A method, device, equipment and medium for controlling the speed of a fork

Abstract

The application discloses a kind of fork speed control method, device, equipment and medium, it is related to speed control technical field.The method comprises: obtaining target lifting height value, load center distance and the real-time lifting height of fork truck fork;Based on preset function, according to the target lifting height value, load center distance and real-time lifting height obtained determine the lifting speed of fork;Wherein, preset function satisfies: lifting speed about real-time lifting height presents the trend variation of first increase and then decrease, and when load center distance is greater than standard load center distance, the greater load center distance is, the smaller maximum lifting speed is, while the lifting height value corresponding to lifting speed reaching maximum lifting speed is smaller;Based on the lifting speed determined, control fork rises or falls.The application not only can make heavy object quickly approach target lifting height value, improve work efficiency, and achieve the effect of slow start and slow stop, but also can avoid forklift to appear to cause safety accident.

Description

Technical Field

[0001] This invention relates to the field of speed control technology, and in particular to a fork speed control method, device, equipment and medium. Background Technology

[0002] The control performance of forklift lifting directly affects operational efficiency, energy consumption, equipment stability, and cargo safety. Traditional forklift lifting control systems commonly employ two control strategies: 1) Constant speed control: The operator manually controls the lifting speed via a joystick, or the system presets a fixed lifting speed. While simple, this method has significant drawbacks: accelerating from a standstill to the target speed and decelerating to a stop before reaching the target height generates substantial inertial shocks. This not only affects the stability of cargo placement (especially for fragile or misaligned goods) but also exacerbates wear on the mechanical structure and pressure fluctuations in the hydraulic system, impacting equipment lifespan in the long run. Furthermore, constant speed operation throughout the entire process consumes more energy and is not energy-efficient. 2) Simple segmented speed control: Some improved forklifts use a three-stage control mechanism: acceleration at the beginning of lifting, constant speed in the middle, and deceleration when approaching the target height. This method is an improvement over constant speed control, but its speed curve is typically trapezoidal, and the acceleration and deceleration processes are often abrupt.

[0003] In summary, during the process of handling goods, the lifting speed of existing forklifts is usually controlled by the operator's actual operation, which is unstable, has low safety, and is very inefficient. Summary of the Invention

[0004] This invention provides a fork speed control method, device, equipment, and medium to optimize and adjust the lifting speed of the forklift forks during the lifting or lowering of a load, taking into account factors such as the load center distance and lifting height. On the one hand, this enables the load to quickly approach the target lifting height, shortens the lifting time, and improves work efficiency, while achieving the effect of slow start and slow stop. On the other hand, it can prevent the forklift from tipping over and causing safety accidents.

[0005] In a first aspect, embodiments of the present invention provide a fork speed control method, comprising:

[0006] Obtain the target lifting height value, load center distance, and real-time lifting height of the forklift forks;

[0007] Based on a preset function, the lifting speed of the forks is determined according to the obtained target lifting height value, the load center distance, and the real-time lifting height; wherein, the preset function satisfies the following: the lifting speed changes with respect to the real-time lifting height in a trend of first increasing and then decreasing, and when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed, and the smaller the lifting height value corresponding to the lifting speed reaching the maximum lifting speed;

[0008] The forks are controlled to rise or fall based on the determined lifting speed.

[0009] Optionally, the preset function also satisfies:

[0010] When the load center distance is less than or equal to the standard load center distance, the maximum lifting speed reached by the lifting speed is the maximum value of the maximum lifting speed.

[0011] Optionally, the preset function also satisfies:

[0012] When the load center distance is greater than the standard load center distance, the maximum lifting speed changes according to the following formula as the load center distance increases:

[0013] ;

[0014] Where C0 is the standard load center distance, C is the load center distance, and V max0 The maximum lifting speed is the maximum value; min indicates taking the minimum value.

[0015] Optionally, the preset function also satisfies:

[0016] When the load center distance is greater than the standard load center distance, as the load center distance increases, the lifting height value corresponding to the maximum lifting speed changes according to the following formula:

[0017] ;

[0018] Among them, h max The lifting height value corresponding to the maximum lifting speed is given by the lifting speed, where C0 is the standard load center distance, C is the load center distance, and h is the height value. max0 This represents the lifting height value corresponding to the maximum lifting speed.

