An intelligent automatic control system for laser forklift

Abstract

The present invention provides an intelligent automatic control system for a laser forklift, comprising a laser forklift body and a control system; a handle control module is arranged in the handle, wherein the handle control module is connected to a plurality of buttons arranged on the handle; the control system comprises a power supply module, a DC power conversion module, a motor control module, a signal control module and a master controller; the master controller is configured to receive a key signal from the handle control module; the master controller generates a control signal according to the key signal, and sends the control signal to the signal control module via an output pin, so that the signal control module controls the on and off of the motor control module; the receiving and sending pins of the master controller are configured to perform data interaction with other modules. The control system has the advantages of easy operation, good flexibility, strong practicality, and simple circuit structure.

Description

Technical Field

[0001] The invention relates to the field of laser forklift circuit control, in particular to an intelligent automatic control system of a laser forklift. Background Art

[0002] With the development of material conveying systems, flexible manufacturing systems, automated warehouse systems, etc., AGV (Automated Guided Vehicle) as an important part of material conveying systems and flexible manufacturing systems can solve the drawbacks of traditional logistics systems and has been widely used in the transportation link of manufacturing industry. Its principle is: use the accuracy and non-divergence of laser to accurately locate the position of the carrier robot to guide the forklift to walk. Reflectors with a certain interval are pre-placed in the workplace of the forklift. The moving AGV emits lasers through the rotating laser head on the vehicle. After the laser scans for a week, it shines on the transmitting plate, and the laser returns along the original path. A series of reflection angles of the transmitting plate can be obtained. After calculation, the coordinates of the laser rotation center can be calculated. In recent years, laser forklifts have become more and more popular among various companies due to their high degree of intelligence and strong flexibility. Compared with AGVs with other navigation methods, laser forklifts have broken through the drawbacks of fixed path navigation methods that the trajectory cannot be changed and the need to lay guide rails. It only requires simple construction such as installing reflectors and arranging networks. It has the advantages of small turning radius and convenient path change, and can be directly applied in the use scenarios of manually driven forklifts. Generally speaking, laser forklifts have functions such as lifting, steering, and traction. Existing laser forklifts control the steering and lifting of laser forklifts through physical mechanical structures such as steering wheels and operating levers. However, this physical control method requires the operator to be near the steering wheel to control it; and the size of laser forklifts is generally large. Sometimes when the operator uses the operating lever and steering wheel, there will be visual blind spots and it is difficult to observe the operation of the forklift well; and the operator needs to be near the operating lever at all times and cannot move around to observe the surrounding situation. In addition, the design of the physical operating platform will also increase the weight and volume of the forklift, making it cumbersome to use.

[0003] Therefore, in view of the technical problems existing in the prior art, it is particularly important to provide a laser forklift handle remote control technology which has a simple circuit structure, is easy to operate, and can control the laser forklift through a handle. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide an intelligent automatic control system for a laser forklift, which realizes operations such as lifting, traction, and steering by using a handle to replace a physical operating device (such as a steering wheel, a joystick, etc.); by designing an electrical circuit structure, the handle can be used to control the laser forklift electronically; at the same time, a master controller of model CVC600 is used to add multiple functions to make the laser forklift more intelligent; the control system has the advantages of easy operation, good flexibility, strong practicality, and simple circuit structure.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] An intelligent automatic control system for a laser forklift, comprising a laser forklift body and a control system; the laser forklift body comprises a handle, a lifting device, a traction device and a steering device; wherein the lifting device is configured to enable the laser forklift fork to perform lifting and moving operations; the traction device is configured to traction the laser forklift body to move; and the steering device is configured to control the laser forklift body to perform steering operations;

[0007] The handle, lifting device, traction device, and steering device are all connected to a control system; the handle is configured to send a key signal to the control system so that the control system controls the operation of the lifting device, traction device, or steering device according to the key signal; a handle control module is provided in the handle, wherein the handle control module is connected to a plurality of keys provided on the handle;

[0008] The control system includes a power supply module, a DC power conversion module, a motor control module, a signal control module and a general controller; the general controller is configured to receive key signals from the handle control module;

