument control relay;
controlling the corresponding buzzer relay to be electrified, and sucking an auxiliary contact of the instrument control relay;
triggering the electrifying relay to electrify, and sucking the auxiliary electric shock of the electrifying relay so as to connect the driving system corresponding to the closed key switch into the main loop and control the vehicle according to the driving system.
If the first key switch and the second key switch are both closed, triggering an alarm device, comprising:
the corresponding interlocking relay, the instrument relay and the buzzer relay are controlled to be electrified, the electrified relay is powered down, and auxiliary electric shock of each interlocking relay is disconnected;
And the auxiliary electric shock of the suction buzzer relay triggers the buzzer to alarm.
In a specific embodiment, the vehicle comprises a power supply control system and a double-sided driving system, wherein a frame diagram of the power supply control system is shown in fig. 2, and the power supply control system comprises a steering control system, a traction control system, a double-sided driving system and an oil pump control system. The power supply control system is used for supplying power to a main loop of the whole vehicle and supplying power to a control loop. The main loop power supply still adopts a single operating system power supply mode: the steering control system and the oil pump control system are directly supplied by the storage batteries, and the main loop of the traction control system is connected in series with the main contactor to electrically shock, so that the running safety of the whole vehicle is ensured by means of the combination of the traction system and the transformation system. The circuit diagram of the corresponding control loop is shown in fig. 3, and the second operation platform, namely the double-sided driving system, is added, so that the control loop power supply needs to consider that the single operation system operates independently, and therefore, only the primary single-key and single-scram switch power supply scheme can be omitted; the addition of a secondary key and a pinch switch, by means of simple electronics, relays and diodes, ensures that the control loop is powered on only one side, as shown in particular in figure 3.
Wherein, the control loop includes: fuse F1, drive position A scram switch S1 (first console, first scram switch), drive position B scram switch S2 (second console, second scram switch), drive position A two-way key switch S3 (first key switch), drive position B two-way key switch S4 (second key switch), first interlock control relay KM1, second interlock control relay KM4, instrument interlock relay KM2, instrument interlock relay KM5, buzzer relay KM3, energizing relay KM6, traction control system E1, oil pump control system E2, drive position ACAN module controller E3, drive position BCAN module controller E4, drive position A meter E5, drive position B meter E6, diodes D1-D3, buzzer HU, and other commonly used low voltage appliances. The steering control system indirectly supplies power to the traction control system.
Wherein the control loop logic is:
(1) In order to ensure the driving safety of operators, the emergency stop switches S1 and S2 are connected in series in the main loop in a normally closed connection way. The switches S1 and S2 are activated simultaneously before the whole vehicle is electrified, and when the vehicle runs at a high place or accidents happen, the switch can be turned off at will, and the control loop is disconnected.
(2) The two-way key switches S3 and S4 are controlled by a loop access relay, and a string is connected to the double-sided driving system, so that the key switch is activated (the key switch is closed), and only one side of the operating position is electrified.
(3) The interlocking control relays KM1 and KM4 are matched with diodes to use a normally closed connection method, two paths of the interlocking control relays are connected in parallel to the electrified relay KM6, so that the interlocking power-off function is achieved, and meanwhile, the diodes prevent power supply from channeling into other loops.
(4) The buzzer relay KM3 is matched with a buzzer to realize the function of simultaneously powering on and alarming.
(5) KM6 is used as an energizing relay of the main loop, combines all safety control relays together, outputs the safety control relays and ensures the power supply safety of the whole vehicle.
The specific logic tables are shown in table one, table two, table three and table four, wherein 0 and OFF are open, and 1 and ON are closed.
List one
Watch II
Watch III
Table four
Through the vehicle state, only two switch states 14 and 15 are valid (i.e., valid when both the first scram switch and the second scram switch are closed, and either the first key switch or the second key switch is closed) in the actual operation of the vehicle, 16 is the fault state of the switch (both the first scram switch and the second scram switch are closed, and both the first key switch and the second key switch are in the fault state when both are closed).
Therefore, in the whole process, whether the first emergency stop switch and the second emergency stop switch are both closed needs to be judged; if yes, a step of judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are closed; if not, controlling a display interface of any operation platform to display the current state of the vehicle.
