Micro-motion control system and method for an electric container handling apparatus

Abstract

The application discloses a micro-motion control system and method of an electric container handling equipment, and is applied to the field of industrial loading and unloading. The micro-motion control system and method of the electric container handling equipment provided by the application first acquires a vehicle accelerator pedal opening degree and a time during which the accelerator pedal opening degree is maintained, and judges whether the accelerator pedal opening degree and the time during which the accelerator pedal opening degree is maintained satisfy a pre-set condition; if the accelerator pedal opening degree and the time during which the accelerator pedal opening degree is maintained satisfy the pre-set condition, the vehicle enters a micro-motion control mode; and if the accelerator pedal opening degree and the time during which the accelerator pedal opening degree is maintained do not satisfy the pre-set condition, the vehicle remains in a walking mode. Through the micro-motion control system and method, the micro-motion function can be implemented only through the accelerator pedal without additionally increasing a control brake pedal, the switching between the walking mode and the micro-motion control mode is realized, and large vibration of an electric reach stacker, a forklift or the electric container handling equipment caused by unstable gravity center when the brake pedal is stepped to the bottom is avoided.

Description

Technical Field

[0001] This application relates to the field of industrial loading and unloading, and in particular to a micro-motion control system and method for an electric container handling equipment. Background Technology

[0002] Electric reach stackers and forklifts are container lifting machinery used in ports, railways, highways, and other locations. They are mainly used for stacking containers and horizontal transport within docks and container yards. Compared with forklifts, they have advantages such as maneuverability, ease of operation, good stability, lower wheel pressure, higher stacking depth, and higher utilization rate of container yards. When lifting containers, electric reach stackers and forklifts require vehicles to travel at low speeds to fine-tune the vehicle's position for positioning the spreader and container, minimizing collisions.

[0003] For electric reach stackers and forklifts, the current micro-motion control requires an additional brake pedal, integrating the micro-motion function into the braking function. The driver controls the braking force by adjusting the brake pedal opening, enabling micro-motion control of the electric loader under heavy loads. However, when the brake pedal is fully depressed, this method switches directly from micro-motion to full braking, which can cause significant vibrations on vehicles like reach stackers or forklifts with high booms and high centers of gravity. Summary of the Invention

[0004] The purpose of this application is to provide a micro-motion control system and method for electric container handling equipment. It can realize the low-speed micro-motion control function under the motor torque control module by using the change of the accelerator pedal state. It does not require an additional electric brake pedal, and avoids the driver's easy direct switch from micro-motion mode to braking during micro-motion operation, which can cause the electric reach stacker or forklift to lose balance and generate large vibrations.

[0005] To address the aforementioned technical problems, this application provides a micro-motion control method for an electric container handling equipment, comprising:

[0006] Obtain the accelerator pedal opening and the duration of accelerator pedal opening of the vehicle;

[0007] Determine whether the accelerator pedal opening and the duration of accelerator pedal opening meet preset conditions;

[0008] If so, then the vehicle is confirmed to be in micro-motion control mode;

[0009] If not, then the vehicle is confirmed to be in driving mode.

[0010] Preferably, determining whether the accelerator pedal opening and the duration of accelerator pedal opening meet preset conditions includes:

[0011] Determine whether the accelerator pedal opening is within a preset threshold;

[0012] If not, then it is determined that the accelerator pedal opening and the duration of accelerator pedal opening do not meet the preset conditions;

[0013] If so, determine whether the accelerator pedal opening time is greater than the preset time;

[0014] If so, then determine that the accelerator pedal opening and the duration of accelerator pedal opening meet the preset conditions;

[0015] If not, then it is determined that the accelerator pedal opening and the duration of accelerator pedal opening do not meet the preset conditions.

[0016] Preferably, determining whether the accelerator pedal opening and the duration of accelerator pedal opening meet preset conditions includes:

[0017] Determine whether it is in the rising edge state based on the accelerator pedal opening;

[0018] If the accelerator pedal is in the rising edge state and the accelerator pedal opening time is greater than the micro-motion trigger time threshold, then the accelerator pedal opening and the accelerator pedal opening time are determined to meet the preset conditions.

[0019] If not, then it is determined that the accelerator pedal opening and the duration of accelerator pedal opening do not meet the preset conditions.

