Active safety control method and system for three-way stacking forklift

Abstract

The present application discloses an active safety control method and system for a three-way stacking forklift, and relates to the field of vehicle transportation. The safety control system provided in the present application is applied to a three-way stacking forklift, and includes a position detection sensor, a solenoid valve, and a controller. By setting a position detection sensor at the fork, an oscillating current is obtained through an oscillator in the position detection sensor, and converted into an oscillation waveform, which is then input into the controller, and the controller determines whether the three-way stacking forklift is in a safe position. When the three-way stacking forklift is detected to be in a dangerous position, it moves in a safe mode. Compared with the previous method that only the user can manually observe the situation near the three-way stacking forklift, the safety control system provided in the present application can automatically detect the vehicle position information, and when the vehicle is detected to be in a dangerous position, it moves in a safe mode, and does not require manual observation of the information near the vehicle, which is more user-friendly and has higher safety performance.

Description

Technical Field

[0001] The present application relates to the field of vehicle transportation, and in particular to an active safety control method and system for a three-way stacking forklift. Background Art

[0002] In recent years, with the growth of population and the improvement of consumption level, the current logistics industry has developed rapidly. In order to meet the requirements of larger cargo transportation in warehouses, supermarkets, docks, etc., forklifts are used more and more widely. In order to facilitate the loading and moving of goods, the three-way stacking forklift is currently the most widely used. The essential difference from the traditional forklift is that the fork of the three-way stacking forklift has a cantilever, which can control the placement direction of the goods by rotating the cantilever, which is more flexible than the traditional forklift.

[0003] The existing three-way stacking forklifts are mainly suitable for the characteristics of narrow aisles. If the fork is not rotated and moved to a safe position before the operator drives in the aisle, the fork or the goods may easily hit the shelf when the vehicle is driving. At the same time, the operator often triggers the fork rotation due to misoperation during work, causing the fork to hit people or goods, or even cause the entire shelf to collapse, causing irreparable losses. If manual confirmation is required, the operator needs to stand up frequently and observe with his head, and it is very easy to cause misjudgment when the fork is shoveling goods, which poses a safety hazard and seriously affects work and production efficiency.

[0004] In view of the above technology, finding a safety control system that can ensure the safe operation of a three-way stacking forklift is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present application is to provide an active safety control method and system for a three-way stacking forklift, so as to solve the problem that the current three-way stacking forklift can only be confirmed manually when in operation, which is prone to cause accidents.

[0006] To solve the above technical problems, the present application provides a safety control system, which is applied to a three-way stacking forklift, comprising: a position detection sensor, a solenoid valve and a controller;

[0007] The position detection sensor includes an oscillator, a trigger circuit and an output circuit. The oscillator is arranged at the fork of the three-way stacking forklift and is used to generate an oscillating current. The trigger circuit is connected to the oscillator and is used to detect the oscillating current. The output circuit is connected to the trigger circuit and the controller and is used to output an oscillation waveform to the controller according to the oscillating current.

[0008] The controller is connected to the solenoid valve and is used to control the opening and closing of the solenoid valve according to the oscillation waveform.

[0009] Preferably, there are multiple position detection sensors.

[0010] Preferably, there are four position detection sensors, including: a fork left rotation position sensor, a fork right rotation position sensor, a fork left shift position sensor, and a fork right shift position sensor;

[0011] The fork left rotation position sensor is attached to the left side of the gear in the cantilever of the fork;

[0012] The fork right rotation position sensor is attached to the right side of the gear in the cantilever of the fork;

[0013] The fork left shift position sensor is arranged on the left side of the horizontal moving rack of the fork;

[0014] The fork right side shift position sensor is arranged on the right side of the horizontal moving rack of the fork.

[0015] Preferably, the device further comprises: an HMI;

[0016] The HMI is connected to the controller and is used to display the operating status of the three-way stacking forklift. The HMI is arranged in the control room of the three-way stacking forklift.

[0017] Preferably, the controller includes a main contactor, a multi-way valve controller, a traction controller, and an oil pump controller, and the main contactor is arranged between the common connection end of the multi-way valve controller, the traction controller, and the oil pump controller and the motor.

[0018] Preferably, the controller further comprises: fuses, each of which is respectively arranged between the multi-way valve controller, the traction controller, the oil pump controller and the main contactor.

[0019] Preferably, the device further comprises:

[0020] An alarm device is connected to the controller.

[0021] In order to solve the above problems, the present application also provides a three-way stacking forklift, including the above safety control system.