When the activating switches S1, S2 and S3 are powered on at the position A (the first operation platform) of the whole vehicle cab, the following is specifically realized: KM1 is electrified, another loop auxiliary contact is disconnected, and the cab position B (a second operation platform) fails if the electrification is executed again; KM2 is electrified to disconnect the auxiliary contact, and the double-sided driving system instrument B and the CAN module controller B are electrified to fail; and KM3 is electrified to attract the auxiliary contact. Meanwhile, S4 is disconnected, and the contacts of KM4 and KM5 maintain the original state; d2 is conducted in the forward direction, KM6 is driven through a normally closed contact KM4, and a normally open contact of KM6 is closed to supply power to a traction control system and an oil pump control system of the whole vehicle. In the double-sided driving system, KM5 is closed, KM2 is opened, and the cab position A is powered on normally.
When the switches S1, S2 and S4 are activated, the whole cab position B is electrified, and the method is concretely realized as follows: KM4 is electrified, another loop auxiliary contact is disconnected, and if the cab position A is electrified again, the failure is caused; KM5 is electrified to disconnect the auxiliary contact, and the instrument A of the double-sided driving system and the CAN module controller A are electrified to fail; the auxiliary contact of KM3 is normally open to be electrified. Meanwhile, S3 is disconnected, and the contacts KM1, KM2 and KM3 maintain the original states; d3 is conducted in the forward direction, KM6 is driven by a normally closed contact KM1, and a normally open contact of KM6 is closed to supply power to a traction control system and an oil pump control system of the whole vehicle. In the double-sided driving system, KM2 is closed, KM3 is opened, and the cab position B is powered on normally.
When the switches S1, S2 and S3/S4 are activated, the position of the whole vehicle cab is not electrified, the method is specifically realized as follows: the KM1-KM5 are electrified simultaneously, auxiliary contacts of KM1 and KM4 are disconnected, a coil of KM6 cannot be electrified normally, and the auxiliary contacts are not attracted; the power supply loops of the auxiliary contacts of KM2 and KM5, which are disconnected with E3-E6, are cut off; KM3 gets electric auxiliary contact actuation, and S4 is closed simultaneously, and buzzer HU is effective, and D1 is the reverse current release return circuit that provides for the buzzer.
In summary, the vehicle to which the method provided in the present application is applied includes a double-sided driving structure and a double-sided driving software and hardware system. The double-sided driving hardware system is required to be built on a double-sided driving system structure, the existing structure is skillfully utilized for design, and the original single-sided driving ergonomics are optimized; on the basis of the original single-sided operation, parts such as a CAN module controller, an instrument, a steering wheel and the like are added to realize functions. The traction controller is used for judging the CAN controller node to perform double-sided operation control on software. The double-sided operation system adds two-way driving, and an encoder and an accelerator are added according to the cooperation of one-way driving in consideration of the consistency of driving; meanwhile, the CAN module signals are divided into shared signals and independent signals, the shared signals are input in parallel in two paths, and the independent signals CAN independently enter the corresponding CAN controllers of the driving positions, and the method is as follows:
The double-sided operation hardware structure is shown in fig. 4, and includes: steering wheel A (U1), steering wheel B (U2), accelerator A (U3), accelerator B (U4), left and right guardrail switches S5-S6, left hand signal switches S7-S8, roadway signal switches S9-S10, pedal switches and other common thumb input switches.
The specific hardware system logic is as follows:
(1) In order to ensure the safety of the bidirectional cab, a double-sided pedal switch is arranged, pedal switch signals are connected in parallel, and the traction controller detects that any pedal input is effective, namely, the traction controller is in a standing state.
(2) The direction of the bidirectional driving accelerator is different from the original direction, if the bidirectional driving accelerator is executed according to the original unidirectional driving, the obtained driving effect is still unidirectional; and the consistency of the accelerator direction signal and the analog quantity signal is considered, so that the access direction signal of the accelerator of the B-position system is reversed when the bidirectional driving accelerator is designed, and the consistency of front and rear driving is ensured.
(3) The left guardrail switch and the right guardrail switch are used as shared parts of a double-sided cab (a first operation table and a second operation table), guardrail signals are used as shared signals, and two parallel paths of guardrail signals are directly connected into the CAN module controllers A and B.