[0020] Preferably, after determining that the vehicle is in micro-motion control mode, the method further includes:

[0021] Obtain the target torque and micro-motion control enable from the vehicle controller;

[0022] The target vehicle speed is determined based on the target torque and the micro-motion control enable;

[0023] The motor is controlled to travel at a constant speed according to the target vehicle speed.

[0024] Preferably, after determining that the vehicle is in driving mode, the method further includes:

[0025] Obtain the rising edge curve and the falling edge curve;

[0026] The control motor executes vehicle speed control according to the rising edge curve or the falling edge curve.

[0027] Preferably, controlling the motor's movement based on the rising edge curve includes:

[0028] If the accelerator pedal opening is within the micro-motion control range, the vehicle receives the PI control signal from the vehicle controller to smoothly transition the vehicle speed to the micro-motion speed.

[0029] If the accelerator pedal opening is within the driving control range, the vehicle receives a proportional control signal from the vehicle controller to control the vehicle to switch from micro-motion control mode to driving mode.

[0030] Preferably, controlling the motor's movement based on the falling edge curve includes:

[0031] If the accelerator pedal opening begins to decrease, a proportional control signal is received from the vehicle controller to smoothly transition the vehicle speed to 0.

[0032] To address the aforementioned technical problems, this application also provides a micro-motion control device for an electric container handling equipment, comprising:

[0033] The acquisition module is used to acquire the accelerator pedal opening and the duration of the accelerator pedal opening of the vehicle.

[0034] The judgment module is used to determine whether the accelerator pedal opening and the duration of accelerator pedal opening meet preset conditions;

[0035] The first determining module is used to determine that the vehicle is in micro-motion control mode when the determining module determines that it is in the micro-motion control mode.

[0036] The second determining module is used to determine that the vehicle is in driving mode if the determining module determines otherwise.

[0037] To address the aforementioned technical problems, this application also provides an electric reach stacker or forklift, including a memory for storing computer programs;

[0038] A processor is used to execute computer programs to implement the micro-motion control method for electric container handling equipment as described above.

[0039] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the micro-motion control method for the electric container handling equipment described above.

[0040] This application provides a micro-motion control system and method for electric container handling equipment, applicable to electric reach stackers or forklifts. First, it acquires the accelerator pedal opening degree and the duration of the accelerator pedal opening, and then determines whether these conditions meet preset requirements. If they do, the vehicle enters micro-motion control mode; otherwise, the vehicle remains in driving mode. This micro-motion control method and system eliminates the need for an additional brake pedal; micro-motion functionality can be implemented solely through the accelerator pedal, enabling switching between driving and micro-motion modes. This avoids significant vibrations caused by instability in the electric reach stacker, forklift, or other electric container handling equipment when the brake pedal is fully depressed. Attached Figure Description

[0041] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart of a micro-motion control method provided in an embodiment of this application;

[0043] Figure 2 This is a signal acquisition structure diagram provided in another embodiment of this application;

[0044] Figure 3 A micro-motion control flowchart is provided for another embodiment of this application;

[0045] Figure 4 This is a vehicle speed control curve provided in another embodiment of this application;

[0046] Figure 5 A structural diagram of a micro-motion control device provided in another embodiment of this application;

[0047] Figure 6 This is a structural diagram of an electric reach stacker or forklift provided in another embodiment of this application. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0049] Electric reach stackers and forklifts are mainly used in container lifting machinery in ports, railways, and highways. They offer advantages such as high mobility, ease of operation, good stability, low wheel pressure, high stacking capacity, and high yard utilization. During operation, electric reach stackers and forklifts require low vehicle speeds to fine-tune the vehicle's position for positioning the spreader and container, minimizing collisions. Currently, the micro-motion control method requires an additional brake pedal, integrating the micro-motion function into the braking function. The driver controls the braking force by adjusting the brake pedal opening, facilitating micro-motion control of the electric loading vehicle under heavy loads. However, when the brake pedal is fully depressed, this method directly switches from micro-motion mode to full braking, which can cause significant vibrations on vehicles like reach stackers or forklifts with high booms and high centers of gravity.

[0050] The core of this application is to provide a micro-motion control system and method for an electric container handling equipment, which eliminates the need for an additional brake pedal and allows switching between micro-motion mode and walking mode by slightly pressing the accelerator pedal.

