Forklift control method, device and readable storage medium

Abstract

The present disclosure relates to a forklift control method, device and medium, and relates to the technical field of forklift driving systems. The method comprises: detecting an accelerator output signal C1 and a fork lifting height signal C2, wherein H=Hmax*C2 / 5, H represents the lifting height of the fork, and Hmax represents the maximum lifting height of the fork of the high-lifting forklift; comparing the C1 with a voltage threshold to obtain a comparison result; and determining whether the H is less than or equal to a height threshold to obtain a determination result; and based on the comparison result and the determination result, corresponding control is performed on the maximum speed of the traction motor and the acceleration time of the speed of the traction motor. The present disclosure can make the forklift have small impact when starting, avoid excessive shaking of the forklift, and ensure work safety.

Description

Technical Field

[0001] This disclosure relates to the field of forklift drive system technology, and in particular to a forklift control method, device and readable storage medium. Background Technology

[0002] The travel speed and acceleration of existing high-lift forklifts are not related to the lifting height of the forks. When the forks are in a high position, the travel speed is high, the impact of starting the vehicle is large, and the vehicle shakes a lot, which affects the safety of operation. Summary of the Invention

[0003] This disclosure proposes a forklift control method, apparatus, and readable storage medium to solve the aforementioned technical problems.

[0004] According to a first aspect of this disclosure, a forklift control method is provided, comprising: detecting an accelerator output signal C1 and a fork lifting height signal C2, wherein H = Hmax * C2 / 5, where H represents the fork lifting height and Hmax represents the maximum lifting height of the forks of a high-lift forklift; comparing C1 with a voltage threshold to obtain a comparison result; and determining whether H is less than or equal to a height threshold to obtain a determination result; based on the comparison result and the determination result, correspondingly controlling the maximum speed of the traction motor and the acceleration time of the traction motor speed to minimize the starting impact of the forklift and ensure operational safety.

[0005] In some embodiments, the comparison result is 0 < C1 ≤ 0.7, and the judgment result is H ≤ 5; the maximum speed of the traction motor is controlled as n1 = V * i * K1 * K2 / (D * π), where n1 represents the maximum speed of the traction motor when the forks are in the low position and the accelerator output is 0.7V, V represents the maximum forklift speed when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60 = 16.67, and K2 represents the forklift speed coefficient related to the accelerator position. The formula is: K2 = 0.7 / 5 = 0.14, D represents the diameter of the drive wheel, D = 0.343; the acceleration time t1 for controlling the traction motor speed from 0 to n1 is t1 = n1 * K3 / a1, where t1 represents the acceleration time of the traction motor speed from 0 to n1, K3 represents the unit conversion factor, K3 = 1 / 60 = 0.167, a1 represents the acceleration of the traction motor speed from 0 to n1, a1 = K4 * a, K4 represents the traction motor acceleration coefficient related to the accelerator position, K4 = 0.6, and a represents the average acceleration of the traction motor, a = 12 r / s². 2 .

[0006] In some embodiments, the comparison result is 0 < C1 ≤ 0.7, and the judgment result is 5 < H ≤ 9; the maximum speed of the traction motor is controlled as n3 = V * i * K1 * K2 * K6 / (D * π), where n3 represents the maximum speed of the traction motor when the forks are in the middle position and the accelerator output is 0.7V, V represents the maximum forklift speed when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60 = 16.67, K2 represents the forklift speed coefficient related to the accelerator position, K2 = 0.7 / 5 = 0.14, and K6 represents the forklift speed coefficient when the forks are in the middle position. K6=0.5, D represents the diameter of the drive wheel, D=0.343; the acceleration time T3 for controlling the traction motor speed from 0 to n3 is T3=n3*K3 / a3, where T3 represents the acceleration time of the traction motor speed from 0 to n3, n3 represents the maximum speed of the traction motor when the forks are in the center position and the accelerator output is 0.7V, K3 represents the unit conversion factor, K3=1 / 60=0.167, a3 represents the acceleration of the traction motor speed from 0 to n3, a3=K4*K7*a, K4 represents the traction motor acceleration coefficient related to the accelerator position, K4=0.6, K7 represents the traction motor acceleration coefficient when the forks are in the center position, K7=0.5, and a represents the average acceleration of the traction motor, a=12r / s². 2 .