[0022] In order to solve the above problems, the present application also provides a safety control method, which is applied to the above safety control system, including:

[0023] acquiring an oscillation waveform sent by an output circuit in a position detection sensor;

[0024] judging whether the three-way stacking forklift is in a safe position according to the oscillation waveform;

[0025] If yes, normal business information is fed back so that the three-way stacking forklift can move normally according to the user's operating instructions;

[0026] If not, the three-way stacking forklift is controlled to move according to the preset movement instruction, and the process returns to the step of acquiring the oscillation waveform sent by the output circuit in the position detection sensor.

[0027] The safety control system provided in the present application is applied to a three-way stacking forklift, and includes a position detection sensor, a solenoid valve and a controller. By arranging a position detection sensor at the fork, an oscillating current is obtained through the oscillator in the position detection sensor and converted into an oscillation waveform, which is then input into the controller. The controller determines whether the three-way stacking forklift is in a safe position, thereby controlling the solenoid valve to make the three-way stacking forklift move normally according to user instructions. When the three-way stacking forklift is detected to be in a dangerous position, it moves in a safe mode. Compared with the previous situation where the user could only manually observe the situation near the three-way stacking forklift, the safety control system provided in the present application can automatically detect the vehicle position information, and when the vehicle is detected to be in a dangerous position, it moves in a safe mode. Therefore, while ensuring safety, the operability of the vehicle is opened up, and at the same time, there is no need for manual observation of information near the vehicle, which is more user-friendly and has higher safety performance.

[0028] The three-way stacking forklift provided in the present application includes the above-mentioned safety control system, so the beneficial effects are the same as above.

[0029] The safety control method provided in the present application corresponds to the above-mentioned safety control system, so the beneficial effects can be found in the beneficial effects of the above-mentioned safety control system and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of the structure of a safety control system provided in an embodiment of the present application;

[0032] Figure 2 A physical picture of a three-way stacking forklift provided in an embodiment of the present application;

[0033] Figure 3 A physical diagram of the location of the position detection sensor provided in the embodiment of the present application;

[0034] Figure 4A physical diagram of another position detection sensor setting position provided in an embodiment of the present application;

[0035] Figure 5 A flow chart of a security control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] The core of the present application is to provide an active safety control method and system for a three-way stacking forklift, so as to solve the problem that the current three-way stacking forklift can only be confirmed manually when in operation, which is prone to cause accidents.

[0038] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] Figure 1 A schematic diagram of a safety control system structure provided in an embodiment of the present application, the safety control system is applied to a three-way stacking forklift, such as Figure 1 As shown, the device comprises: a position detection sensor 1, a controller 2 and a solenoid valve 3;

[0040] The position detection sensor 1 includes an oscillator, a trigger circuit and an output circuit. The oscillator is arranged at the fork of the three-way stacking forklift and is used to generate an oscillating current. The trigger circuit is connected to the oscillator and is used to detect the oscillating current. The output circuit is connected to the trigger circuit and the controller 2 and is used to output an oscillation waveform to the controller 2 according to the oscillating current.

[0041] The controller 2 is connected to the solenoid valve 3 and is used to control the opening and closing of the solenoid valve 3 according to the oscillation waveform.

[0042] Figure 2 A three-way stacking forklift is provided in the embodiment of the present application, as shown in FIG. Figure 2 As shown, the three-way stacking forklift is equipped with a retractable rotating fork. Its excellent performance and good efficiency greatly reduce the burden on the driver: it is comfortable and convenient to get on and off the vehicle, the height and weight are adjustable, the shock-absorbing and comfortable seat, the pedal arrangement designed like a car, the large cargo area, the clear contour lines, and the latest ergonomically designed operating equipment make the driving operation fast and efficient. In this embodiment, the specific model of the three-way stacking forklift is not limited.