[0019] Optionally, the preset function satisfies:

[0020] ;

[0021] Where v is the lifting speed, h is the real-time lifting height, and H is the target lifting height value.

[0022] Optionally, the preset function also satisfies the following: when the load center distance is less than or equal to the standard load center distance, and when the real-time lifting height reaches 1 / 2 of the target lifting height value, the lifting speed reaches the maximum value of the maximum lifting speed.

[0023] Optionally, the preset function also satisfies:

[0024] When the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the change in lifting speed with the real-time lifting height.

[0025] Optionally, before determining the lifting speed of the forks based on the obtained target lifting height value, the load center distance, and the real-time lifting height using a preset function, the method further includes:

[0026] Determine whether the load center distance is greater than 1.5 times the standard load center distance;

[0027] If so, an alarm will be triggered;

[0028] If not, proceed to the next step.

[0029] Secondly, embodiments of the present invention also provide a fork speed control device, comprising:

[0030] The acquisition module is used to acquire the target lifting height value, load center distance, and real-time lifting height of the forklift forks;

[0031] The processing module is used to determine the lifting speed of the forks based on a preset function, according to the obtained target lifting height value, the load center distance, and the real-time lifting height; wherein, the preset function satisfies the following: the lifting speed changes with respect to the real-time lifting height in a trend of first increasing and then decreasing, and when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed, and the smaller the lifting height value corresponding to the lifting speed reaching the maximum lifting speed;

[0032] A control module is used to control the forks to rise or fall based on the determined lifting speed.

[0033] Thirdly, embodiments of the present invention also provide an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the processors implement the fork speed control method as described above.

[0034] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the fork speed control method as described above.

[0035] The solution provided by this invention obtains the target lifting height value, load center distance, and real-time lifting height of the forklift forks. These values ​​are then substituted into a pre-established function relating the target lifting height value, load center distance, real-time lifting height, and fork lifting speed. The lifting speed of the forks can then be calculated, and based on this speed, the forks are controlled to rise or fall, thereby dynamically adjusting the lifting speed of the forks during forklift handling. Specifically, the pre-established function satisfies a trend where the lifting speed first increases and then decreases with respect to the real-time lifting height. Furthermore, when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed. Simultaneously, the lifting height value corresponding to the maximum lifting speed is smaller. This allows the forks to quickly approach the target lifting height value during lifting or falling, shortening the lifting time and improving work efficiency. Finally, when the real-time lifting height reaches the target lifting height value, the lifting speed of the forks decreases to zero, achieving a slow start and slow stop effect. When the load center distance is greater than the standard load center distance, by reducing the lifting speed to reach the maximum lifting speed and the corresponding lifting height value, the lifting speed of the forks can be reduced to zero more smoothly during the deceleration process, reducing the risk of the load tipping over and avoiding safety accidents. At the same time, it improves the intelligence level of the forklift, thereby reducing the wear of the mechanical structure and the pressure fluctuation of the hydraulic system by dynamically and smoothly adjusting the lifting speed of the forks, extending the equipment life and reducing energy consumption.

[0036] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, although the drawings described below are some specific embodiments of the present invention, those skilled in the art can extend and extend the basic concepts of the device structure, driving method and manufacturing method disclosed and indicated by various embodiments of the present invention to other structures and drawings. Undoubtedly, these should all be within the scope of the claims of the present invention.

[0038] Figure 1 A flowchart of a fork speed control method provided in an embodiment of the present invention;

[0039] Figure 2 A graph showing the change in lifting speed with respect to real-time lifting height under different load center distances, provided for embodiments of the present invention;

[0040] Figure 3 A three-dimensional graph showing the change in lifting speed with respect to load center distance and real-time lifting height, provided for embodiments of the present invention;

[0041] Figure 4 A flowchart of another fork speed control method provided in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of a fork speed control device provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this invention. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the basic concepts disclosed and indicated in the embodiments of this invention, all other embodiments obtained by those skilled in the art are within the scope of protection of this invention.