(4) The operation positions of operators in the bidirectional driving system are different, the execution modes of the steering wheel for executing left turning and right turning are also different, and if the difference of the position directions of the A and the B is not considered, the effect of the A and the B cabs is completely opposite; therefore, the design considers the sequence of the steering wheels at the position A and the position B, and the phase sequences of two pulse phases of the steering wheels are exchanged, so that the steering motor is always adjusted along with the steering wheels.
The software system logic is as follows: the software system is mainly characterized in that one CAN module controller is added on the basis of a one-way cab system, the bus ID of the original CAN module controller and the newly added CAN module controller are repeated, the power supply of the CAN module controller is cut off through a control loop, and only one CAN module controller is ensured to be electrified and the ID is unchanged. After the software system is powered on and completes self-checking, the output pins are driven to attract the main contactor, and meanwhile input logic switch judgment is carried out, namely: self-checking operation is carried out on the self-checking device to obtain a self-checking result; if the self-checking result does not meet the preset requirement, controlling a display interface of any one operation platform to display a corresponding self-checking fault code; if the self-checking result meets the preset requirement, the self-switching logic judgment is carried out; if the switches corresponding to the preset switch types are all activated, a step of judging whether the first emergency stop switch and the second emergency stop switch are both closed is carried out. Among them, the behavior requiring self-checking includes detecting a direction control module (steering control module), a traction control module, a driving system (remote function system), a battery state, a remote car locking module, and the like. Thus, a specific detection flow is shown in fig. 5:
S20: and (5) powering up.
S21: and judging whether the steering control module has no fault.
S22: if not, displaying the corresponding fault code, and returning to the step S21.
S23: if yes, judging whether the traction control module has no fault.
S24: if not, displaying the corresponding fault code, and returning to the step of S23.
S25: if yes, the main contactor is controlled to be attracted.
S26: and judging whether the correct password is input.
S27: if not, returning to the step S26, if so, judging whether the CAN module message is normal.
S28: if not, the CAN module fails to communicate.
S29: the corresponding fault code is displayed and the step of S27 is returned.
S30: if yes, judging whether the CAN module has no fault.
S31: if not, the CAN module has a fault.
S32: the corresponding fault code is displayed and the step of S30 is returned.
S33: if yes, judging whether the remote function system has no fault.
S34: if not, the remote function system fails.
S35: the corresponding fault code is displayed and the step of S33 is returned.
S36: if yes, judging whether the battery has no fault.
S37: if not, the battery fails.
S38: the corresponding fault code is displayed and the step of S36 is returned.
S39: if yes, judging whether the remote car locking module has no fault.
S40: if not, the remote locking module has a fault.
S41: the corresponding fault code is displayed and the step of S39 is returned.
S42: if yes, judging whether the guardrail is effective.
S43: if not, displaying the guardrail icon and returning to the step S42.
S44: if yes, judging whether the 1.2 m switch is effective.
S45: if not, returning to the step S44, if so, judging whether the chain switch is effective.
S46: if not, displaying the chain icon, and returning to the step of S45.
S47: if yes, judging whether the interlocking switch is effective.
S48: if not, the pedal icon is displayed and the process returns to step S47.
S49: if yes, judging whether the accelerator is effective.
S50: if not, returning to step S49, if yes, the traction motor rotates.
S51: and (5) ending.
The specific steps corresponding to the flow chart are as follows:
1. the CAN module controller is added on the basis of the original double-sided system, and the corresponding CAN bus load rate is increased, so that the bus load rate is optimized, the cycle period of partial data is changed, the transmission of partial data of the existing remote management is forbidden, and the requirement of low load rate is met.
2. After the main contactor is attracted, the traction controller judges whether the password input of the whole vehicle is correct or not, then the CAN module is subjected to handshake, the communication fault of the CAN module is displayed by the whole vehicle with the CAN bus handshake fault, and the whole vehicle is prohibited from walking.
3. The CAN module has no fault in the handshake, the data of the whole vehicle battery and the remote function system are transmitted, the traction controller does not receive the battery message state in a certain time, the corresponding driving output is closed, and meanwhile, the battery communication fault is displayed on the instrument; and when the remote function system enabling switch is opened, the remote principle mode is allowed, and meanwhile, the whole vehicle state message is reported, meanwhile, the remote function system is accessed, the remote vehicle locking state is enabled, and the whole vehicle is forbidden to walk.