[0043] An oscillator is an energy conversion device that converts DC power into AC power with a certain frequency. The circuit it forms is called an oscillation circuit. An oscillator is an electronic circuit or device that can convert DC power into an AC signal with a certain frequency. There are many types of oscillators. According to the oscillation excitation method, they can be divided into self-excited oscillators and externally excited oscillators. According to the circuit structure, they can be divided into RC oscillators, LC oscillators, crystal oscillators, tuning fork oscillators, etc. The specific type of oscillator is not limited in this embodiment. It should be noted that, in the present embodiment, there is no limitation on the specific location and corresponding number of the detection device, i.e., the oscillator, installed in the position detection sensor 1. It can be understood that the oscillating current detected by the position detection sensor 1 reflects the position of objects around the three-phase stacking forklift, thereby outputting the oscillating current, and the controller 2 receives the oscillating current to determine the position of the three-phase stacking forklift, and selects the movement mode of the three-phase stacking forklift according to the determination result. For example, when it is detected that there is cargo in front of the fork of the three-phase stacking forklift, the three-phase stacking forklift is controlled to retreat at a regulated speed and rotate the fork to the side where there is no cargo temporarily. If it is detected that the three-phase stacking forklift is in a safe state, Position, then according to the user's instructions, the three-phase stacking forklift can be driven normally. It can be understood that after the oscillator is powered on, it will always obtain oscillating current. Therefore, the detection of the position information of the three-phase stacking forklift is real-time detection. Therefore, when the three-phase stacking forklift travels from a safe position to a dangerous position during operation, the position information can also be promptly reported to the controller 2, so as to adjust the operation of the three-phase stacking forklift, for example, by controlling the solenoid valve 3 to control the running direction or running speed of the three-way stacking forklift, etc. When the three-way stacking forklift is in a dangerous state, the speed of the three-way stacking forklift is limited, and the cargo fork and the three-way stacking forklift itself are restricted from turning to the side where the obstacle exists.

[0044] In this embodiment, the specific device type in the controller 2 is not limited, and the control of the fork is generally performed through the user's fingertip sensor. It should be noted that this embodiment does not limit the specific method of how the controller 2 determines whether the three-way stacking forklift is in a safe position.

[0045] The solenoid valve is an industrial device controlled by electromagnetics. It is a basic component for controlling fluid automation. It is an actuator and is not limited to hydraulic or pneumatic. It is used in industrial control systems to adjust the direction, flow, speed and other parameters of the medium. The solenoid valve can be used in conjunction with different circuits to achieve the desired control, and the accuracy and flexibility of the control can be guaranteed. There are many types of solenoid valves 3, and different solenoid valves play a role in different positions of the control system. The most commonly used ones are one-way valves, safety valves, directional control valves, speed regulating valves, etc. It can be understood that from a functional point of view, the solenoid valve 3 in this embodiment belongs to a directional control valve and a speed regulating valve. In this embodiment, the model and number of the solenoid valve 3 are not limited.

[0046] It should be noted that, in this embodiment, the location of the solenoid valve 3 and the controller 2 is not specifically limited. It can be understood that the location of the solenoid valve 3 or the controller 2 can be set on the three-way stacking forklift without limitation. Figure 2 The structure shown in the figure is not used to limit this embodiment.

[0047] The safety control system provided in this embodiment is applied to a three-way stacking forklift, and includes a position detection sensor 1, a solenoid valve 3 and a controller 2. By arranging the position detection sensor 1 at the fork, an oscillating current is obtained through the oscillator in the position detection sensor 1, and converted into an oscillation waveform, which is then input into the controller 2. The controller 2 determines whether the three-way stacking forklift is in a safe position, thereby controlling the solenoid valve 3 to make the three-way stacking forklift move normally according to user instructions. When the three-way stacking forklift is detected to be in a dangerous position, it moves in a safe mode. Compared with the previous method in which the user could only manually observe the situation near the three-way stacking forklift, the safety control system provided in this application can automatically detect the vehicle position information, and when the vehicle is detected to be in a dangerous position, it moves in a safe mode. Therefore, while ensuring safety, the operability of the vehicle is opened up, and at the same time, there is no need for manual observation of information near the vehicle, which is more user-friendly and has higher safety performance.

[0048] The above embodiment does not limit the position detection sensor 1 , and a preferred solution is proposed here, in which there are multiple position detection sensors 1 .

[0049] Since the speed detection sensor uses an oscillator as the detection device for detection, the position detection sensor 1 is set at different positions of the three-phase stacker forklift to obtain different oscillating currents. Considering that the operating conditions of the three-phase stacker forklift are generally located in warehouses, supermarkets, docks, etc. with complex and three-dimensional site conditions, the position information obtained by a single position detection sensor 1 is generally not complete. For example, the position detection sensor 1 is set on the left side of the three-phase stacker forklift. Due to the collision volume of the three-phase stacker forklift itself and the collision volume of the user when driving, it is difficult to detect the object on the right side of the three-phase stacker forklift. Therefore, the detected position information is incomplete and safety accidents are prone to occur. Therefore, the position detection sensor 1 is limited to multiple, usually set on different sides of the three-phase stacker forklift to enhance the accuracy of the obtained position information and ensure the safety of the operation of the three-phase stacker forklift. Although setting more position detection sensors 1 can further enhance the accuracy of the position information, the cost will also increase. Therefore, the specific number of position detection sensors 1 depends on the specific situation and is not limited here.