[0007] In some embodiments, the comparison result is 0 < C1 ≤ 0.7, and the judgment result is H > 9; the maximum speed of the traction motor is controlled as n5 = V * i * K1 * K2 * K8 / (D * π), where n5 represents the maximum speed of the traction motor when the forks are in the high position and the accelerator output is 0.7V, V represents the maximum forklift speed when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60 = 16.67, K2 represents the forklift speed coefficient related to the accelerator position, K2 = 0.7 / 5 = 0.14, and K8 represents the forklift speed coefficient when the forks are in the high position. The forklift travel speed coefficient, K8=0.2, and D represents the drive wheel diameter, D=0.343; the acceleration time T5 for controlling the traction motor speed from 0 to n5 is T5=n5*K3 / a5, where T5 represents the acceleration time of the traction motor speed from 0 to n5, K3 represents the unit conversion factor, K3=1 / 60=0.167, a5 represents the acceleration of the traction motor speed from 0 to n5, a5=K4*K9*a, K4 represents the traction motor acceleration coefficient related to the accelerator position, K4=0.6, K9 represents the traction motor acceleration coefficient at the high position of the forks, K9=0.2, and a represents the average acceleration of the traction motor, a=12r / s². 2 .

[0008] In some embodiments, the comparison result is 0.7 < C1 ≤ 5, and the judgment result is H ≤ 5; control the maximum speed of the traction motor n2 = V * i * K1 / (D * π), where n2 represents the maximum speed of the traction motor when the forks are in the low position and the accelerator outputs 5V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gear ratio of the reduction gearbox, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60 = 16.67, and D represents the diameter of the drive wheel, D = 0.343; control the traction motor The acceleration time t2 from speed n1 to n2 is calculated as t2 = (n2 - n1) * K3 / a2, where t2 represents the acceleration time of the traction motor from speed n1 to n2, n1 represents the maximum speed of the traction motor when the forks are in the low position and the accelerator outputs 0.7V, K3 represents the unit conversion factor (K3 = 1 / 60 = 0.167), a2 represents the acceleration of the traction motor from speed n1 to n2 (a2 = K5 * a), K5 represents the traction motor acceleration coefficient related to the accelerator position (taken as K5 = 1.1), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

[0009] In some embodiments, the comparison result is 0.7 < C1 ≤ 5, and the judgment result is 5 < H ≤ 9; the maximum speed of the traction motor is controlled as n4 = V * i * K1 * K6 / (D * π), where n4 represents the maximum speed of the traction motor when the forks are in the middle position and the accelerator outputs 5V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60 = 16.67, and K6 represents the forklift travel speed coefficient when the forks are in the middle position. K6=0.5, D represents the diameter of the drive wheel, D=0.343; the acceleration time T4 for controlling the traction motor speed from n3 to n4 is T4=(n4-n3)*K3 / a4, where T4 represents the acceleration time of the traction motor speed from n3 to n4, n3 represents the maximum speed of the traction motor when the forks are in the middle position and the accelerator outputs 0.7V, K3 represents the unit conversion factor, K3=1 / 60=0.167, a4 represents the acceleration of the traction motor speed from n3 to n4, a4=K5*K7*a, K5 represents the traction motor acceleration coefficient related to the accelerator position, taken as K5=1.1, K7 represents the traction motor acceleration coefficient when the forks are in the middle position, K7=0.5, and a represents the average acceleration of the traction motor, a=12r / s. 2 .

[0010] In some embodiments, the comparison result is 0.7 < C1 ≤ 5, and the judgment result is H > 9; control the maximum speed of the traction motor n6 = V * i * K1 * K8 / (D * π), where n6 represents the maximum speed of the traction motor when the forks are in the high position and the accelerator outputs 5V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60 = 16.67, K8 represents the forklift travel speed coefficient when the forks are in the high position, K8 = 0.2, and D represents the drive wheel diameter, D = 0.343; control the traction motor rotation The acceleration time T6 from speed n5 to n6 is calculated as (n6 - n5) * K3 / a6, where T6 represents the acceleration time of the traction motor from speed n5 to n6, n5 represents the maximum speed of the traction motor when the forks are at their highest position and the accelerator outputs 0.7V, K3 represents the unit conversion factor (K3 = 1 / 60 = 0.167), and a6 represents the acceleration of the traction motor from speed n5 to n6, a6 = K5 * K9 * a. Here, K5 represents the traction motor acceleration coefficient related to the accelerator position (K5 = 1.1), K9 represents the traction motor acceleration coefficient at the highest fork position (K9 = 0.2), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