4. The whole car is powered on, self-checking is fault-free, switch logic judgment is carried out, the switch logic judgment comprises a guardrail switch, a 1.2-meter lifting switch, a chain switch and a pedal interlocking switch, the switches can be provided with corresponding switch icons for warning operators when the whole car is powered on, and the accelerator is allowed to be enabled only when the switches are all activated.
5. The accelerator signal is issued, the traction controller splits the accelerator signal into accelerator curves, and accelerator signal processing is performed simultaneously: the divider and the amplitude limit are then converted into the accelerator demand, and the corresponding control mode is called to drive the three-phase current to accelerate.
In summary, the present application provides a safety control method for a picking vehicle, which is applied to a vehicle including a first operation console and a second operation console, wherein a first emergency stop switch and a second emergency stop switch in a vehicle operation system are connected in series in a main loop, and key switches corresponding to the first operation console and the second operation console are respectively connected to corresponding relay control loops and a driving system, and the control method includes: when the first emergency stop switch and the second emergency stop switch are both closed, judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system and control the relay control loop corresponding to the other key switch to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device. Therefore, the vehicle control system has the advantages that the vehicle is controlled by one console on the basis of the traditional vehicle control system by the other console, operators can switch the console to control the vehicle at any time, and a single-side operating system is also adopted on the basis of the two consoles. Two operation tables on the vehicle can control the vehicle, so that the visual blind area generated by an operator when one operation table is used is avoided. Meanwhile, when the two actions of picking up and operating and running are switched, operators respectively use different operation tables, so that the picking time of the cargoes is shortened, and the working efficiency of the operators is improved.
In the above embodiments, a method for controlling safety of a picker is described in detail, and the present application further provides a corresponding embodiment of a safety control device of a picker. It should be noted that the present application describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware.
FIG. 6 is a block diagram of a safety control system for a picking truck according to another embodiment of the present disclosure, the system is applied to a vehicle including a first console and a second console, a first scram switch and a second scram switch in the vehicle operating system are connected in series in a main loop, and key switches corresponding to the first console and the second console are respectively connected to corresponding relay control loops and a driving system, as shown in FIG. 6, the control system includes;
the judging module 11 is used for judging whether the first key switch corresponding to the first operation platform or the second key switch corresponding to the second operation platform is closed when the first emergency stop switch and the second emergency stop switch are both closed;
the control module 12 is used for controlling the corresponding relay control loop to be powered on when any one key switch is closed, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system and controlling the relay control loop corresponding to the other key switch to be powered off;
The alarm module 13 is configured to trigger an alarm device if both the first key switch and the second key switch are closed.
Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.
For solving the technical problem, the application also provides a safety control device of a picking vehicle, which comprises: the device comprises a first operation table, a second operation table, a first group of preset devices, a second group of preset devices and a controller;
integrally mounting a first group of preset devices on a first operation table;
integrally mounting a second set of preset devices on a second operation table; wherein the mounting positions of the same devices in the first group of preset devices and the second group of preset devices on different operation tables are relatively consistent;
the controller is integrally arranged in any operation table and connected with the first group of preset devices and the second group of preset devices through hard wires, and is used for judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are both closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device.
Wherein, still include: a first safety pedal and a second safety pedal; the first safety pedal is arranged on the bottom plate, and the position relation between the first safety pedal and the first operation table meets the requirement of a preset position relation;
the second safety pedal is arranged on the bottom plate, and the position relation between the second safety pedal and the second operation table meets the requirement of the preset position relation.
The first set of preset devices includes: the first emergency stop switch, the first steering wheel, the first instrument, the first control key, the first accelerator, the first left and right guardrail switches, the first left hand signal switch, the first roadway signal switch, the first pedal switch and the first display interface;
the second set of preset devices includes: the system comprises a second emergency stop switch, a second steering wheel, a second instrument, a second control key, a second accelerator, a second left-right guardrail switch, a second left-hand signal switch, a second roadway signal switch, a second pedal switch and a second display interface.