[0050] In the above embodiment, it is limited that there are multiple position sensors. Considering the cost of the position detection sensor 1 and the accuracy of the position information, a preferred solution is proposed here, that is, there are four position detection sensors 1. Figure 3 This is a physical diagram of the location of the position detection sensor provided in the embodiment of the present application. Figure 4 Another physical diagram of the position detection sensor provided in the embodiment of the present application is as follows: Figure 3 and Figure 4 As shown, the position detection sensor 1 includes: a fork left rotation position sensor 4, a fork right rotation position sensor 5, a fork left shift position sensor 6, and a fork right shift position sensor 7;

[0051] The fork left rotation position sensor 4 is attached to the left side of the gear in the cantilever of the fork;

[0052] The fork right rotation position sensor 5 is attached to the right side of the gear in the cantilever of the fork;

[0053] The fork left shift position sensor 6 is arranged on the left side of the horizontally movable rack of the fork;

[0054] The fork right side shift position sensor 7 is arranged on the right side of the horizontally movable rack of the fork.

[0055] It should be noted that the above-mentioned four position detection sensors 1 respectively correspond to the four basic operating conditions of the three-way stacking forklift and its fork, namely, left movement, right movement, left turn and right turn, and under these conditions, it is detected whether the operating operation will cause the three-way stacking forklift to touch an obstacle. The above-mentioned embodiment does not limit how the controller 2 determines whether the three-way stacking forklift is in a safe state. Combined with the four position detection sensors 1 in this embodiment, it can be imagined that the moving distance and rotation condition of the fork can be comprehensively detected. Specifically, for example, the rotation angle of the fork is γ, and the moving distance is L0. When it is detected that 80°≤γ≤90° and -760mm≤L0≤-700mm are satisfied at the same time or -90°≤γ≤-80° and 700mm≤L0≤760mm are satisfied at the same time, it is judged that the three-way stacking forklift is in a safe state. In this embodiment, the specific judgment method is still not limited.

[0056] This embodiment uses relatively few position detection sensors 1 for the four different states while ensuring relatively complete acquisition of the position of the three-phase stacking forklift, thereby saving costs and achieving the best cost-effectiveness.

[0057] Considering that the user, i.e. the driver of the three-phase stacking forklift, needs to observe the specific operation of the three-phase stacking forklift, a preferred solution is proposed herein, wherein the device further comprises: an HMI;

[0058] The HMI is connected to the controller 2 and is used to display the operating status of the three-way stacking forklift. The HMI is arranged in the control room of the three-way stacking forklift.

[0059] Human Machine Interface (HMI), also known as "human-machine interface". Human Machine Interface (also known as User Interface or User Interface) is the medium for interaction and information exchange between the system and the user. It realizes the conversion between the internal form of information and the form acceptable to humans. Human Machine Interface exists in all fields involved in human-machine information exchange. It can be understood that it can be a touch screen or a control panel, etc., and the specific type of HMI is not limited in this embodiment.

[0060] It is understandable that when the three-way stacking forklift is in a dangerous state, the HMI can display the specific direction where the obstacle exists, so as to facilitate the driver to manipulate the three-way stacking forklift to move.

[0061] Taking into account the need for a total trigger device in the controller 2 and the need to control multiple aspects of the three-phase stacking forklift at the same time, a preferred solution is proposed herein. The controller 2 includes a main contactor, a multi-way valve controller, a traction controller, and an oil pump controller. The main contactor is arranged between the common connection end of the multi-way valve controller, the traction controller, and the oil pump controller and the motor.

[0062] It should be noted that the multi-way valve controller is a control device for controlling multiple solenoid valves 3, and the traction controller and the oil pump controller are both control devices for controlling the power of the three-phase stacking forklift, which will not be described in detail here. By setting a total trigger between the controller and the motor, the power supply of the motor to the controller 2 is controlled to prevent energy waste.

[0063] A fuse is an electrical device that uses the heat generated by itself to melt the fuse and disconnect the circuit when the current exceeds the specified value. A fuse is a current protector made based on the principle that after the current exceeds the specified value for a period of time, the heat generated by itself will melt the fuse and disconnect the circuit. Fuses are widely used in high and low voltage power distribution systems and control systems as well as electrical equipment. As a short circuit and overcurrent protector, they are one of the most commonly used protection devices.