[0011] According to a second aspect of this disclosure, a forklift control device is provided, comprising: a detection module for detecting an accelerator output signal C1 and a fork lifting height signal C2, wherein H = Hmax * C2 / 5, where H represents the fork lifting height and Hmax represents the maximum lifting height of the forks of a high-lift forklift; a judgment module for comparing C1 with a voltage threshold to obtain a comparison result; and for judging whether H is less than or equal to a height threshold to obtain a judgment result; and a control module for controlling the maximum speed of the traction motor and the acceleration time of the traction motor speed based on the comparison result and the judgment result, so as to minimize the starting impact of the forklift and ensure operational safety.

[0012] According to a third aspect of this disclosure, a forklift control device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the forklift control method as described above based on instructions stored in the memory.

[0013] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided having computer program instructions stored thereon that, when executed by a processor, implement the forklift control method as described above.

[0014] By adopting the above technical solution, the beneficial technical effects that the embodiments of this disclosure can achieve are: to reduce the impact when the forklift starts, to avoid excessive shaking of the forklift, and to ensure operational safety. Attached Figure Description

[0015] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0016] This disclosure can be more clearly understood with reference to the accompanying drawings and the following detailed description.

[0017] Figure 1 This is a flowchart illustrating a forklift control method according to some embodiments of the present disclosure.

[0018] Figure 2 This is a block diagram illustrating a forklift control device according to some embodiments of the present disclosure.

[0019] Figure 3 This is a block diagram illustrating a forklift control device according to other embodiments of the present disclosure.

[0020] Figure 4 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. Detailed Implementation

[0021] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0022] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0023] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0024] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0025] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0027] Currently, the travel speed and acceleration of existing high-lift forklifts are not related to the lifting height of the forks. When the forks are in a high position, the travel speed is high, the impact of starting the vehicle is large, and the vehicle shakes a lot, which affects the safety of operation.

[0028] In view of this, this disclosure proposes a forklift control method, device and readable storage medium that can reduce the impact when the forklift starts, avoid excessive shaking of the forklift and ensure operational safety.

[0029] Figure 1 This is a flowchart illustrating a forklift control method according to some embodiments of the present disclosure. Figure 1 As shown, the forklift control method includes steps 110 to 130.

[0030] In step 110, the accelerator output signal C1 and the fork lifting height signal C2 are detected, where H = Hmax * C2 / 5, where H represents the fork lifting height and Hmax represents the maximum lifting height of the high-lift forklift forks.

[0031] In step 120, C1 is compared with the voltage threshold to obtain the comparison result; and it is determined whether H is less than or equal to the height threshold to obtain the judgment result.

[0032] In step 130, based on the comparison results and the judgment results, the maximum speed of the traction motor and the acceleration time of the traction motor speed are controlled accordingly to minimize the starting impact of the forklift and ensure operational safety.

[0033] In some embodiments, the forklift driving system includes components such as a controller, a traction motor, a gearbox, and drive wheels.

[0034] In some embodiments, the first step is to monitor the accelerator output signal C1 and the fork lifting height signal C2; when 0 < C1 ≤ 0.7 and H ≤ 5 (H = Hmax * C2 / 5), the second step is executed.

[0035] When 0.7 < C1 ≤ 5 and H ≤ 5 (H = Hmax * C2 / 5), proceed to step 3.

[0036] When 0 < C1 ≤ 0.7 and 5 < H ≤ 9, proceed to step four.

[0037] When 0.7 < C1 ≤ 5 and 5 < H ≤ 9, proceed to step 5.

[0038] When 0 < C1 ≤ 0.7 and H > 9, proceed to step six.

[0039] When 0.7 < C1 ≤ 5 and H > 9, proceed to step seven.

[0040] Wherein, C1: accelerator output signal, its range is 0-5V; C2: fork lifting height signal, its range is 0-5V, the fork lifting height H is positively correlated with C2, 5V corresponds to the maximum lifting height Hmax of the forklift, H=Hmax*C2 / 5; H: fork lifting height, m; Hmax: maximum lifting height of the forklift forklift, m.