[0051] It should be noted that the micro-motion control method for electric container handling equipment provided in this application can be applied to electric reach stackers or forklifts, as well as other vehicles requiring micro-motion control. The vehicles mentioned in this application can be electric reach stackers, forklifts, or other vehicles requiring micro-motion control. It is understood that the micro-motion control method mentioned in this application is implemented by a motor control unit (MCU) or other types of control devices in the electric reach stacker or forklift, which does not affect the implementation of the technical method.

[0052] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] The specific solution of this application is to switch between the micro-motion mode and the walking mode of the electric front-end crane or forklift by slightly pressing the accelerator pedal, and to realize the low-speed micro-motion control function under the motor torque control according to the change of the accelerator pedal state.

[0054] In addition, this application only provides a detailed description of the switching between micro-motion mode and travel mode for the accelerator pedal of the electric reach stacker or forklift. The original brake pedal has not been removed and still exists. If you want to achieve the braking function, you can operate it in the original way.

[0055] This application provides a micro-motion control method for electric container handling equipment, applicable to electric reach stackers or stackers. Figure 1 This is a flowchart of a micro-motion control method provided in an embodiment of this application; as shown. Figure 1 As shown, the method includes:

[0056] S10: Obtain the accelerator pedal opening and the duration of the accelerator pedal opening.

[0057] In this embodiment, the accelerator pedal 4 controls the power output of the drive motor. The duration of the accelerator pedal opening in this step is the time during which the accelerator pedal opening remains constant. MCU1 acquires the accelerator pedal opening and the duration of its holding time from the vehicle control unit (VCU) to determine whether to enter the micro-motion control mode. This is because determining whether to enter the micro-motion control mode based on the accelerator pedal opening and its holding time reduces the false positive rate and has low implementation complexity.

[0058] It is understood that the acquisition action in this step can be performed by MCU1 or other types of controllers, and there is no limitation here. The acquisition of the accelerator pedal opening and the duration of the accelerator pedal opening is performed in real time, that is, after MCU1 or other types of controllers acquire the accelerator pedal opening and the duration of the accelerator pedal opening, they are uploaded in real time. In this embodiment, the accelerator pedal opening and the duration of the accelerator pedal opening are acquired while driving.

[0059] S11: Determine whether the accelerator pedal opening and the duration of accelerator pedal opening meet the preset conditions. If yes, proceed to step S12; otherwise, proceed to step S13.

[0060] After obtaining the accelerator pedal opening and the duration of the accelerator pedal opening in step S10, MCU1 determines whether the obtained accelerator pedal opening and the duration of the accelerator pedal opening meet the preset conditions. The preset conditions for activating the micro-motion control mode can be implemented in two ways. One method is for the driver to preset the micro-motion-travel boundary threshold b of the accelerator pedal 4 and the time required for the accelerator pedal opening to be maintained at the micro-motion-travel boundary threshold b to enter the micro-motion control mode. The driver then determines whether the accelerator pedal opening obtained by MCU1 or other controllers is within the preset micro-motion-travel boundary threshold b, and whether the time the accelerator pedal opening is within the micro-motion-travel boundary threshold b is greater than the preset time. Another possible implementation is to preset a micro-motion trigger time threshold t. After MCU1 or other controllers determine the state of the accelerator pedal 4, they then determine whether the duration of the accelerator pedal opening is greater than the micro-motion trigger time threshold t.

[0061] In this embodiment, the accelerator pedal opening and the duration of accelerator pedal opening obtained in step S10 are used to determine whether the time for the vehicle to enter the micro-motion control mode is met. If it is met, the process proceeds to step S12; otherwise, it proceeds to step S13.

[0062] S12: Determine the vehicle is in micro-motion control mode.

[0063] In practice, once it is determined that the accelerator pedal opening and the duration of accelerator pedal opening meet the preset conditions, the electric reach stacker or forklift can be confirmed to enter the micro-motion control mode. The so-called micro-motion control mode can control the vehicle to run smoothly at a pre-set micro-motion speed, which can avoid collisions with the container when fine-tuning the vehicle position on the spreader's locking head, thus ensuring the comfort of container lifting operations.

[0064] S13: Confirm vehicle is in driving mode.

[0065] If the accelerator pedal opening and its duration cannot meet the preset conditions, the electric reach stacker or forklift can be set to travel mode. It's understood that travel mode is the normal operating state of the electric reach stacker or forklift, i.e., the working state. When the accelerator pedal opening and its duration cannot meet the preset conditions, setting the electric reach stacker or forklift to travel mode means that it does not need to enter micro-motion control mode and can continue normal travel.