[0009] The power supply module includes an automatic charging circuit, a battery and a power supply circuit; the battery includes a power supply end and a charging end; the automatic charging circuit is connected to the charging end of the battery and is configured to charge the charging end of the battery; the power supply end of the battery is connected to the power supply circuit and is configured to supply power to the power supply circuit;

[0010] The DC power conversion module is configured to receive the voltage from the power supply module and provide DC power to the system after conversion;

[0011] The motor control module includes a traction control circuit, a steering control circuit and a DC hydraulic pump motor for driving the lifting of the fork; the traction control circuit includes an AC servo motor driver and an AC servo motor, the AC servo motor is connected to the traction device of the laser forklift body, and is used to provide power for the traction device; the steering control circuit includes a DC steering controller and a DC servo motor, the DC servo motor is connected to the steering device of the laser forklift body, and is used to provide power for the steering device; the DC hydraulic pump motor is connected to the lifting device of the laser forklift body, and is used to provide power for the lifting device; the AC servo motor driver is configured to receive the on-off signal of the signal control module to control the on-off of the AC servo motor; the DC steering controller is configured to receive the on-off signal of the signal control module to control the on-off of the DC servo motor;

[0012] The signal control module includes an emergency stop interlock circuit, a lifting control circuit, an automatic charging control circuit, and a traction motor braking circuit; the emergency stop interlock circuit, the lifting control circuit, the automatic charging control circuit, and the traction motor braking circuit are all connected to the output pin of the master controller, and are configured to receive the control signal of the master controller to realize the on-off of the control circuit, and transmit the on-off signal to the motor control module;

[0013] Specifically, the on and off of the emergency stop interlock circuit is used to control the power supply of the AC servo motor driver and the DC steering controller, thereby controlling the opening or closing of the AC servo motor and the DC servo motor, and further realizing the control of the traction device and steering device of the laser forklift.

[0014] Specifically, the on-off of the lifting control circuit is used to control the on-off of the DC hydraulic pump motor, thereby realizing the control of the laser forklift lifting device. The automatic charging control circuit is used to control the on-off of the automatic charging circuit, thereby realizing the control of battery charging; wherein, the battery charging is not controlled by the handle, but by the main controller to determine whether the battery level in the battery has reached a preset threshold, and then the main controller outputs a signal to the automatic charging control circuit to connect the circuit, thereby realizing automatic charging of the battery. The traction motor braking circuit controls the brake to achieve the braking of the AC servo motor and completes the control of the traction device.

[0015] The master controller includes an input pin, an output pin and a transceiver pin; wherein the input pin of the master controller is configured to receive a key signal from a handle control module, the master controller generates a control signal according to the key signal, and sends the control signal to the signal control module via the output pin, so that the signal control module controls the on and off of the motor control module; the transceiver pin of the master controller is configured to exchange data with other modules.

[0016] Specifically, the principle of the above technical solution is: the user operates the button on the handle, and after the button is triggered, the handle control module sends a corresponding signal to the main controller of the control system, and the main controller generates a corresponding control signal and outputs the signal to the motor control module through the output pin of the main controller; for example, the user presses the "traction" button on the handle, at this time, the handle control module sends a signal that the traction button is triggered to the main controller; the main controller selects the traction control circuit according to the button signal and triggers it to turn on, at this time the circuit that the power supply module supplies power to the traction control circuit is turned on, and the AC servo motor driver drives the AC servo motor to start, thereby realizing the start of the traction device. When the user presses the "emergency stop" button, the handle control module sends the signal corresponding to the button to the main controller, and the main controller selects the emergency stop interlock circuit according to the button signal. At this time, the traction control circuit is disconnected, and the AC servo motor driver is turned off, stopping the drive of the AC servo motor, thereby realizing the pause of the traction device. The control principles of other modules are the same as the above principles, and will not be repeated here.

[0017] In the above, the model of the master controller is CVC600.