[0041] The second step is to lower the forks and gently press the accelerator to start the forklift: In order to reduce the impact of starting the vehicle, the acceleration coefficient of the traction motor related to the accelerator position is set; the controller controls the maximum speed of the traction motor n1=V*i*K1*K2 / (D*π), and controls the acceleration time t1=n1*K3 / a1 from 0 to n1. Where: n1: Maximum speed of the traction motor, rpm, when the forks are in the low position (H≤5) and the accelerator output is 0.7V; V: Maximum forklift speed, km / h, when the forks are in the low position and the accelerator is fully depressed (accelerator output voltage is 5V), v=14; i: Gearbox ratio, i=22.6; K1: Unit conversion factor, K1=1000 / 60=16.67; K2: Forklift speed coefficient related to accelerator position, K2=0.7 / 5=0.14; D: Drive wheel diameter, m, D=0.343; t1: Acceleration time of the traction motor from 0 to n1, s; K3: Unit conversion factor, K3=1 / 60=0.167; a1: Acceleration of the traction motor from 0 to n1, r / s ２ a1 = K4 * a; K4: traction motor acceleration coefficient related to accelerator position, taken as K4 = 0.6; a: average acceleration of traction motor, r / s² ２ Let a = 12 r / s ２ .

[0042] Step 3: With the forks in low position, press the accelerator pedal deeply to initiate forklift movement. The controller controls the maximum speed of the traction motor, n2 = V*i*K1 / (D*π), and the acceleration time t2 = (n2-n1)*K3 / a2 for the traction motor to move from n1 to n2. Where: n2: Maximum speed of the traction motor when the forks are in low position (H≤5) and the accelerator outputs 5V, in rpm; t2: Acceleration time of the traction motor from n1 to n2, in seconds; a2: Acceleration rate of the traction motor from n1 to n2, in r / s. ２ , a2=K5*a; K5: traction motor acceleration coefficient related to accelerator position, take K5=1.1.

[0043] Step 4: Forks in the center position, gently press the accelerator to start the forklift: To reduce vehicle sway caused by the impact of starting and moving when the forks are in the center position, set the forklift speed coefficient and traction motor acceleration coefficient to reduce the vehicle speed and acceleration. The controller controls the maximum speed of the traction motor n3 = V*i*K1*K2*K6 / (D*π), and controls the acceleration time T3 = n3*K3 / a3 from 0 to n3. Where: n3: maximum speed of the traction motor when the forks are in the center position (5<H≤9), and the accelerator output is 0.7V, in rpm; K6: forklift speed coefficient when the forks are in the center position, take K6=0.5; T3: acceleration time of the traction motor from 0 to n3, in seconds; a3: acceleration of the traction motor from 0 to n3, in r / s. ２ a3 = K4 * K7 * a; K7: acceleration coefficient of the fork mid-position traction motor, take K7 = 0.5.

[0044] Step 5: With the forks in the center position, press the accelerator pedal deeply to start the forklift. The controller controls the maximum speed of the traction motor, n4 = V*i*K1*K6 / (D*π), and the acceleration time for the traction motor to change speed from n3 to n4, T4 = (n4-n3)*K3 / a4. Where: n4: Maximum speed of the traction motor when the forks are in the center position (5 < H ≤ 9), and the accelerator outputs 5V, in rpm; T4: Acceleration time for the traction motor to change speed from n3 to n4, in seconds; a4: Acceleration rate of the traction motor to change speed from n3 to n4, in r / s. ２ , a4 = K5 * K7 * a.

[0045] Step 6: Forks in high position, gently press the accelerator to start the forklift: To reduce vehicle swaying caused by the impact of starting and moving the vehicle when the forks are in high position, a forklift speed coefficient and a traction motor acceleration coefficient are set to further reduce the vehicle's speed and acceleration. The controller controls the traction motor's maximum speed n5 = V*i*K1*K2*K8 / (D*π), and controls the acceleration time T5 = n5*K3 / a5 from 0 to n5. Where: n5: Maximum speed of the traction motor when the forks are in high position (H>9) and the accelerator output is 0.7V, in rpm; K8: Forklift speed coefficient in high position, taken as K8=0.2; T5: Acceleration time of the traction motor from 0 to n5, in seconds; a5: Acceleration of the traction motor from 0 to n5, in r / s. ２ a5 = K4 * K9 * a; K9: acceleration coefficient of the high-position traction motor of the forks, take K9 = 0.2.