[0045] The inventors' research revealed that existing forklifts generally lack sufficient intelligence. During cargo handling, the lifting speed of the forklift forks is typically controlled by the operator, resulting in instability, low safety, and low work efficiency. The main shortcomings are as follows: First, existing solutions, in pursuit of precise positioning, prematurely cut off power when approaching the target height, allowing the forks to glide to the target height using inertia. However, the glide distance is greatly affected by factors such as load weight and mechanical friction, making precise calculation difficult and prone to inaccurate positioning or collisions. This fails to achieve a true "soft landing" (i.e., reaching the target height at zero speed), posing significant safety hazards. Second, manual control of the forklift fork lifting by the operator makes precise and stable speed control difficult, increasing the risk of tipping over heavy loads. Third, existing standards indicate that different forklift models have different load center distances. Existing solutions do not consider the impact of the load center distance on the fork lifting speed when controlling fork lifting, thus reducing the forklift's intelligence level.

[0046] Based on this, embodiments of the present invention provide a more intelligent and safer fork speed control method. Figure 1 A flowchart of a fork speed control method provided in an embodiment of the present invention is shown below. Figure 1 As shown, the control method specifically includes the following steps:

[0047] S11. Obtain the target lifting height value, load center distance, and real-time lifting height of the forklift forks.

[0048] The target lifting height value refers to the height from the starting position to the target position. This means the starting position corresponds to a height of 0, and the target position corresponds to any value greater than 0. The target lifting height value is equal to the height at the target position. It should be noted that in this embodiment of the invention, a complete forklift handling process refers to either an upward movement or a downward movement. During an upward movement, the target lifting height value refers to the height from the initial position to the target position, while during a downward movement, the target lifting height value refers to the height from the initial position to the target position. Furthermore, the initial position can be any position, referring to the initial position where the forks begin to rise or fall, and the target lifting height value can also be any position during the upward or downward movement.

[0049] The load center distance refers to the horizontal distance from the center of gravity of a standard load placed on the forks to the front wall of the vertical section of the forks. The unit of load center distance is millimeters. Once the load center distance exceeds the standard load center distance, the maximum allowable load capacity of the forklift must be reduced to ensure the stability and safety of forklift operation. Different tonnage forklifts have different corresponding standard load center distances. For example, forklifts under 1 ton have a standard load center distance of 400 mm; forklifts from 1 ton to 5 tons have a standard load center distance of 500 mm; and forklifts from 5 tons to 10 tons have a standard load center distance of 600 mm. The load center distance can be measured using existing conventional measurement methods. Since the specific measurement method is not the focus of this invention, it will not be described in detail here. It should be noted that in the actual control algorithm, the units of load center distance and standard load center distance are uniformly converted to meters for algorithm calculation.

[0050] Real-time lifting height refers to the height of the forks relative to their initial position during the current lifting or lowering process of a forklift.

[0051] S12. Based on a preset function, determine the lifting speed of the forks according to the obtained target lifting height value, load center distance and real-time lifting height.

[0052] The preset function satisfies the following: the lifting speed changes with the real-time lifting height in a trend of first increasing and then decreasing; when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed; and the smaller the lifting height value corresponding to the lifting speed reaching the maximum lifting speed.

[0053] It is understandable that the preset function refers to the functional relationship between the lifting speed and the target lifting height, the load center distance, and the real-time lifting height, and it is pre-set in the forklift control system. Addressing the shortcomings of the prior art mentioned above, the inventors creatively proposed a preset function for the lifting speed with respect to the target lifting height, the load center distance, and the real-time lifting height. This preset function satisfies the condition that the lifting speed increases first and then decreases with respect to the real-time lifting height. Furthermore, when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed, and the smaller the lifting height corresponding to the maximum lifting speed. In other words, when the load center distance is greater than the standard load center distance, different load center distances will result in different lifting heights at the maximum lifting speed and different maximum lifting speeds themselves. The size of the load center distance is negatively correlated with both the lifting height at the maximum lifting speed and the maximum lifting speed; that is, the larger the load center distance, the smaller the lifting height at the maximum lifting speed and the smaller the maximum lifting speed. Thus, based on the preset function that meets this condition, the current target lifting height value, load center distance, and real-time lifting height can be substituted into the preset function to determine the lifting speed of the forks.