In a particular embodiment, FIG. 7 shows the appearance of the picker and FIG. 8 shows details of the interior of the picker. Wherein, as shown in fig. 7, the picking vehicle is divided into a side and a side B, that is, into a first console and a second console. Fig. 8 shows a safety pedal (30) and a scram switch (31). The safety pedal and the emergency stop switch are devices for providing safety for operators, so that the position of the safety pedal is preferably in accordance with human engineering, the position of the emergency stop switch is arranged in a more conspicuous place, the emergency stop switch positions on two sides are relatively consistent, and thus the positions of the devices are familiar no matter which operation table is operated by the operators.
The specific types of the first preset device and the second preset device in the application are only one implementation manner, but not limited to only the implementation manner, and can be set according to the needs of users.
In view of the foregoing, the present application provides a safety control device for a picker, including: the device comprises a first operation table, a second operation table, a first group of preset devices, a second group of preset devices and a controller; integrally mounting a first group of preset devices on a first operation table; integrally mounting a second set of preset devices on a second operation table; wherein the mounting positions of the same devices in the first group of preset devices and the second group of preset devices on different operation tables are relatively consistent; the controller is integrally arranged in any operation table and connected with the first group of preset devices and the second group of preset devices through hard wires, and is used for judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are both closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected to the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device. Therefore, the vehicle control system has the advantages that the vehicle is controlled by one console on the basis of the traditional vehicle control system by the other console, operators can switch the console to control the vehicle at any time, and a single-side operating system is also adopted on the basis of the two consoles. Two operation tables on the vehicle can control the vehicle, so that the visual blind area generated by an operator when one operation table is used is avoided. Meanwhile, when the two actions of picking up and operating and running are switched, operators respectively use different operation tables, so that the picking time of the cargoes is shortened, and the working efficiency of the operators is improved.
The above describes in detail a method, system and apparatus for controlling safety of a picker vehicle. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims (10)

1. The safety control method for the picking vehicle is characterized by being applied to a vehicle with a double-sided operating system, a first operating platform and a second operating platform, wherein a first emergency stop switch and a second emergency stop switch in the double-sided operating system corresponding to the vehicle are connected in series in a main loop, a key switch corresponding to the first operating platform is connected into a relay control loop and a driving system corresponding to the first operating platform, a key switch corresponding to the second operating platform is connected into the relay control loop and the driving system corresponding to the second operating platform, the first emergency stop switch is arranged on the first operating platform, the second emergency stop switch is arranged on the second operating platform, and operators respectively use different operating platforms when goods pick up and operation travel are switched, and the method comprises the following steps:
when the first emergency stop switch and the second emergency stop switch are both closed, judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed;
when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified;
And if the first key switch and the second key switch are both closed, triggering an alarm device.
2. The method of claim 1, wherein when any one of the key switches is closed, controlling the power-up of the corresponding relay control circuit, the corresponding driving system accessing the main circuit to control the vehicle according to the driving system, and controlling the power-down of the relay control circuit corresponding to the other key switch, comprises:
when any key switch is closed, the corresponding interlocking control relay is controlled to be electrified, and auxiliary contacts of the interlocking control relay are opened;
controlling a corresponding instrument control relay to be electrified, and opening an auxiliary contact of the instrument control relay;
controlling the corresponding buzzer relay to be electrified and sucking the auxiliary contact of the instrument control relay;
triggering the electrifying relay to electrify, and sucking the auxiliary electric shock of the electrifying relay so as to enable a driving system corresponding to the closed key switch to be connected into the main loop, and controlling the vehicle according to the driving system.
3. The method of claim 1, wherein triggering an alarm if both the first key switch and the second key switch are closed comprises:
The corresponding interlocking relay, the instrument relay and the buzzer relay are controlled to be electrified, the electrified relay is powered down, and auxiliary electric shock of each interlocking relay is disconnected;
and sucking the auxiliary electric shock of the buzzer relay to trigger the buzzer to alarm.
4. The method of picker safety control according to claim 1, further comprising:
judging whether the first scram switch and the second scram switch are both closed;
if yes, a step of judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed or not when the first emergency stop switch and the second emergency stop switch are closed is entered;
if not, controlling the interface of any operation platform to display the current state of the vehicle.