[0066] This application provides a micro-motion control method for electric container handling equipment, applicable to electric reach stackers or forklifts. The method first acquires the accelerator pedal opening degree and the duration of the accelerator pedal opening, and then determines whether these conditions meet preset requirements. If they do, the electric reach stacker or forklift enters micro-motion control mode; otherwise, it maintains its walking mode. This micro-motion control method and system eliminates the need for an additional brake pedal; micro-motion functionality can be implemented solely through the accelerator pedal, enabling switching between walking and micro-motion modes. This avoids significant vibrations caused by instability in the electric reach stacker, forklift, or other electric container handling equipment when the brake pedal is fully depressed.

[0067] The above embodiments provide a detailed description of the micro-motion control method proposed in this application. For MCU1 or other types of controllers, there are two possible implementation methods for determining whether to enter the micro-motion control mode. Based on the above embodiments, as a preferred embodiment, this embodiment determines whether the accelerator pedal opening degree and the duration of the accelerator pedal opening degree meet preset conditions, including:

[0068] Determine whether the accelerator pedal opening is at a preset threshold;

[0069] If not, then it is determined that the accelerator pedal opening and the duration of accelerator pedal opening do not meet the preset conditions;

[0070] If so, determine whether the accelerator pedal opening time is greater than the preset time;

[0071] If so, then determine that the accelerator pedal opening and the duration of accelerator pedal opening meet the preset conditions;

[0072] If not, then it is determined that the accelerator pedal opening and the duration of accelerator pedal opening do not meet the preset conditions.

[0073] In practice, the driver can decide whether to turn on the micro-motion function through the interactive instrument 3, which is equivalent to a one-button switch. This is to prevent the micro-motion control mode from being automatically entered when the accelerator pedal opening and the duration of the accelerator pedal opening meet the preset conditions, even when it is not necessary to enter the micro-motion control mode. Figure 2This is a signal acquisition structure diagram provided in another embodiment of this application; as shown below. Figure 2 As shown, after the driver activates the micro-motion function via the interactive bus instrument panel, the vehicle controller 2 collects the gear position signal, the position of the accelerator pedal 4, and the rate of change of the accelerator pedal 4. Furthermore, the driver can set the micro-motion speed w and the micro-motion-travel boundary threshold b via the interactive instrument panel 3.

[0074] After the vehicle controller acquires the opening degree of the accelerator pedal 4 and the duration of the accelerator pedal opening, it first determines whether the accelerator pedal opening degree is at a preset threshold, namely the micro-motion-travel boundary threshold b. If the accelerator pedal opening degree is at the micro-motion-travel boundary threshold b, it then determines whether the duration of the accelerator pedal opening degree at the micro-motion-travel boundary threshold b is greater than a preset time value. When both the accelerator pedal opening degree and the duration of the accelerator pedal opening degree meet the preset conditions, that is, the accelerator pedal opening degree is at the micro-motion-travel boundary threshold b and the duration is greater than the preset time value, it determines that the vehicle has entered the micro-motion control mode.

[0075] It should be noted that the micro-motion-walking boundary threshold b proposed in this embodiment can be set by the driver, or the MCU1 or other types of controllers can analyze the optimal value based on multiple experiments and set it as the micro-motion-walking boundary threshold b.

[0076] This embodiment determines whether an electric reach stacker or forklift has entered the micro-motion control mode by judging whether the accelerator pedal opening is at the micro-motion-travel boundary threshold b and judging the time when the accelerator pedal opening is at the micro-motion-travel boundary threshold b. This reduces complexity and avoids misjudgment.

[0077] The above embodiments describe determining whether an electric reach stacker or forklift has entered micro-motion control mode by judging whether the accelerator pedal opening is at the micro-motion-travel boundary threshold b, and whether the time spent at the micro-motion-travel boundary threshold b is greater than a preset time. Based on the above embodiments, as a preferred embodiment, this embodiment proposes that judging whether the accelerator pedal opening and the duration of the accelerator pedal opening meet preset conditions includes:

[0078] Determine whether it is in the rising edge state based on the accelerator pedal opening;

[0079] If the accelerator pedal is in the rising edge state and the accelerator pedal opening time is greater than the micro-motion trigger time threshold, then the accelerator pedal opening and the accelerator pedal opening time are determined to meet the preset conditions.