[0054] It should be noted that the variable information in the preset function includes, but is not limited to, the target lifting height value, the load center distance, and the real-time lifting height. Other variables can be preset fixed values.

[0055] S13. Control the forks to rise or fall based on a determined lifting speed.

[0056] After determining the lifting speed according to steps S11 and S12, the forks will be controlled to rise or fall based on the determined lifting speed. During the process of the forklift's forks moving the load to rise or fall, steps S11 to S13 will be repeatedly executed in a loop, thereby achieving the effect of dynamically adjusting the lifting speed of the forks.

[0057] It should be noted that since the load center distance affects the maximum load capacity of the forklift, the obtained load center distance can be used to adjust the weight of the current load according to existing standards to avoid tipping accidents. After the weight of the load meets the safety operation requirements of the forklift, the forklift forks will rise or fall according to the lifting speed determined by a preset relationship. Unless otherwise specified, the control method provided in this embodiment of the invention assumes that the weight of the load meets the standard requirements for safe operation of the forklift under different load center distances.

[0058] Specifically, before operating the forklift, the target lifting height value can be determined and the load center distance measured. Then, the forklift operation is started, and the load is moved to the target height value. During this process, the real-time lifting height of the forks can be measured. The target lifting height value, load center distance, and real-time lifting height are substituted into a preset function to determine the lifting speed. The forks are then controlled to rise or fall at this speed. When the load center distance is greater than the standard load center distance, there is a certain danger in the lifting or falling of the forks while carrying the load. Too high a speed can easily lead to a safety accident, while too low a speed will affect work efficiency. The larger the load center distance, the lower the safety factor. Thus, during this process, the real-time change in lifting height and the load center distance work together to automatically adjust the lifting speed of the forks, changing it in a trend of first increasing and then decreasing. This allows the load to be moved quickly to the target position, and when the real-time lifting height equals the target lifting height value, the lifting speed drops to zero, achieving precise and stable speed control, while also achieving the effect of slow start and slow stop.

[0059] Furthermore, the trend of fork lifting speed changes differs under different load center distances. Specifically, the maximum lifting speed reached during the lifting speed change process, and the lifting height at which the forks reach the maximum lifting speed, are both determined by the load center distance. When the load center distance is greater than the standard load center distance, the magnitude of the load center distance is negatively correlated with the lifting height at the maximum lifting speed and the maximum lifting speed itself. That is, the larger the load center distance, the smaller the lifting height at the maximum lifting speed and the smaller the maximum lifting speed; conversely, the smaller the load center distance, the larger the lifting height at the maximum lifting speed and the larger the maximum lifting speed. This can be understood as follows: when the load center distance is greater than the standard load center distance, the larger the load center distance, the earlier the lifting speed should reach the maximum lifting speed, and the smaller the maximum lifting speed should be. This increases the distance corresponding to the fork deceleration process (i.e., the distance between the lifting height at the maximum lifting speed and the target lifting height), allowing the lifting speed to decrease to zero more gradually during deceleration. This reduces the risk of the load tipping over, avoids safety accidents, and improves the intelligence level of the forklift.

