CN-122010016-A - Remote walking control system and method for forklift

CN122010016ACN 122010016 ACN122010016 ACN 122010016ACN-122010016-A

Abstract

The invention belongs to the technical field of control of diesel forklifts, and provides a forklift remote walking control system and method, wherein the forklift remote walking control system comprises a remote operation device for outputting a walking control signal; the system comprises a signal receiving device, a vehicle executing unit, a whole vehicle controller, a braking force mapping command and a speed closed-loop command, wherein the vehicle executing unit comprises a reversing device, a speed measuring device, an electronic hydraulic braking device and a power device, the reversing device is controlled to set the walking direction of a forklift based on the polarity of a walking control signal, the braking force mapping command is generated to control the electronic hydraulic braking device to provide braking force related to the amplitude when the amplitude of the walking control signal is smaller than the maximum value, the basic power command is generated to control the power device, and the speed closed-loop command is generated to enable the walking speed of the forklift to approach to a preset safety speed by adjusting the driving force output of the power device according to the feedback of the speed measuring device when the amplitude reaches the maximum value. The invention can solve the technical problems that the remote control of the forklift in the prior art is rough in control and cannot realize accurate inching.

Inventors

WANG YUEE
GAO ZIYAN
CHEN YANG
WU ZHANGYU
ZHAO JUANJUAN
GAO WENQIAN
YANG XUGUANG

Assignees

安徽合力股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260312

Claims (10)

1. A forklift remote travel control system, comprising: A remote operation device (500) having an operation handle (501) for outputting a travel control signal corresponding to the displacement magnitude and direction of the operation handle (501); A signal receiving device connected with the remote operation device (500) in a wireless communication manner and used for receiving the walking control signal; the vehicle execution unit comprises a reversing device, a speed measuring device, an electronic hydraulic braking device and a power device; And a whole vehicle controller (400) which is respectively in communication connection with the signal receiving device and each device in the vehicle execution unit, wherein the whole vehicle controller (400) is configured to: Controlling the reversing device to set the walking direction of the forklift based on the polarity of the walking control signal; when the magnitude of the walk control signal is less than a maximum value, generating a braking force map command to control the electro-hydraulic brake device to provide a braking force associated with the magnitude, and generating a base power command to control the power device; When the amplitude reaches the maximum value, a speed closed-loop instruction is generated so as to enable the forklift walking speed to approach to a preset safety speed through adjusting the driving force output of the power device according to the feedback of the speed measuring device.
2. The control system according to claim 1, characterized in that the operating handle (501) is provided with a linear rocker, the walking control signal being generated by a displacement of the linear rocker.
3. The control system according to claim 1 or 2, wherein the braking force map command is to cause the braking force provided by the electro-hydraulic brake device to be a preset inverse proportional function of the absolute value of the travel control signal when the magnitude is less than a maximum value.
4. The control system of claim 1, wherein the speed closed loop command is controlled in a proportional integral regulation control when the amplitude reaches the maximum value.
5. The control system according to claim 1, characterized in that the reversing device is a reversing solenoid valve (101) and the speed measuring device is a speed sensor (102).
6. The control system according to claim 1, characterized in that the signal receiving device is connected to the vehicle control unit (400) via a vehicle CAN bus.
7. The control system of claim 1, wherein the vehicle control unit (400) is connected to the power plant by a hard wire.
8. The forklift remote walking control method is characterized by comprising the following steps of: responding to a walking control signal output by a remote operation handle of the forklift; according to the polarity of the travelling control signal, controlling a reversing device to set the travelling direction of the forklift; Acquiring the current amplitude of the walking control signal and acquiring the real-time walking speed of the forklift; when the current amplitude is smaller than the maximum value, a braking force mapping instruction is sent to the electronic hydraulic braking device according to the current amplitude so as to control the electronic hydraulic braking device to provide corresponding braking force and control the power device to provide basic driving force; when the current amplitude reaches the maximum value, the driving force output of the power device is regulated through closed loop control according to the difference value between the real-time walking speed and the preset safety speed, so that the real-time walking speed approaches to the preset safety speed.
9. The control method according to claim 8, wherein the maximum value is an amplitude at which the operation handle reaches a maximum stroke.
10. The control method according to claim 8, wherein when the current amplitude is smaller than the maximum value, the braking force provided by the electro-hydraulic braking device is controlled to decrease with an increase in the absolute value of the amplitude, and linear inching control is performed on the forklift in cooperation with the basic driving force provided by the power device.