[0018] In the above, the automatic charging circuit includes an automatic charging electrode and a third contactor, the two ends of the third contactor are respectively connected to the positive electrode of the automatic charging electrode and the positive electrode of the battery charging terminal, and the negative electrode of the battery charging terminal is connected to the negative electrode of the automatic charging electrode Cha; the power supply circuit at least includes an emergency stop button, a key switch, a first contactor, and a second contactor; one end of the emergency stop button is connected to the positive electrode of the battery power supply end, and the other end is respectively connected to the key switch, the first contactor, and the second contactor; the negative electrode of the battery power supply end and the other end of the key switch are respectively connected to the negative electrode and the positive electrode of the DC power conversion module; the other end of the first contactor is connected to the DC hydraulic pump motor; the other end of the second contactor is divided into two branches, one of which is connected to the DC steering controller, and the other branch is connected to the AC servo motor driver;

[0019] Specifically, the circuit where the first contactor is located is used to control the battery's power supply to the DC hydraulic pump motor, and the closing or opening of the contactor controls the motor; the circuit where the second contactor is located is divided into two branches, which respectively power the DC steering controller and the AC servo motor driver. The circuit where the key switch is located is used to power the DC power conversion module.

[0020] In the above, the DC power conversion module includes a DC / DC conversion chip.

[0021] In the above, the model of the handle control module is MCD8.

[0022] In the above, the AC servo motor driver at least includes a power connection pin, a three-phase motor connection pin connected to the AC servo motor, and a transceiver pin connected to the main controller; wherein, the positive end of the power connection pin of the AC servo motor driver is connected to the second contactor, and the negative end of its power connection pin is connected to a 0V / 24V power supply; wherein, the DC steering controller at least includes a power connection pin, a motor connection pin connected to the DC servo motor, and a transceiver pin connected to the main controller; wherein, the positive end of the power connection pin of the DC steering controller is connected to the second contactor, and the negative end of its power connection pin is connected to a 0V / 24V power supply; wherein, one end of the DC hydraulic pump motor is connected to the first contactor, and the other end is connected to a 0V / 24V power supply.

[0023] Preferably, the model of the AC servo motor driver is ACD175; the model of the DC steering controller is DCD50.

[0024] In the above, the emergency stop interlock circuit includes a first intermediate relay, one end of the first intermediate relay is connected to the output pin of the main controller, and the other end is connected to the second contactor; the emergency stop interlock circuit is used to control the on and off of the AC servo motor driver or the DC steering controller;

[0025] The lifting control circuit includes a fork raising control circuit and a fork lowering control circuit. The fork raising control circuit includes a second intermediate relay. One end of the second intermediate relay is connected to the output pin of the general controller, and the other end is connected to the first contactor. The fork raising control circuit is used to control the on and off of the DC hydraulic pump motor.

[0026] The automatic charging control circuit includes a fourth intermediate relay, one end of which is connected to the output pin of the main controller, and the other end is connected to the third contactor; the automatic charging control circuit is used to control the on and off of the automatic charging circuit; the fork lowering control circuit is used to control the lowering of the fork;

[0027] The traction motor braking circuit comprises a third intermediate relay and a brake. One end of the third intermediate relay is connected to the output pin of the general controller, and the other end is connected to the brake. The other end of the brake is connected to the AC servo motor driver.

[0028] In the above, the DC steering controller also includes four output ports, which are respectively used to output the front laser area switching signal, the left laser area switching signal, the right laser area switching signal and the rear laser area switching signal; and the four output ports are respectively connected to four safety scanners; wherein the four safety scanners are the front laser scanner, the left laser scanner, the right laser scanner and the rear laser scanner.

[0029] Specifically, the four safety scanners are used to detect obstacles in front, behind, left and right of the laser forklift, and feed back to the DC steering controller, which switches the scanners in different directions.

[0030] In the above, the control system further comprises a display module connected to the main controller; wherein the model of the display module is OPT100.