[0060] In summary, this embodiment of the invention obtains the target lifting height value, load center distance, and real-time lifting height of the forklift, and substitutes these values ​​into a pre-established function relating the target lifting height value, load center distance, real-time lifting height, and fork lifting speed. This allows for the calculation of the fork lifting speed, which is then used to control the fork's ascent or descent during cargo handling. Specifically, the pre-established function satisfies a trend where the lifting speed initially increases and then decreases with respect to the real-time lifting height. Furthermore, when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the lifting height value at which the maximum lifting speed is reached, and the smaller the maximum lifting speed itself. This allows the fork to quickly approach the target lifting height value during ascent or descent, shortening the lifting time and improving work efficiency. Finally, when the real-time lifting height reaches the target lifting height value, the fork lifting speed decreases to zero, achieving a slow start and slow stop effect. When the load center distance is greater than the standard load center distance, by reducing the lifting speed to reach the maximum lifting speed and the corresponding lifting height value, the lifting speed of the forks can be reduced to zero more smoothly during the deceleration process, reducing the risk of the load tipping over and avoiding safety accidents. At the same time, it improves the intelligence level of the forklift, thereby reducing the wear of the mechanical structure and the pressure fluctuation of the hydraulic system by dynamically and smoothly adjusting the lifting speed of the forks, extending the equipment life and reducing energy consumption.

[0061] Alternatively, the preset function also satisfies the following: when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the change in lifting speed with real-time lifting height.

[0062] Specifically, when the load center distance exceeds the standard load center distance, while reducing the lifting speed to reach the maximum lifting speed and the corresponding lifting height value and maximum lifting speed, it is also necessary to reduce the amplitude of the lifting speed change with the real-time lifting height, so that the forks increase to the maximum lifting speed more gradually, reducing the risk of the load tipping over and avoiding safety accidents.

[0063] Optionally, the preset function also satisfies the following: when the load center distance is less than or equal to the standard load center distance, the maximum lifting speed reached is the maximum lifting speed.

[0064] Specifically, when the load center distance is less than or equal to the standard load center distance, it means that the forklift's maximum permissible load capacity is the rated load capacity, and the forks are safe during the movement of the load. During this process, the maximum lifting speed reached is the maximum value of the forks' maximum lifting speed achievable, i.e., the maximum maximum lifting speed. It can be understood that regardless of the load center distance, the maximum lifting speed achievable will not exceed this maximum maximum lifting speed.

[0065] Optionally, the maximum lifting speed is the maximum lifting speed that the forklift can achieve under safe operating conditions, which can be 600 mm / s. An alarm can be triggered when the lifting speed of the fork exceeds this maximum to prevent accidents.

[0066] Optionally, the preset function also satisfies the following condition: when the real-time lifting height reaches 1 / 2 of the target lifting height value, the lifting speed reaches the maximum lifting speed value.

[0067] Specifically, when the load center distance is less than or equal to the standard load center distance, the lifting speed still maintains a trend of first increasing and then decreasing with the increase of the real-time lifting height. When the real-time lifting height reaches 1 / 2 of the target lifting height value, the lifting speed reaches the maximum lifting speed value, which further improves work efficiency while ensuring the safety and reliability of the fork lifting process and improving the intelligence level of the forklift.

[0068] It should be noted that the processes of increasing and decreasing the lifting speed can be completely symmetrical or asymmetrical. In other words, the lifting speed change curve fitted by the preset function can be symmetrical or asymmetrical, and this embodiment of the invention does not impose specific limitations on this. Further settings can be made according to actual conditions.

[0069] Optionally, the preset function also satisfies the following condition: when the load center distance is greater than the standard load center distance, the maximum lifting and lowering speed changes according to the following formula as the load center distance increases:

[0070] ;

[0071] Among them, V max The maximum lifting speed is given by C0, where C is the standard load center distance, C is the load center distance, and V is the maximum lifting speed. max0 This represents the maximum value of the maximum acceleration / deceleration rate.

[0072] The maximum lifting speed can be set according to actual conditions, and this embodiment of the invention does not impose a specific limitation on it. For example, the maximum lifting speed can be 0.6 m / s. The specific value of the standard load center distance C0 is determined by the type of forklift; different tonnage forklifts correspond to different specific values ​​of the standard load center distance C0.

[0073] Specifically, when the load center distance C is greater than the standard load center distance C0, the ratio of the standard load center distance C0 to the load center distance C, C0 / C, is less than 1, and the maximum lifting speed V... maxThe load will be reduced according to the ratio C0 / C. When the load center distance C is less than or equal to the standard load center distance C0, the ratio C0 / C of the standard load center distance C0 to the load center distance C is greater than or equal to 1, and the maximum lifting speed V... max Equal to the maximum value of the maximum acceleration / deceleration V max0 .