[0064] Considering the protection of the circuit in the controller 2, a preferred solution is proposed here. The controller 2 also includes: fuses, each fuse is respectively arranged between the multi-way valve controller, the traction controller, the oil pump controller and the main contactor.

[0065] A fuse is an electrical device that uses the heat generated by itself to melt the fuse and disconnect the circuit when the current exceeds the specified value. A fuse is a current protector made based on the principle that after the current exceeds the specified value for a period of time, the heat generated by itself will melt the fuse and disconnect the circuit. Fuses are widely used in high and low voltage power distribution systems and control systems as well as electrical equipment. As a short circuit and overcurrent protector, they are one of the most commonly used protection devices.

[0066] For different controllers, since the working voltages of electronic components in the controllers are different, the voltage needs to be limited to a standard range to prevent the components from burning out. The fuses are respectively arranged between the multi-way valve controller, traction controller, oil pump controller and the main contactor, so that different types of fuses are used for protection of each controller, thereby maintaining the normal operation of the controller while ensuring the safety of the controller.

[0067] The above embodiment proposes to install an HMI in the cab to detect the position information. Considering the working conditions of the three-way stacking forklift, a preferred solution is proposed here. The device also includes:

[0068] An alarm device is connected with the controller 2.

[0069] Since the working environment of the three-way stacking forklift is relatively complex, in addition to the three-way stacking forklift, other objects or other forklifts may also actively approach the three-way stacking forklift. At this time, due to the detection of the position detection sensor 1, the three-way stacking forklift itself may not be in motion, and due to the movement of external objects, it changes from a safe position to a dangerous position. At this time, the driver may not be in the cab or is in a resting state and does not observe the HMI, which can easily cause an accident. The alarm device provided in this embodiment can prompt the driver to prevent accidents, thereby increasing the safety of the operation of the three-way stacking forklift. In this embodiment, the specific type of the alarm device is not limited, and it can be a warning light or a buzzer, etc.

[0070] The present application also provides a three-way stacking forklift, comprising the above-mentioned safety control system.

[0071] The specific device structure can be found in Figure 2 However, in this embodiment, the specific structure of the three-phase stacking forklift is not limited. The three-phase stacking forklift provided in this embodiment may include Figure 2 More or fewer components, and since the three-phase stacking forklift provided in this embodiment includes the above-mentioned safety control system, the specific embodiments and corresponding beneficial effects can be found in the above-mentioned safety control system part.

[0072] Figure 5 A safety control method flow chart provided in an embodiment of the present application is applied to the above-mentioned safety control system, such as Figure 5 As shown, the method includes:

[0073] S10: Acquire the oscillation waveform sent by the output circuit in the position detection sensor;

[0074] S11: judging whether the three-way stacking forklift is in a safe position according to the oscillation waveform, if so, entering S12, if not, entering S13;

[0075] S12: Feedback normal business information so that the three-way stacking forklift can move normally according to the user's operation instructions;

[0076] S13: Control the three-way stacking forklift to move according to the preset movement instruction, and return to step S11.

[0077] It should be noted that, in the above-mentioned embodiment of the safety control system, the specific method of controlling the three-way stacking forklift to move and judge according to the preset movement instruction in this embodiment is not limited, and the number and setting position of the position detection sensor are not limited. A preferred solution is provided here, that is, the position detection sensor includes a fork left rotation position sensor, a fork right rotation position sensor, a fork left shift position sensor, and a fork right shift position sensor. When obstacles exist at positions detected by different fork detection sensors, that is, when the three-way stacking forklift is in different dangerous positions, it corresponds to different preset movement instructions, which are divided into the following 4 situations:

[0078] Inching mode 1: The fork rotates to the left but does not move to the right. The mode is activated when the accelerator pedal is pressed. After the vehicle travels in the direction of the fork at 1 km / h for 10 seconds, the fault code 245 is reported, or after the vehicle travels in the direction opposite to the fork at 1 km / h for 10 seconds, the fault code 246 is reported.