[0031] Beneficial effects of the present invention:

[0032] The present invention provides an intelligent automatic control system for a laser forklift. The system uses a handle to replace a physical operating device (such as a steering wheel, a joystick, etc.) to achieve operations such as lifting, pulling, and steering. The handle controls the laser forklift electronically by designing an electrical circuit structure. The laser forklift does not need to be equipped with a physical device, so that the weight and volume of the laser forklift can be reduced accordingly, and the power supply of the control system can be effectively saved. At the same time, a master controller with a model of CVC600 is used to add multiple functions to make the laser forklift more intelligent. The control system has the advantages of easy operation, good flexibility, strong practicality, and a simple circuit structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a circuit principle framework diagram of the automatic control system provided by the present invention. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0035] like Figure 1 As shown, this embodiment provides an intelligent automatic control system for a laser forklift, including a laser forklift body and a control system; the laser forklift body includes a handle, a lifting device, a traction device and a steering device; wherein the lifting device is configured to enable the laser forklift fork to perform lifting and moving operations; the traction device is configured to traction the laser forklift body to move; and the steering device is configured to control the laser forklift body to perform steering operations;

[0036] The handle, lifting device, traction device, and steering device are all connected to a control system; the handle is configured to send a key signal to the control system so that the control system controls the operation of the lifting device, traction device, or steering device according to the key signal; a handle control module is provided in the handle, wherein the handle control module is connected to a plurality of keys provided on the handle;

[0037] The control system includes a power supply module, a DC power conversion module, a motor control module, a signal control module and a general controller; the general controller is configured to receive key signals from the handle control module;

[0038] The power supply module includes an automatic charging circuit, a battery and a power supply circuit; the battery includes a power supply end and a charging end; the automatic charging circuit is connected to the charging end of the battery and is configured to charge the charging end of the battery; the power supply end of the battery is connected to the power supply circuit and is configured to supply power to the power supply circuit;

[0039] The DC power conversion module is configured to receive the voltage from the power supply module and provide DC power to the system after conversion;

[0040] The motor control module includes a traction control circuit, a steering control circuit and a DC hydraulic pump motor for driving the lifting of the fork; the traction control circuit includes an AC servo motor driver and an AC servo motor, the AC servo motor is connected to the traction device of the laser forklift body, and is used to provide power for the traction device; the steering control circuit includes a DC steering controller and a DC servo motor, the DC servo motor is connected to the steering device of the laser forklift body, and is used to provide power for the steering device; the DC hydraulic pump motor is connected to the lifting device of the laser forklift body, and is used to provide power for the lifting device; the AC servo motor driver is configured to receive the on-off signal of the signal control module to control the on-off of the AC servo motor; the DC steering controller is configured to receive the on-off signal of the signal control module to control the on-off of the DC servo motor; in this embodiment, the model of the AC servo motor driver is ACD175; the model of the DC steering controller is DCD50.

[0041] The signal control module includes an emergency stop interlock circuit, a lifting control circuit, an automatic charging control circuit, and a traction motor braking circuit; the emergency stop interlock circuit, the lifting control circuit, the automatic charging control circuit, and the traction motor braking circuit are all connected to the output pin of the master controller, and are configured to receive the control signal of the master controller to realize the on-off of the control circuit, and transmit the on-off signal to the motor control module;

[0042] Specifically, the on and off of the emergency stop interlock circuit is used to control the power supply of the AC servo motor driver and the DC steering controller, thereby controlling the opening or closing of the AC servo motor and the DC servo motor, and further realizing the control of the traction device and steering device of the laser forklift.

[0043] Specifically, the on-off of the lifting control circuit is used to control the on-off of the DC hydraulic pump motor, thereby realizing the control of the laser forklift lifting device. The automatic charging control circuit is used to control the on-off of the automatic charging circuit, thereby realizing the control of battery charging; wherein, the battery charging is not controlled by the handle, but by the main controller to determine whether the battery level in the battery has reached a preset threshold, and then the main controller outputs a signal to the automatic charging control circuit to connect the circuit, thereby realizing automatic charging of the battery. The traction motor braking circuit controls the brake to achieve the braking of the AC servo motor and completes the control of the traction device.

[0044] The master controller includes an input pin, an output pin and a transceiver pin; wherein the input pin of the master controller is configured to receive a key signal from a handle control module, the master controller generates a control signal according to the key signal, and sends the control signal to the signal control module via the output pin, so that the signal control module controls the on and off of the motor control module; the transceiver pin of the master controller is configured to exchange data with other modules.