[0046] Step 7: With forks in high position, press the accelerator pedal deeply to start the forklift: The controller controls the maximum speed of the traction motor, n6 = V*i*K1*K8 / (D*π), and the acceleration time for the traction motor to change speed from n5 to n6, T6 = (n6-n5)*K3 / a6. Where: n6: Maximum speed of the traction motor when the forks are in high position (H>9) and the accelerator outputs 5V, in rpm; T6: Acceleration time for the traction motor to change speed from n5 to n6, in seconds; a6: Acceleration rate of the traction motor from n5 to n6, in r / s. ２ , a6=K5*K9*a.

[0047] The forklift control method in this embodiment of the present disclosure can minimize the impact when the forklift starts, avoid excessive shaking of the forklift, and ensure operational safety.

[0048] Figure 2 This is a block diagram illustrating a forklift control device according to some embodiments of the present disclosure. Figure 2 As shown, the forklift control device 200 includes a detection module 210, a judgment module 220, and a control module 230.

[0049] The detection module 210 is configured to detect the accelerator output signal C1 and the fork lifting height signal C2, wherein H = Hmax * C2 / 5, where H represents the fork lifting height and Hmax represents the maximum lifting height of the high-lift forklift fork.

[0050] The judgment module 220 is configured to compare the C1 with the voltage threshold to obtain a comparison result; and to determine whether the H is less than or equal to the height threshold to obtain a judgment result.

[0051] The control module 230 is configured to control the maximum speed of the traction motor and the acceleration time of the traction motor speed based on the comparison result and the judgment result, so as to minimize the starting impact of the forklift and ensure operational safety.

[0052] The device in this embodiment of the present disclosure can reduce the impact when the forklift starts, avoid excessive shaking of the forklift, and ensure operational safety.

[0053] Figure 3 This is a block diagram illustrating a forklift control device according to other embodiments of the present disclosure. (See diagram for example.) Figure 3 As shown, the forklift control device 300 includes a memory 310 and a processor 320 coupled to the memory 310. The memory 310 is used to store instructions for executing embodiments of the forklift control method. The processor 320 is configured to execute the forklift control method in any of the embodiments of this disclosure based on the instructions stored in the memory 310.

[0054] Figure 4This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. Figure 4 As shown, the computer system 400 can be represented in the form of a general computing device. The computer system 400 includes a memory 410, a processor 420, and a bus 430 connecting different system components.

[0055] The memory 410 may include, for example, system memory, non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for executing at least one of the corresponding embodiments of the cigarette appearance image generation method. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0056] The processor 420 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the detection module, the judgment module, and the control module, can be implemented by executing instructions in the central processing unit (CPU) memory to perform the corresponding steps, or by implementing dedicated circuits to perform the corresponding steps.

[0057] Bus 430 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.

[0058] The computer system 400 may also include an input / output interface 440, a network interface 450, and a storage interface 460. These interfaces 440, 450, and 460, as well as the memory 410 and processor 420, can be connected via a bus 430. The input / output interface 440 provides a connection interface for input / output devices such as a monitor, mouse, and keyboard. The network interface 450 provides a connection interface for various networked devices. The storage interface 460 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0059] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.

[0060] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.

[0061] These computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.

[0062] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0063] This invention enables forklifts to have less impact when starting, avoids excessive shaking of the forklift, and ensures operational safety.

[0064] This concludes the detailed description of the forklift control method, apparatus, and readable storage medium according to the present disclosure. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0065] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A forklift control method, characterized in that, The method includes: The accelerator output signal C1 and the fork lifting height signal C2 are detected, where H = Hmax * C2 / 5, where H represents the fork lifting height and Hmax represents the maximum lifting height of the fork of the high-lift forklift; The C1 is compared with the voltage threshold to obtain the comparison result; and Determine whether H is less than or equal to the height threshold, and obtain the determination result; Based on the comparison and judgment results, the maximum speed of the traction motor and the acceleration time of the traction motor are controlled accordingly to minimize the starting impact of the forklift and ensure operational safety.