Description

Remote walking control system and method for forklift Technical Field The application relates to the technical field of control of diesel forklifts, in particular to a forklift remote walking control system and method. Background Fork truck is used as core equipment for material handling, and is widely applied in the scenes of storage, logistics hubs, port and wharfs, large-scale manufacturing workshops and the like. However, under a plurality of special working conditions, the traditional man-driving mode faces significant challenges that the health and safety of a driver are directly threatened in toxic and harmful, high-temperature, explosive or radiation high-risk environments, the severe requirements on the human body tolerance are set up for long-time operation in closed or extreme environments such as a refrigerator, a clean room and the like, and serious blind areas exist in the fields of container interiors, high-rise laneways of goods shelves or dock loading and unloading and the like, so that the operation efficiency is low, and collision accidents are more easily caused. In addition, in operations such as carrying precision instruments and assembling dies, which require extremely high alignment precision, it is difficult to realize millimeter-level stable control only by experience of a driver. Therefore, a reliable remote control technology of the forklift is developed, and the human-vehicle separation and human-machine cooperation are realized, so that the method has important engineering value and practical significance for guaranteeing personnel safety, improving operation precision and expanding application boundaries. At present, a common simple remote control scheme in the industry is mainly based on the fact that a wireless communication module transmits switching value signals of a relay, and only discretized inching control of basic actions such as forward, backward, left turn, right turn, lifting, descending and the like can be achieved. The scheme can not continuously and linearly adjust the walking speed, lacks fine support on the working condition of low-speed inching, causes hard remote control action and difficult positioning, and is difficult to meet the requirements of high-precision operation such as accurate insertion and taking of a tray, obstacle avoidance in a narrow space and the like. On the other hand, the high-performance remote control system directly transplanted from the engineering machinery field has the capability of proportional control and multi-channel coordination, but the design is generally based on a brand new electric control hydraulic architecture, has high cost, is difficult to deeply compatible with the existing systems such as hydraulic braking, hydraulic steering and the like commonly adopted by a forklift, needs to carry out large-scale transformation on the whole forklift, has high integration complexity, long period and difficult control of cost, and prevents the popularization and application in the market of the stored-quantity forklift and in a cost sensitive scene. Although the prior art also has various control schemes of remote control fork trucks, fine control cannot be well realized, and the fine control of the throttle/handle displacement by an operator is relied on. For example, patent publication number CN102817721B discloses a device for controlling real-time speed regulation of a forklift power system, which comprises a displacement detection device, a clutch state detection device, a speed regulation device and a PLC control unit, wherein the displacement detection device and the clutch state detection device are connected with the PLC control unit, the PLC control unit is also connected with the speed regulation device, the displacement detection device and the clutch state detection device transmit signals to the PLC control unit, and after being processed by the PLC control unit, the signals are transmitted to the speed regulation device, and a method for controlling real-time speed regulation of the forklift power system is also disclosed. The method not only can increase the engine speed according to the working condition requirement, but also can automatically adjust the engine speed when the control handle acts. However, the device and method are generally used for ensuring that the engine is not flameout and responds under inching conditions, the engine is usually maintained at a higher rotating speed than idling, the vehicle can only overcome small resistance and creep, the fuel economy of the engine is poor, and the device and method have extremely high requirements on operators under remote or complex conditions and depend on fine operation of the drivers. Therefore, how to design a remote walking control system with controllable cost, precise control and high integration based on the existing system architecture of the forklift becomes a technical problem to be solved in the field. Disclosure of Invention Aiming at the de