Attachment identification device, forklift and attachment identification method

Abstract

The present application discloses an attachment identification device, a forklift, and an attachment identification method, which are applied to a forklift. The forklift has a boom and multiple different types of attachments, and the attachments are used to be installed on the boom. The device includes a boom-side identification module and multiple attachment-side identification modules. The multiple attachment-side identification modules are used to be respectively set on different types of attachments. Each attachment-side identification module has a first signal input terminal and multiple first signal output terminals. The port connection status of at least one first signal output terminal of any two attachment-side identification modules is different. The boom-side identification module is used to be set on the boom. The boom-side identification module includes a control module. The control module has a second signal output terminal and multiple second signal input terminals. When the attachment is installed on the boom, the second signal output terminal is connected to the first signal input terminal, and the multiple second signal input terminals are correspondingly connected to the multiple first signal output terminals.

Description

Technical Field

[0001] The present application relates to the technical field of forklifts, and in particular to an attachment identification device, a forklift, and an attachment identification method. Background Art

[0002] A forklift is a type of construction machinery used for loading and moving heavy objects. It typically comes with a variety of attachments to suit different applications, such as forks for handling regular-shaped cargo, hooks for lifting irregularly shaped objects, and work platforms for transporting people. Different attachment types correspond to different load diagrams, and operating within these diagrams ensures the stability of the vehicle and prevents tipping. Therefore, identifying different attachments and selecting the appropriate load diagrams is crucial.

[0003] One existing technology uses RFID readers and tags to identify different types of attachments and then match them to different load diagrams. However, this method is easily affected by the environment. For example, in the presence of strong electromagnetic interference, it may cause inaccurate recognition. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes an attachment identification device, a forklift, and an attachment identification method, which can solve the problem that traditional attachment identification technology is easily affected by the environment.

[0005] According to an embodiment of the first aspect of the present application, an attachment identification device is applied to a forklift, wherein the forklift has a boom and a plurality of different types of attachments, wherein the attachments are mounted on the boom, and the device includes:

[0006] Multiple accessory-side identification modules, each of which is configured to be mounted on different types of accessories. Each accessory-side identification module comprises a first signal input terminal and multiple first signal output terminals. Any two accessory-side identification modules have at least one first signal output terminal having a different port connection status. The port connection status is defined as the connection status between the first signal output terminal and the first signal input terminal in the same accessory-side identification module.

[0007] A boom-side identification module, the boom-side identification module is configured to be disposed on the boom, the boom-side identification module including a control module having a second signal output terminal and a plurality of second signal input terminals. When the attachment is mounted on the boom, the second signal output terminal is connected to the first signal input terminal, and the plurality of second signal input terminals are correspondingly connected to the plurality of first signal output terminals.

[0008] The control module sends an identification signal to the first signal input terminal through the second signal output terminal, so that based on the port connection status of the first signal output terminal, the port voltage of the second signal input terminal corresponding to the first signal output terminal is changed, thereby confirming the type of the accessory based on the port voltages of multiple second signal input terminals.

[0009] According to some embodiments of the present application, the port connection state of the first signal output end is any one of a first connection state and a second connection state, the first connection state is: the state in which the first signal input end is connected to the first signal output end, and the second connection state is: the state in which the first signal input end is disconnected from the first signal output end.

[0010] According to some embodiments of the present application, the port connection state of the first signal output end is any one of a first connection state, a second connection state and a third connection state, the first connection state is: the first signal input end and the first signal output end are connected through a wire, the second connection state is: the first signal input end and the first signal output end are disconnected, and the third connection state is a state where the first signal input end and the first signal output end are connected through a resistor.

[0011] According to some embodiments of the present application, the third signal input terminal of the control module is connected to the output terminal of the key switch of the forklift.

[0012] A forklift according to an embodiment of the second aspect of the present application includes the attachment identification device as described above.