[0080] If not, then it is determined that the accelerator pedal opening and the duration of accelerator pedal opening do not meet the preset conditions.

[0081] In specific implementation, such as Figure 2As shown, after the driver activates the micro-motion function via the interactive instrument panel 3, the vehicle controller collects the gear position signal, the position of the accelerator pedal 4, and the rate of change of the accelerator pedal 4. The state of the accelerator pedal 4 is determined by the rate of change of its opening. If the accelerator pedal 4 is in a rising edge state, it is then determined whether the time from zero opening to the micro-motion-travel boundary threshold b is greater than the micro-motion trigger time threshold t. The rising edge state refers to pressing the accelerator pedal 4, and at this time, the rate of change of the accelerator pedal opening is greater than 0.

[0082] Figure 3 This is a micro-motion control flowchart provided in another embodiment of this application; as follows: Figure 3 As shown, if the duration of the accelerator pedal being in the rising edge state and the accelerator pedal opening being within the range of (0, b) is greater than the micro-motion trigger time threshold t, it can be determined that the electric reach stacker or forklift has entered the micro-motion control mode; otherwise, it can be determined that the electric reach stacker or forklift is in the walking mode.

[0083] This embodiment also proposes that before determining whether the accelerator pedal opening and the duration of the accelerator pedal opening meet the preset conditions, it further includes: determining the vehicle gear position.

[0084] like Figure 3 As shown, step S23 needs to determine whether the gear is in the neutral gear. If the gear is in the neutral gear, then proceed to step S28 and end the subsequent determination of whether the vehicle has entered the micro-motion control mode in advance. If the gear is not in the neutral gear, then proceed to step S24 and then determine whether the vehicle can enter the micro-motion control mode.

[0085] It should be noted that the micro-motion triggering time threshold t proposed in this embodiment can be set by the driver, or the MCU or other types of controllers can analyze the optimal value based on multiple experiments and set it as the micro-motion triggering time threshold t.

[0086] This application proposes two methods for determining whether a vehicle has entered the micro-motion control mode. It should be noted that the methods for determining whether a vehicle has entered the micro-motion control mode proposed in this embodiment and the above embodiments are merely preferred embodiments. In practical applications, the methods used are not limited.

[0087] In addition to determining the state of the accelerator pedal 4, this embodiment also determines the relationship between the duration of the accelerator pedal opening within the range of (0, b) and the micro-motion trigger time threshold t, thereby determining whether the electric forward crane or stacker has entered the micro-motion control mode. This allows for a more accurate determination of whether the vehicle has entered the micro-motion control mode. There is no need to set up a dedicated brake pedal; the switching between micro-motion function and travel function can be achieved through just one accelerator pedal 4.

[0088] The above embodiments provide a detailed description of two methods for determining whether a vehicle has entered micro-motion control mode. Based on these embodiments, as a preferred embodiment, after determining that the electric reach stacker or forklift is in micro-motion control mode, as follows... Figure 3 As shown, it also includes:

[0089] Obtain the target torque and micro-motion control enable from the vehicle controller;

[0090] The target vehicle speed is determined based on the target torque and the micro-motion control enable;

[0091] The motor is controlled to travel at a constant speed according to the target vehicle speed.

[0092] In practice, if the electric reach stacker or forklift is determined to have entered micro-motion control mode, the vehicle controller 2 uses PI control to control the MCU1 to perform speed control on the motor, outputting micro-motion torque so that the motor travels at a constant speed w. It is understood that the micro-motion speed w can be set by the driver, or the MCU1 or other types of controllers can analyze and determine the optimal value based on multiple experiments and set it as the micro-motion speed w.

[0093] In this embodiment, after determining that the electric reach stacker or forklift has entered the micro-motion control mode, the vehicle controller 2 can transmit the target torque and micro-motion control enable to the MCU1, and the MCU1 controls the motor to travel at a constant speed according to the preset micro-motion speed w. When lifting the container, the vehicle can travel at a constant speed w and finely adjust the position of the vehicle to position the lifting device and the container, thereby reducing collisions.

[0094] The above embodiments provide a detailed description of the travel mode after determining that the electric reach stacker or forklift has entered the micro-motion control mode. Based on the above embodiments, as a preferred embodiment, this embodiment further includes the following after determining that the electric reach stacker or forklift is in travel mode:

[0095] Obtain the rising edge curve and the falling edge curve;

[0096] The control motor executes vehicle speed control according to the rising edge curve or the falling edge curve.