[0074] Optionally, the preset function also satisfies the following: when the load center distance is greater than the standard load center distance, as the load center distance increases, the lifting height value corresponding to the maximum lifting speed changes according to the following formula:

[0075] ;

[0076] Among them, h max h is the lifting height value corresponding to the maximum lifting speed. max0 This represents the lifting height value corresponding to the maximum lifting speed.

[0077] Understandably, the maximum acceleration / deceleration V max0 The corresponding lifting height value h max0 This refers to the lifting height value corresponding to the maximum lifting speed when the load center distance C is less than or equal to the standard load center distance C0.

[0078] Specifically, when the load center distance C is greater than the standard load center distance C0, the ratio of the standard load center distance C0 to the load center distance C, C0 / C, is less than 1, and the lifting speed reaches the maximum lifting speed V. max The corresponding lifting height value h max The load will be reduced according to the ratio C0 / C. When the load center distance C is less than or equal to the standard load center distance C0, the ratio C0 / C of the standard load center distance C0 to the load center distance C is greater than or equal to 1, and the lifting speed reaches the maximum lifting speed V. max The corresponding lifting height value h max Equal to the maximum value of the maximum acceleration / deceleration V max0 The corresponding lifting height value h max0 .

[0079] Optionally, the preset function satisfies:

[0080] ;

[0081] Where v is the lifting speed, h is the real-time lifting height, and H is the target lifting height value.

[0082] Specifically, regardless of the load center distance, with a fixed load center distance, the lifting height corresponding to the maximum lifting speed and the maximum lifting speed can be determined using the formula provided earlier. Then, as the real-time lifting height h changes, the lifting speed v exhibits a trend of first increasing and then decreasing with respect to h. At h=0 and h=H, the lifting speed v is 0, achieving the effect of gradual start and gradual stop. Furthermore, when the load center distance is greater than the standard load center distance, as the load center distance increases, the maximum lifting speed V... max and maximum lifting speed V max The corresponding lifting height value h max The speed is gradually reduced, and the change in lifting speed v is also more gradual, avoiding excessive speed that could cause the forklift to tip over, thus ensuring the safety and reliability of the entire operation process.

[0083] For example, with a target lifting height H of 3m, a standard load center distance C0 of 0.5m, and a maximum lifting speed V... max0 Taking 0.6 m / s as an example, Figure 2 The curves showing the lifting speed v as a function of real-time lifting height h are presented for different load center distances C. Figure 2 It can be seen that regardless of the load center distance C, the lifting speed v changes with respect to the real-time lifting height h in a trend of first increasing and then decreasing. When the load center distance C is less than or equal to the standard load center distance C0, the curves of the lifting speed v changing with respect to the real-time lifting height h are exactly the same. However, when the load center distance C is greater than the standard load center distance C0, the lifting height value corresponding to the maximum lifting speed v is less than the maximum lifting speed value V. max0 The corresponding lifting height value and maximum lifting speed are less than V. max0 Furthermore, the larger the load center distance C, the smaller the lifting height value and the maximum lifting speed corresponding to the maximum lifting speed v. Figure 3 A three-dimensional graph showing the variation of lifting speed v with load center distance C and real-time lifting height h is presented. Under different load center distance C and real-time lifting height h, there will be a corresponding lifting speed v. The influence of two variables, load center distance C and real-time lifting height h, is considered to ensure the reliability and safety of dynamic adjustment of the lifting speed v of the forks.

[0084] Therefore, the preset function establishes a mapping relationship between the load center distance C and the real-time lifting height h and the lifting speed v. Compared with the prior art, the present invention takes into account multiple aspects to dynamically adjust the lifting speed of the forks, improve the intelligence level of the forklift, and ensure the efficiency, reliability and safety of the forklift in handling goods.

[0085] Optionally, before determining the lifting speed of the forks based on the target lifting height value, load center distance, and real-time lifting height using a preset function, the method further includes: determining whether the load center distance is greater than a preset threshold; if so, issuing an alarm; if not, proceeding to the next step.