2. The forklift control method according to claim 1, characterized in that, The comparison result is 0 < C1 ≤ 0.7, and the judgment result is H ≤ 5; The maximum speed of the traction motor is controlled by n1 = V*i*K1*K2 / (D*π), where n1 represents the maximum speed of the traction motor when the forks are in the low position and the accelerator output is 0.7V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gear ratio of the reduction gearbox, i = 22.6, K1 represents the unit conversion factor, K1 = 1000 / 60, K2 represents the forklift travel speed coefficient related to the accelerator position, K2 = 0.7 / 5 = 0.14, and D represents the diameter of the drive wheel, D = 0.

343. The acceleration time t1 for controlling the traction motor speed from 0 to n1 is calculated as t1 = n1 * K3 / a1, where t1 represents the acceleration time of the traction motor speed from 0 to n1, K3 represents the unit conversion factor (K3 = 1 / 60), a1 represents the acceleration of the traction motor speed from 0 to n1 (a1 = K4 * a), K4 represents the traction motor acceleration coefficient related to the accelerator position (K4 = 0.6), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

3. The forklift control method according to claim 1, characterized in that, The comparison result is 0 < C1 ≤ 0.7, and the judgment result is 5 < H ≤ 9; The maximum speed of the traction motor is controlled by n3 = V*i*K1*K2*K6 / (D*π), where n3 represents the maximum speed of the traction motor when the forks are in the middle position and the accelerator output is 0.7V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i=22.6, K1 represents the unit conversion factor, K1=1000 / 60, K2 represents the forklift travel speed coefficient related to the accelerator position, K2=0.7 / 5=0.14, K6 represents the forklift travel speed coefficient when the forks are in the middle position, K6=0.5, and D represents the diameter of the drive wheel, D=0.343; The acceleration time T3 for the traction motor to speed up from 0 to n3 is calculated as T3 = n3 * K3 / a3, where T3 represents the acceleration time of the traction motor from 0 to n3, n3 represents the maximum speed of the traction motor when the forks are in the center position and the accelerator output is 0.7V, K3 represents the unit conversion factor (K3 = 1 / 60), a3 represents the acceleration of the traction motor from 0 to n3 (a3 = K4 * K7 * a), where K4 represents the traction motor acceleration coefficient related to the accelerator position (K4 = 0.6), K7 represents the traction motor acceleration coefficient when the forks are in the center position (K7 = 0.5), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

4. The forklift control method according to claim 1, characterized in that, The comparison result is 0 < C1 ≤ 0.7, and the judgment result is H > 9; The maximum speed of the traction motor is controlled by n5 = V*i*K1*K2*K8 / (D*π), where n5 represents the maximum speed of the traction motor when the forks are in the high position and the accelerator output is 0.7V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gearbox ratio, i=22.6, K1 represents the unit conversion factor, K1=1000 / 60, K2 represents the forklift travel speed coefficient related to the accelerator position, K2=0.7 / 5=0.14, K8 represents the forklift travel speed coefficient when the forks are in the high position, K8=0.2, and D represents the diameter of the drive wheel, D=0.

343. The acceleration time T5 for controlling the traction motor speed from 0 to n5 is calculated as T5 = n5 * K3 / a5, where T5 represents the acceleration time of the traction motor speed from 0 to n5, K3 represents the unit conversion factor (K3 = 1 / 60), a5 represents the acceleration of the traction motor speed from 0 to n5 (a5 = K4 * K9 * a), K4 represents the traction motor acceleration coefficient related to the accelerator position (K4 = 0.6), K9 represents the acceleration coefficient of the traction motor at the high position of the forks (K9 = 0.2), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