[0097] Furthermore, controlling the motor's movement based on the rising edge curve includes:

[0098] If the accelerator pedal opening is within the micro-motion control range, the vehicle receives the PI control signal from the vehicle controller to smoothly transition the vehicle speed to the micro-motion speed.

[0099] If the accelerator pedal opening is within the driving control range, the vehicle receives a proportional control signal from the vehicle controller to control the vehicle to switch from micro-motion control mode to driving mode.

[0100] Controlling motor movement based on the falling edge curve includes:

[0101] If the accelerator pedal opening begins to decrease, a proportional control signal is received from the vehicle controller to smoothly transition the vehicle speed to 0.

[0102] In specific implementation, such as Figure 3 As shown, after determining that the electric reach stacker or forklift is in travel mode, the vehicle controller 2 controls the MCU1 to perform normal driving speed control according to the rising edge curve S or the falling edge curve X based on the segmented PI control method. Figure 4 This is a vehicle speed control curve provided in another embodiment of this application; such as Figure 4 As shown, the motor travel is controlled according to the rising curve S. The corresponding strategy can be determined according to the range of the accelerator pedal opening. Specifically, if the accelerator pedal opening is in the micro-motion control range, that is, the accelerator pedal opening is in (0, b), then the vehicle controller 2 uses PI control to control the motor controller MCU1. The MCU1 receives the PI control signal sent by the vehicle controller 2 to control the vehicle speed to smoothly transition to the micro-motion speed w. If the accelerator pedal opening is in the travel control range, that is, the accelerator pedal opening is in (b, 100%), then the vehicle controller 2 uses proportional control to control the MCU. The MCU1 receives the proportional control signal sent by the vehicle controller 2 to control the vehicle to switch from the micro-motion control mode to the travel mode.

[0103] This embodiment executes different strategies based on the rising edge state and the falling edge state, thereby ensuring the stability of the rising edge micro-motion speed control and avoiding the delay problem of the falling edge speed control.

[0104] In the above embodiments, the micro-motion control method for electric container handling equipment has been described in detail. This application also provides embodiments corresponding to the micro-motion control device. It should be noted that this application describes the embodiments of the device from two perspectives: one based on functional modules and the other based on hardware.

[0105] From the perspective of functional modules, this application also provides a micro-motion control device for electric container handling equipment, applicable to electric reach stackers or stackers. Figure 5 This is a structural diagram of a micro-motion control device provided in another embodiment of this application; as shown below. Figure 5 As shown, the device includes:

[0106] The acquisition module 10 is used to acquire the accelerator pedal opening and the duration of the accelerator pedal opening of the vehicle.

[0107] Judgment module 11 is used to determine whether the accelerator pedal opening and the duration of accelerator pedal opening meet preset conditions;

[0108] The first determining module 12 is used to determine that the vehicle is in micro-motion control mode when the determining module determines that it is in the micro-motion control mode.

[0109] The second determining module 13 is used to determine that the vehicle is in driving mode if the determining module determines that it is not.

[0110] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0111] This application provides a micro-motion control device for electric container handling equipment, applied to electric reach stackers or stackers. The device first acquires the accelerator pedal opening degree and the duration of the accelerator pedal opening through an acquisition module 10. Then, a judgment module 11 determines whether the accelerator pedal opening degree and the duration of the accelerator pedal opening meet preset conditions. If they do, a first determination module 12 determines that the electric reach stacker or stacker enters the micro-motion control mode; otherwise, a second determination module 13 determines that the electric reach stacker or stacker maintains the walking mode. This eliminates the need for an additional control brake pedal; the micro-motion function can be implemented solely through the accelerator pedal, achieving the switching between walking and micro-motion modes. This avoids significant vibrations caused by instability when the brake pedal is fully depressed, which can occur when the electric reach stacker or stacker is in a state of instability.

[0112] Figure 6 This is a structural diagram of an electric reach stacker or forklift provided in another embodiment of this application; such as Figure 6 As shown, the electric reach stacker or forklift includes: a memory 20 for storing computer programs;

[0113] The processor 21 is used to implement the steps of the micro-motion control method mentioned in the above embodiments when executing a computer program.