[0086] Figure 4 A flowchart of another fork speed control method provided in an embodiment of the present invention is shown below. Figure 4 As shown, the control method is as follows:

[0087] S21. Obtain the target lifting height value, load center distance, and real-time lifting height of the forklift forks.

[0088] S22. Determine whether the load center distance is greater than a preset threshold. If yes, proceed to step S23; otherwise, proceed to step S24.

[0089] The specific value of the preset threshold can be set according to the actual situation, and the embodiments of the present invention do not impose a specific limitation on it. Preferably, the preset threshold is 1.5 times the standard load center distance.

[0090] S23. Issue an alarm notification.

[0091] The methods for issuing alarm prompts include, but are not limited to, audible prompts or fault indicator prompts.

[0092] S24. Based on a preset function, determine the lifting speed of the forks according to the obtained target lifting height value, load center distance and real-time lifting height.

[0093] The preset function satisfies the following: the lifting speed changes with respect to the real-time lifting height, first increasing and then decreasing; and when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed; and the smaller the lifting height value corresponding to the lifting speed reaching the maximum lifting speed.

[0094] S25. Control the forks to rise or fall based on a determined lifting speed.

[0095] Specifically, the system first acquires the target lifting height, load center distance, and real-time lifting height of the forklift forks. Then, it determines if the load center distance exceeds a preset threshold. If it does, it indicates a significant deviation from the standard load center distance range, increasing the risk of tipping and potential accidents. An immediate alarm is triggered, and further forklift operation is prohibited to ensure safety. If the load center distance is less than or equal to the preset threshold, a preset function is used to determine the forklift lifting speed based on the acquired target lifting height, load center distance, and real-time lifting height. The forks are then controlled to rise or fall based on this determined speed. This reduces the risk of tipping over, prevents accidents, and improves the forklift's intelligence level.

[0096] Based on the same inventive concept, embodiments of the present invention also provide a fork speed control device. Figure 5 This is a schematic diagram of a fork speed control device provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the control device includes:

[0097] The acquisition module 10 is used to acquire the target lifting height value, the load center distance, and the real-time lifting height of the forklift forks.

[0098] The processing module 20 is used to determine the lifting speed of the forks based on a preset function, according to the obtained target lifting height value, load center distance and real-time lifting height; wherein, the preset function satisfies the following: the lifting speed changes with the real-time lifting height in a trend of first increasing and then decreasing, and when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed, and at the same time, the lifting height value corresponding to the maximum lifting speed is smaller.

[0099] The processing module 20 may include a height detection unit, a load center distance detection unit, and a target value setting unit. The height detection unit can be used to detect the real-time lifting height; the load center distance can be used to detect the horizontal distance from the center of gravity of the load to the front wall of the vertical section of the fork, in meters; and the target value setting unit can be used to set the target lifting height value.

[0100] The control module 30 is used to control the forks to rise or fall based on a determined lifting speed.

[0101] In this embodiment, the acquisition module 10 acquires the target lifting height value, load center distance, and real-time lifting height of the forklift forks, and transmits this data to the processing module 20. The processing module 20 then calculates the lifting speed of the forks based on a pre-established function relating the target lifting height value, load center distance, real-time lifting height, and fork lifting speed. This calculated lifting speed value is transmitted to the control module 30, which then controls the forks to rise or fall based on this lifting speed, dynamically adjusting the lifting speed of the forks during forklift handling. The pre-established function satisfies a trend where the lifting speed first increases and then decreases with respect to the real-time lifting height. Furthermore, when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the lifting height value at the maximum lifting speed and the smaller the maximum lifting speed. This allows the forks to quickly approach the target lifting height value during lifting or falling, shortening the lifting time and improving work efficiency. Finally, when the real-time lifting height reaches the target lifting height value, the lifting speed of the forks decreases to zero, achieving a slow start and slow stop effect. When the load center distance is greater than the standard load center distance, by reducing the lifting speed to reach the maximum lifting speed and the corresponding lifting height value, the lifting speed of the forks can be reduced to zero more smoothly during the deceleration process, reducing the risk of the load tipping over and avoiding safety accidents. At the same time, it improves the intelligence level of the forklift, thereby reducing the wear of the mechanical structure and the pressure fluctuation of the hydraulic system by dynamically and smoothly adjusting the lifting speed of the forks, extending the equipment life and reducing energy consumption.