5. The method of picker safety control according to claim 4, further comprising:
self-checking operation is carried out on the self-checking device to obtain a self-checking result;
if the self-checking result does not meet the preset requirement, controlling the interface of any one operation platform to display a corresponding self-checking fault code;
if the self-checking result meets the preset requirement, performing self-switching logic judgment;
If the switches corresponding to the preset switch types are all activated, the step of judging whether the first emergency stop switch and the second emergency stop switch are both closed is carried out.
6. The method of claim 5, wherein the self-checking itself to obtain self-checking results comprises:
and detecting whether the direction control module, the traction control module, the driving system, the battery state and the remote car locking module have faults or not, and taking the detection result as the self-detection result.
7. The utility model provides a pick-up car safety control system, its characterized in that is applied to including having two-sided operating system, first operation panel and second operation panel, wherein, the vehicle corresponds first scram switch and second scram switch are established ties in the main loop in the two-sided operating system, and the key switch that first operation panel corresponds inserts in relay control loop and the driving system that first operation panel corresponds, the key switch that second operation panel corresponds inserts in relay control loop and the driving system that second operation panel corresponds, first scram switch sets up on the first operation panel, second scram switch sets up on the second operation panel, and operating personnel uses different operation panels respectively when two actions switch in goods pick up and operation travel, and this system includes:
The judging module is used for judging whether a first key switch corresponding to the first operation platform or a second key switch corresponding to the second operation platform is closed when the first emergency stop switch and the second emergency stop switch are both closed;
the control module is used for controlling the corresponding relay control loop to be electrified when any one key switch is closed, and the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system and control the relay control loop corresponding to the other key switch to be electrified;
and the alarm module is used for triggering the alarm device if the first key switch and the second key switch are both closed.
8. The utility model provides a pick-up car safety control device, its characterized in that is applied to including having two-sided operating system, first operation panel and second operation panel, wherein, the vehicle corresponds first scram switch and second scram switch are established ties in the main loop in the two-sided operating system, and the key switch that first operation panel corresponds inserts in relay control loop and the driving system that first operation panel corresponds, the key switch that second operation panel corresponds inserts in relay control loop and the driving system that second operation panel corresponds, first scram switch sets up on the first operation panel, second scram switch sets up on the second operation panel, and operating personnel uses different operation panels respectively when two actions switch of goods pick up and operation travel, and the device includes: a first set of preset devices, a second set of preset devices, and a controller;
Integrally mounting the first set of preset devices on the first operation table;
integrally mounting the second set of preset devices on the second operation table; wherein the mounting positions of the same devices in the first group of preset devices and the second group of preset devices on different operation tables are relatively consistent;
the controller is integrally arranged in any operation table, is connected with the first group of preset devices and the second group of preset devices through hard wires, and is used for judging whether a first key switch corresponding to the first operation table or a second key switch corresponding to the second operation table is closed when the first emergency stop switch and the second emergency stop switch are closed; when any one key switch is closed, the corresponding relay control loop is controlled to be electrified, and the corresponding driving system is connected into the main loop so as to control the vehicle according to the driving system, and the relay control loop corresponding to the other key switch is controlled to be electrified; and if the first key switch and the second key switch are both closed, triggering an alarm device.
9. The picker safety control device according to claim 8, further comprising: a first safety pedal and a second safety pedal;
The first safety pedal is arranged on the bottom plate, and the position relationship between the first safety pedal and the first operation table meets the requirement of a preset position relationship;
the second safety pedal is arranged on the bottom plate, and the position relation between the second safety pedal and the second operation platform meets the preset position relation requirement.
10. The picker safety control device according to claim 9 wherein said first set of preset means comprises: the first emergency stop switch, the first steering wheel, the first instrument, the first control key, the first accelerator, the first left and right guardrail switches, the first left hand signal switch, the first roadway signal switch, the first pedal switch and the first display interface;
the second set of preset devices includes: the system comprises a second emergency stop switch, a second steering wheel, a second instrument, a second control key, a second accelerator, a second left-right guardrail switch, a second left-hand signal switch, a second roadway signal switch, a second pedal switch and a second display interface.
CN202311605736.7A 2023-11-29 2023-11-29 Safety control method, system and device for picking vehicle Active CN117302077B (en)

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