[0114] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0115] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the micro-motion control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, data related to the micro-motion control method.

[0116] In some embodiments, the electric reach stacker or forklift may also include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0117] Those skilled in the art will understand that Figure 6 The structures shown do not constitute a limitation on electric reach stackers or forklifts and may include more or fewer components than illustrated.

[0118] The electric reach stacker or forklift provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method:

[0119] First, by acquiring the accelerator pedal opening degree and the duration of the accelerator pedal opening, it is determined whether these conditions are met. If they are, the electric reach stacker or forklift enters the micro-motion control mode; otherwise, it remains in walking mode. This method eliminates the need for an additional brake pedal, allowing micro-motion functionality solely through the accelerator pedal. This avoids the significant vibrations caused by instability when the brake pedal is fully depressed.

[0120] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0121] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] The micro-motion control system and method for an electric container handling device provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0123] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A micro-motion control method for an electric container handling device, characterized in that, include: After activating the micro-motion function via the interactive instrument panel, the accelerator pedal opening degree and the duration of the accelerator pedal opening degree are obtained. Determine whether the accelerator pedal opening degree and the duration of the accelerator pedal opening degree meet preset conditions; If so, then the vehicle is determined to be in micro-motion control mode; If not, then the vehicle is determined to be in walking mode; The step of determining whether the accelerator pedal opening and the duration of the accelerator pedal opening meet preset conditions includes: determining whether the accelerator pedal opening is a preset threshold; if not, determining that the accelerator pedal opening and the duration of the accelerator pedal opening do not meet the preset conditions; if yes, determining whether the duration of the accelerator pedal opening is greater than a preset time; if yes, determining that the accelerator pedal opening and the duration of the accelerator pedal opening meet the preset conditions; if no, determining that the accelerator pedal opening and the duration of the accelerator pedal opening do not meet the preset conditions; or... The accelerator pedal opening is used to determine whether it is in the rising edge state. If the accelerator pedal is in the rising edge state and the accelerator pedal opening is maintained for a time longer than the micro-motion trigger time threshold, then the accelerator pedal opening and the duration of the accelerator pedal opening are determined to meet the preset conditions. Otherwise, the accelerator pedal opening and the duration of the accelerator pedal opening are determined not to meet the preset conditions. The process includes, after determining that the vehicle is in micro-motion control mode, acquiring the target torque and micro-motion control enable from the vehicle controller; determining the target vehicle speed based on the target torque and the micro-motion control enable; and controlling the motor to travel at the target vehicle speed at a constant speed. The process further includes, after determining that the vehicle is in driving mode, acquiring rising edge curves and falling edge curves, and controlling the motor to perform driving speed control according to the rising edge curve or the falling edge curve.

2. The micro-motion control method for electric container handling equipment according to claim 1, characterized in that, Controlling the motor's movement according to the rising edge curve includes: If the accelerator pedal opening is within the micro-motion control range, then the PI control signal sent by the vehicle controller is received to control the vehicle speed to smoothly transition to the micro-motion speed. If the accelerator pedal opening is within the driving control range, a proportional control signal from the vehicle controller is received to control the vehicle to switch from the micro-motion control mode to the driving mode.

3. The micro-motion control method for electric container handling equipment according to claim 1, characterized in that, Controlling the motor's movement according to the falling edge curve includes: If the accelerator pedal opening begins to decrease, a proportional control signal is received from the vehicle controller to control the vehicle speed to smoothly transition to 0.

4. A micro-motion control device for an electric container handling equipment, the micro-motion control device being used to implement the micro-motion control method for the electric container handling equipment according to any one of claims 1 to 3, characterized in that, include: The acquisition module is used to acquire the accelerator pedal opening and the duration of the accelerator pedal opening after the micro-motion function is turned on via the interactive instrument panel. The judgment module is used to determine whether the accelerator pedal opening degree and the duration of the accelerator pedal opening degree meet preset conditions; The first determining module, when the determining module determines that the vehicle is in micro-motion control mode; The second determining module is used to determine that the vehicle is in walking mode if the determining module determines otherwise.

5. An electric front-end crane or forklift, characterized in that, Includes memory used to store computer programs; A processor is configured to implement the steps of the micro-motion control method for the electric container handling equipment as described in any one of claims 1 to 3 when executing the computer program.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the micro-motion control method for the electric container handling equipment as described in any one of claims 1 to 3.

Images