[0102] In addition, this embodiment also provides an electronic device. Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, such as... Figure 6 As shown, the electronic device includes a processor 610, a memory 620, an input device 630, and an output device 640. The number of processors 610 in the electronic device can be one or more, and the processors 610, memory 620, input devices 630, and output devices 640 in the electronic device can be connected by a bus or other means.

[0103] The memory 620, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions or modules corresponding to the fork speed control method in this embodiment of the invention. The processor 610 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 620, thereby implementing the aforementioned fork speed control method.

[0104] The memory 620 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 620 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 620 may further include memory remotely located relative to the processor 610, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0105] Input device 630 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 640 may include display devices such as a display screen.

[0106] This invention also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the fork speed control method provided in any of the above embodiments.

[0107] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0108] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A fork speed control method, characterized in that, include: Obtain the target lifting height value, load center distance, and real-time lifting height of the forklift forks; Based on a preset function, the lifting speed of the forks is determined according to the obtained target lifting height value, the load center distance, and the real-time lifting height; wherein, the preset function satisfies the following: the lifting speed changes with respect to the real-time lifting height in a trend of first increasing and then decreasing, and when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed, and the smaller the lifting height value corresponding to the lifting speed reaching the maximum lifting speed; The forks are controlled to rise or fall based on the determined lifting speed.

2. The fork speed control method according to claim 1, characterized in that, The preset function also satisfies: When the load center distance is less than or equal to the standard load center distance, the maximum lifting speed reached by the lifting speed is the maximum value of the maximum lifting speed.

3. The fork speed control method according to claim 2, characterized in that, When the load center distance is greater than the standard load center distance, the maximum lifting speed changes according to the following formula as the load center distance increases: ； Among them, V max Where C0 is the maximum lifting speed, C0 is the standard load center distance, C is the load center distance, and V is the maximum lifting speed. max0 The maximum lifting speed is the maximum value; min indicates taking the minimum value.

4. The fork speed control method according to claim 3, characterized in that, When the load center distance is greater than the standard load center distance, as the load center distance increases, the lifting height value corresponding to the maximum lifting speed changes according to the following formula: ； Among them, h max h is the lifting height value corresponding to when the lifting speed reaches the maximum lifting speed. max0 This refers to the lifting height value corresponding to the maximum lifting speed.

5. The fork speed control method according to claim 4, characterized in that, The preset function satisfies: ； Where v is the lifting speed, h is the real-time lifting height, and H is the target lifting height value.

6. The fork speed control method according to claim 2, characterized in that, The preset function also satisfies the following: when the load center distance is less than or equal to the standard load center distance, and when the real-time lifting height reaches 1 / 2 of the target lifting height value, the lifting speed reaches the maximum value of the maximum lifting speed.

7. The fork speed control method according to claim 1, characterized in that, The preset function also satisfies: When the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the change in lifting speed with the real-time lifting height.

8. A fork speed control device, characterized in that, include: The acquisition module is used to acquire the target lifting height value, load center distance, and real-time lifting height of the forklift forks; The processing module is used to determine the lifting speed of the forks based on a preset function, according to the obtained target lifting height value, the load center distance, and the real-time lifting height; wherein, the preset function satisfies the following: the lifting speed changes with respect to the real-time lifting height in a trend of first increasing and then decreasing, and when the load center distance is greater than the standard load center distance, the larger the load center distance, the smaller the maximum lifting speed, and the smaller the lifting height value corresponding to the lifting speed reaching the maximum lifting speed; A control module is used to control the forks to rise or fall based on the determined lifting speed.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the processors implement the fork speed control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, characterized in that, when the program is executed by a processor, it implements the fork speed control method as described in any one of claims 1-7.

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