[0045] Specifically, the principle of the above technical solution is: the user operates the button on the handle, and after the button is triggered, the handle control module sends a corresponding signal to the main controller of the control system, and the main controller generates a corresponding control signal and outputs the signal to the motor control module through the output pin of the main controller; for example, the user presses the "traction" button on the handle, at this time, the handle control module sends a signal that the traction button is triggered to the main controller; the main controller selects the traction control circuit according to the button signal and triggers it to turn on, at this time the circuit that the power supply module supplies power to the traction control circuit is turned on, and the AC servo motor driver drives the AC servo motor to start, thereby realizing the start of the traction device. When the user presses the "emergency stop" button, the handle control module sends the signal corresponding to the button to the main controller, and the main controller selects the emergency stop interlock circuit according to the button signal. At this time, the traction control circuit is disconnected, and the AC servo motor driver is turned off, stopping the drive of the AC servo motor, thereby realizing the pause of the traction device. The control principles of other modules are the same as the above principles, and will not be repeated here.

[0046] In this embodiment, the model of the master controller is CVC600.

[0047] In this embodiment, the automatic charging circuit includes an automatic charging electrode and a third contactor, the two ends of the third contactor are respectively connected to the positive electrode of the automatic charging electrode and the positive electrode of the battery charging terminal, and the negative electrode of the battery charging terminal is connected to the negative electrode of the automatic charging electrode; the power supply circuit at least includes an emergency stop button, a key switch, a first contactor, and a second contactor; one end of the emergency stop button is connected to the positive electrode of the battery power supply terminal, and the other end is respectively connected to the key switch, the first contactor, and the second contactor; the negative electrode of the battery power supply terminal and the other end of the key switch are respectively connected to the negative electrode and the positive electrode of the DC power conversion module; the other end of the first contactor is connected to the DC hydraulic pump motor; the other end of the second contactor is divided into two branches, one of which is connected to the DC steering controller, and the other branch is connected to the AC servo motor driver;

[0048] Specifically, the circuit where the first contactor is located is used to control the battery's power supply to the DC hydraulic pump motor, and the closing or opening of the contactor controls the motor; the circuit where the second contactor is located is divided into two branches, which respectively power the DC steering controller and the AC servo motor driver. The circuit where the key switch is located is used to power the DC power conversion module.

[0049] In this embodiment, the DC power conversion module includes a DC / DC conversion chip, which is used to convert the voltage and output it to supply power to the system chip.

[0050] In this embodiment, the model of the handle control module is MCD8.

[0051] In this embodiment, the AC servo motor driver at least includes a power connection pin, a three-phase motor connection pin connected to the AC servo motor, and a transceiver pin connected to the main controller; wherein the positive terminal of the power connection pin of the AC servo motor driver is connected to the second contactor, and the negative terminal of the power connection pin is connected to the 0V / 24V power supply;

[0052] The DC steering controller at least includes a power connection pin, a motor connection pin connected to a DC servo motor, and a transceiver pin connected to a master controller; wherein the positive terminal of the power connection pin of the DC steering controller is connected to the second contactor, and the negative terminal of the power connection pin is connected to a 0V / 24V power supply;

[0053] One end of the DC hydraulic pump motor is connected to the first contactor, and the other end is connected to a 0V / 24V power supply.

[0054] In this embodiment, the emergency stop interlock circuit includes a first intermediate relay, one end of the first intermediate relay is connected to the output pin of the main controller, and the other end is connected to the second contactor; the emergency stop interlock circuit is used to control the on and off of the AC servo motor driver or the DC steering controller;

[0055] The lifting control circuit includes a fork raising control circuit and a fork lowering control circuit. The fork raising control circuit includes a second intermediate relay. One end of the second intermediate relay is connected to the output pin of the general controller, and the other end is connected to the first contactor. The fork raising control circuit is used to control the on and off of the DC hydraulic pump motor; the fork lowering control circuit is used to control the lowering of the fork;

[0056] The automatic charging control circuit comprises a fourth intermediate relay, one end of the fourth intermediate relay is connected to the output pin of the main controller, and the other end is connected to the third contactor; the automatic charging control circuit is used to control the on and off of the automatic charging circuit;

[0057] The traction motor braking circuit comprises a third intermediate relay and a brake. One end of the third intermediate relay is connected to the output pin of the general controller, and the other end is connected to the brake. The other end of the brake is connected to the AC servo motor driver.