[0079] Inching mode 2: The fork does not rotate to the left but moves to the right, the mode is activated when the accelerator pedal is pressed, and the vehicle reports fault code 245 after driving at 1 km / h for 10 seconds in the direction of the fork or reports fault code 246 after driving at 1 km / h for 10 seconds in the direction opposite to the fork;

[0080] Inching mode 3: The fork rotates to the right but does not move to the left. The mode is activated when the accelerator pedal is pressed. After the vehicle travels in the direction of the fork at 1 km / h for 10 seconds, the fault code 245 is reported, or after the vehicle travels in the direction opposite to the fork at 1 km / h for 10 seconds, the fault code 246 is reported.

[0081] Inching mode 4: The fork does not rotate to the right but moves to the left, the mode is activated when the accelerator pedal is pressed, and the vehicle reports fault code 245 after driving at 1 km / h in the direction of the fork for 10 seconds, or reports fault code 246 after driving at 1 km / h in the opposite direction of the fork for 10 seconds.

[0082] It should be noted that the above-mentioned solution is only a preferred solution provided in this embodiment, and the above-mentioned solution does not constitute a limitation on this embodiment.

[0083] The safety control method provided in this embodiment is applied to a three-way stacking forklift including a position detection sensor, a solenoid valve and a controller. By arranging a position detection sensor at the fork, an oscillating current is obtained through the oscillator in the position detection sensor and converted into an oscillation waveform, which is input into the controller. The controller determines whether the three-way stacking forklift is in a safe position, thereby controlling the solenoid valve to make the three-way stacking forklift move normally according to user instructions. When the three-way stacking forklift is detected to be in a dangerous position, it moves in a safe mode. Compared with the previous method in which the user could only manually observe the situation near the three-way stacking forklift, the safety control system provided in this application can automatically detect the vehicle position information, and when the vehicle is detected to be in a dangerous position, it moves in a safe mode. Therefore, while ensuring safety, the operability of the vehicle is opened up, and at the same time, there is no need for manual observation of information near the vehicle, which is more user-friendly and has higher safety performance.

[0084] The above is a detailed introduction to the active safety control method and system for a three-way stacking forklift provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0085] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A safety control system, It is characterized in that Applied to three-way stacking forklift, including: position detection sensor, solenoid valve and controller; The position detection sensor includes an oscillator, a trigger circuit and an output circuit. The oscillator is arranged at the fork of the three-way stacking forklift and is used to generate an oscillating current. The trigger circuit is connected to the oscillator and is used to detect the oscillating current. The output circuit is connected to the trigger circuit and the controller and is used to output an oscillating waveform to the controller according to the oscillating current. The controller is connected to the solenoid valve and is used to control the opening and closing of the solenoid valve according to the oscillation waveform; Among them, there are 4 position detection sensors, including: a fork left rotation position sensor, a fork right rotation position sensor, a fork left shift position sensor, and a fork right shift position sensor; The fork left rotation position sensor is attached to the left side of the gear in the cantilever of the fork; The fork right rotation position sensor is attached to the right side of the gear in the cantilever of the fork; The fork left shift position sensor is arranged on the left side of the horizontal moving rack of the fork; The fork right side shift position sensor is arranged on the right side of the horizontal moving rack of the fork.

2. The safety control system according to claim 1, It is characterized in that Also includes: HMI; The HMI is connected to the controller and is used to display the operating status of the three-way stacking forklift. The HMI is arranged in the control room of the three-way stacking forklift.

3. The safety control system according to claim 1, It is characterized in that The controller comprises a main contactor, a multi-way valve controller, a traction controller and an oil pump controller. The main contactor is arranged between a common connection end of the multi-way valve controller, the traction controller and the oil pump controller and the motor.

4. The safety control system according to claim 3, It is characterized in that The controller further includes: fuses, each of which is respectively arranged between the multi-way valve controller, the traction controller, the oil pump controller and the main contactor.

5. The safety control system according to any one of claims 1 to 4, It is characterized in that Also includes: An alarm device is connected to the controller.

6. A three-way stacking forklift, It is characterized in that A safety control system comprising any one of claims 1 to 5.

7. A safety control method, applied to the safety control system according to claim 1, It is characterized in that include: acquiring an oscillation waveform sent by an output circuit in a position detection sensor; judging whether the three-way stacking forklift is in a safe position according to the oscillation waveform; If yes, normal business information is fed back so that the three-way stacking forklift can move normally according to the user's operating instructions; If not, the three-way stacking forklift is controlled to move according to the preset movement instruction, and the process returns to the step of obtaining the oscillation waveform sent by the output circuit in the position detection sensor; The preset movement instructions include inching mode 1, inching mode 2, inching mode 3 and inching mode 4.

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