5. The forklift control method according to claim 1, characterized in that, The comparison result is 0.7 < C1 ≤ 5, and the judgment result is H ≤ 5; The maximum speed of the traction motor is controlled by n2 = V*i*K1 / (D*π), where n2 represents the maximum speed of the traction motor when the forks are in the low position and the accelerator outputs 5V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gear ratio of the reduction gearbox, i=22.6, K1 represents the unit conversion factor, K1=1000 / 60, and D represents the diameter of the drive wheel, D=0.343; The acceleration time t2 for controlling the traction motor speed from n1 to n2 is calculated as t2 = (n2 - n1) * K3 / a2, where t2 represents the acceleration time of the traction motor speed from n1 to n2, n1 represents the maximum speed of the traction motor when the forks are in the low position and the accelerator outputs 0.7V, K3 represents the unit conversion factor, K3 = 1 / 60, a2 represents the acceleration of the traction motor speed from n1 to n2, a2 ​​= K5 * a, K5 represents the traction motor acceleration coefficient related to the accelerator position, taken as K5 = 1.1, and a represents the average acceleration of the traction motor, a = 12 r / s. 2 .

6. The forklift control method according to claim 1, characterized in that, The comparison result is 0.7 < C1 ≤ 5, and the judgment result is 5 < H ≤ 9; The maximum speed of the traction motor is controlled by n4 = V*i*K1*K6 / (D*π), where n4 represents the maximum speed of the traction motor when the forks are in the middle position and the accelerator outputs 5V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gear ratio of the reduction gearbox, i=22.6, K1 represents the unit conversion factor, K1=1000 / 60, K6 represents the forklift travel speed coefficient when the forks are in the middle position, K6=0.5, and D represents the diameter of the drive wheel, D=0.

343. The acceleration time T4 for controlling the traction motor speed from n3 to n4 is calculated as T4 = (n4 - n3) * K3 / a4, where T4 represents the acceleration time of the traction motor speed from n3 to n4, n3 represents the maximum speed of the traction motor when the forks are in the center position and the accelerator outputs 0.7V, K3 represents the unit conversion factor (K3 = 1 / 60), a4 represents the acceleration of the traction motor speed from n3 to n4 (a4 = K5 * K7 * a), where K5 represents the traction motor acceleration coefficient related to the accelerator position (K5 = 1.1), K7 represents the traction motor acceleration coefficient when the forks are in the center position (K7 = 0.5), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

7. The forklift control method according to claim 1, characterized in that, The comparison result is 0.7 < C1 ≤ 5, and the judgment result is H > 9; The maximum speed of the traction motor is controlled by n6 = V*i*K1*K8 / (D*π), where n6 represents the maximum speed of the traction motor when the forks are in the high position and the accelerator outputs 5V, V represents the maximum travel speed of the forklift when the forks are in the low position and the accelerator output voltage is 5V, i represents the gear ratio of the reduction gearbox, i=22.6, K1 represents the unit conversion factor, K1=1000 / 60, K8 represents the forklift travel speed coefficient when the forks are in the high position, K8=0.2, and D represents the diameter of the drive wheel, D=0.

343. The acceleration time T6 for controlling the traction motor speed from n5 to n6 is calculated as T6 = (n6 - n5) * K3 / a6, where T6 represents the acceleration time of the traction motor speed from n5 to n6, n5 represents the maximum speed of the traction motor when the forks are in the high position and the accelerator output is 0.7V, K3 represents the unit conversion factor (K3 = 1 / 60), and a6 represents the acceleration of the traction motor speed from n5 to n6 (a6 = K5 * K9 * a). Here, K5 represents the traction motor acceleration coefficient related to the accelerator position (K5 = 1.1), K9 represents the traction motor acceleration coefficient when the forks are in the high position (K9 = 0.2), and a represents the average acceleration of the traction motor (a = 12 r / s²). 2 .

8. A forklift control device, characterized in that, include: The detection module is used to detect the accelerator output signal C1 and the fork lifting height signal C2, where H = Hmax * C2 / 5, where H represents the fork lifting height and Hmax represents the maximum lifting height of the high-lift forklift fork. The judgment module is used to compare C1 with the voltage threshold to obtain the comparison result; and to determine whether H is less than or equal to the height threshold to obtain the judgment result. The control module is used to control the maximum speed of the traction motor and the acceleration time of the traction motor speed based on the comparison results and the judgment results, so as to minimize the starting impact of the forklift and ensure operational safety.

9. A forklift control device, characterized in that, include: Memory; as well as A processor coupled to the memory, the processor being configured to execute the forklift control method as described in any one of claims 1 to 7 based on instructions stored in the memory.

10. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a processor, implement the forklift control method as described in any one of claims 1 to 7.

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