[0058] In this embodiment, the DC steering controller further includes four output ports, which are respectively used to output the front laser area switching signal, the left laser area switching signal, the right laser area switching signal and the rear laser area switching signal; and the four output ports are respectively connected to four safety scanners; wherein the four safety scanners are respectively the front laser scanner, the left laser scanner, the right laser scanner and the rear laser scanner. The above four safety scanners are respectively used to detect obstacles in front, behind, left and right of the laser forklift, and feed back to the DC steering controller, and the DC steering controller is used to realize the switching of scanners in different directions.

[0059] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. An intelligent automatic control system for a laser forklift, comprising a laser forklift body and a control system; characterized in that: The laser forklift body includes a handle, a lifting device, a traction device and a steering device; wherein the lifting device is configured to enable the laser forklift fork to perform lifting and moving operations; the traction device is configured to pull the laser forklift body to move; and the steering device is configured to control the laser forklift body to perform steering operations; The handle, lifting device, traction device, and steering device are all connected to a control system; the handle is configured to send a key signal to the control system so that the control system controls the operation of the lifting device, traction device, or steering device according to the key signal; a handle control module is provided in the handle, wherein the handle control module is connected to a plurality of keys provided on the handle; The control system includes a power supply module, a DC power conversion module, a motor control module, a signal control module and a general controller; the general controller is configured to receive key signals from the handle control module; The power supply module includes an automatic charging circuit, a battery and a power supply circuit; the battery includes a power supply end and a charging end; the automatic charging circuit is connected to the charging end of the battery and is configured to charge the charging end of the battery; the power supply end of the battery is connected to the power supply circuit and is configured to supply power to the power supply circuit; The DC power conversion module is configured to receive the voltage from the power supply module and provide DC power to the system after conversion; The motor control module includes a traction control circuit, a steering control circuit and a DC hydraulic pump motor for driving the lifting of the fork; the traction control circuit includes an AC servo motor driver and an AC servo motor, the AC servo motor is connected to the traction device of the laser forklift body, and is used to provide power for the traction device; the steering control circuit includes a DC steering controller and a DC servo motor, the DC servo motor is connected to the steering device of the laser forklift body, and is used to provide power for the steering device; the DC hydraulic pump motor is connected to the lifting device of the laser forklift body, and is used to provide power for the lifting device; the AC servo motor driver is configured to receive the on-off signal of the signal control module to control the on-off of the AC servo motor; the DC steering controller is configured to receive the on-off signal of the signal control module to control the on-off of the DC servo motor; The signal control module includes an emergency stop interlock circuit, a lifting control circuit, an automatic charging control circuit, and a traction motor braking circuit; the emergency stop interlock circuit, the lifting control circuit, the automatic charging control circuit, and the traction motor braking circuit are all connected to the output pin of the master controller, and are configured to receive the control signal of the master controller to realize the on-off of the control circuit, and transmit the on-off signal to the motor control module; The master controller includes an input pin, an output pin, and a transceiver pin; wherein the input pin of the master controller is configured to receive a key signal from the handle control module, the master controller generates a control signal according to the key signal, and sends the control signal to the signal control module via the output pin, so that the signal control module controls the on and off of the motor control module; the transceiver pin of the master controller is configured to perform data exchange with other modules; The on-off of the emergency stop interlock circuit is used to control the power supply of the AC servo motor driver and the DC steering controller, thereby controlling the on or off of the AC servo motor and the DC servo motor, thereby realizing the control of the traction device and the steering device of the laser forklift; when the user presses the emergency stop button, the handle control module sends the signal corresponding to the button to the main controller, and the main controller selects the emergency stop interlock circuit according to the button signal. At this time, the traction control circuit is disconnected, and the AC servo motor driver is turned off, stopping the drive of the AC servo motor, thereby realizing the pause of the traction device; The on-off of the lifting control circuit is used to control the on-off of the DC hydraulic pump motor, thereby realizing the control of the laser forklift lifting device; the traction motor braking circuit realizes the braking of the AC servo motor by controlling the brake, thereby completing the control of the traction device; The DC steering controller also includes four output ports, which are respectively used to output a front laser area switching signal, a left laser area switching signal, a right laser area switching signal and a rear laser area switching signal; and the four output ports are respectively connected to four safety scanners; wherein the four safety scanners are respectively a front laser scanner, a left laser scanner, a right laser scanner and a rear laser scanner; the four safety scanners are respectively used to detect obstacles in front, behind, left and right of the laser forklift, and feed back to the DC steering controller, so as to realize the switching of scanners in different directions through the DC steering controller; The traction motor braking circuit comprises a third intermediate relay and a brake. One end of the third intermediate relay is connected to the output pin of the general controller, and the other end is connected to the brake. The other end of the brake is connected to the AC servo motor driver.

2. The automatic control system according to claim 1, characterized in that: The model of the master controller is CVC600.

3. The automatic control system according to claim 2, characterized in that: The automatic charging circuit comprises an automatic charging electrode and a contactor, wherein two ends of the contactor are respectively connected to the positive electrode of the automatic charging electrode and the positive electrode of the battery charging terminal, and the negative electrode of the battery charging terminal is connected to the negative electrode of the automatic charging electrode.

4. The automatic control system according to claim 2, characterized in that: The power supply circuit at least includes an emergency stop button, a key switch, a first contactor, and a second contactor; one end of the emergency stop button is connected to the positive pole of the battery power supply end, and the other end is respectively connected to the key switch, the first contactor, and the second contactor; the negative pole of the battery power supply end and the other end of the key switch are respectively connected to the negative pole and the positive pole of the DC power conversion module; the other end of the first contactor is connected to the DC hydraulic pump motor; the other end of the second contactor is divided into two branches, one of which is connected to the DC steering controller, and the other is connected to the AC servo motor driver.

5. The automatic control system according to claim 4, characterized in that: The AC servo motor driver at least includes a power connection pin, a three-phase motor connection pin connected to the AC servo motor, and a transceiver pin connected to the main controller; wherein the positive terminal of the power connection pin of the AC servo motor driver is connected to the second contactor, and the negative terminal of the power connection pin is connected to a 0V / 24V power supply; The DC steering controller at least includes a power connection pin, a motor connection pin connected to a DC servo motor, and a transceiver pin connected to a master controller; wherein the positive terminal of the power connection pin of the DC steering controller is connected to the second contactor, and the negative terminal of the power connection pin is connected to a 0V / 24V power supply; One end of the DC hydraulic pump motor is connected to the first contactor, and the other end is connected to a 0V / 24V power supply.

6. The automatic control system according to claim 5, characterized in that: The model of the AC servo motor driver is ACD175; the model of the DC steering controller is DCD50.

7. The automatic control system according to claim 5, characterized in that: The emergency stop interlock circuit comprises a first intermediate relay, one end of the first intermediate relay is connected to the output pin of the main controller, and the other end is connected to the second contactor; The lifting control circuit includes a fork raising control circuit and a fork lowering control circuit. The fork raising control circuit includes a second intermediate relay. One end of the second intermediate relay is connected to the output pin of the main controller, and the other end is connected to the first contactor. The fork raising control circuit is used to control the on and off of the DC hydraulic pump motor; the fork lowering control circuit is used to control the lowering of the fork.

8. The automatic control system according to claim 5, characterized in that: The automatic charging control circuit comprises a fourth intermediate relay, one end of which is connected to the output pin of the general controller, and the other end is connected to the third contactor; the automatic charging control circuit is used to control the on and off of the automatic charging circuit.

9. The automatic control system according to claim 2, characterized in that: The direct current power conversion module includes a DC / DC conversion chip.

10. The automatic control system according to claim 9, characterized in that: The model of the handle control module is MCD8.

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