[0013] According to a third aspect of the present application, an accessory identification method is applied to the above-mentioned accessory identification device, and the method includes:

[0014] When the attachment is mounted on the boom, an identification signal is sent to the first signal input terminal through the second signal output terminal, so that based on the port connection state of the first signal output terminal, the port voltage of the second signal input terminal correspondingly connected to the first signal output terminal is changed;

[0015] Acquiring port voltages of a plurality of second signal input terminals;

[0016] The type of the accessory is determined according to the port voltages of the plurality of second signal input terminals.

[0017] According to some embodiments of the present application, the port connection state of the first signal output end is any one of a first connection state and a second connection state, the first connection state being a state in which the first signal input end is connected to the first signal output end, and the second connection state being a state in which the first signal input end is disconnected from the first signal output end.

[0018] The step of sending an identification signal to the first signal input terminal through the second signal output terminal, so as to change a port voltage of the second signal input terminal correspondingly connected to the first signal output terminal based on a port connection state of the first signal output terminal, includes:

[0019] The identification signal is sent to the first signal input end through the second signal output end, so that the port voltage of the first target input end is a high level, and the port voltage of the second target input end is a low level, the first target input end is: the second signal input end connected to the first target output end, the first target output end is: the first signal output end in the first connection state, the second target input end is: the second signal input end connected to the second target output end, and the second target output end is: the first signal output end in the second connection state.

[0020] According to some embodiments of the present application, determining the type of the accessory according to the port voltages of the plurality of second signal input terminals includes:

[0021] sorting the port voltages of the plurality of second signal input terminals based on the port sequence of the plurality of second signal input terminals to obtain a target voltage sequence;

[0022] Based on the high and low levels of multiple port voltages in the target voltage sequence, the target voltage sequence is converted into a binary number to obtain a target binary number;

[0023] Obtaining a first numerical type mapping relationship, where the first numerical type mapping relationship is a correspondence relationship between a plurality of binary numbers and a plurality of types of the attachments;

[0024] The type of the attachment is determined according to a mapping relationship between the target binary number and the first numerical type.

[0025] According to some embodiments of the present application, the port connection state of the first signal output end is any one of a first connection state, a second connection state, and a third connection state, the first connection state is a state in which the first signal input end and the first signal output end are connected via a wire, the second connection state is a state in which the first signal input end and the first signal output end are disconnected, and the third connection state is a state in which the first signal input end and the first signal output end are connected via a resistor.

[0026] The step of sending an identification signal to the first signal input terminal through the second signal output terminal, so as to change a port voltage of the second signal input terminal correspondingly connected to the first signal output terminal based on a port connection state of the first signal output terminal, includes:

[0027] The identification signal is sent to the first signal input terminal through the second signal output terminal, so that the port voltage of the first target input terminal is a high level, the port voltage of the second target input terminal is a low level, and the port voltage of the third target input terminal is an intermediate voltage, and the intermediate voltage is a voltage between the high level and the low level. The first target input terminal is: the second signal input terminal connected to the first target output terminal, the first target output terminal is: the first signal output terminal in the first connection state, the second target input terminal is: the second signal input terminal connected to the second target output terminal, the second target output terminal is: the first signal output terminal in the second connection state, the third target input terminal is: the second signal input terminal connected to the third target output terminal, and the third target output terminal is: the first signal output terminal in the third connection state.

[0028] According to some embodiments of the present application, determining the type of the accessory according to the port voltages of the plurality of second signal input terminals includes:

[0029] sorting the port voltages of the plurality of second signal input terminals based on the port sequence of the plurality of second signal input terminals to obtain a target voltage sequence;

[0030] Based on the voltage magnitudes of the multiple port voltages in the target voltage sequence, the target voltage sequence is converted into a ternary number to obtain a target ternary number;

[0031] Obtaining a second numerical type mapping relationship, where the second numerical type mapping relationship is a correspondence between a plurality of ternary numbers and a plurality of types of the attachments;

[0032] The type of the attachment is determined according to a mapping relationship between the target ternary number and the second numerical type.

[0033] The attachment identification device according to the embodiment of the present application has at least the following beneficial effects:

[0034] When the attachment is installed on the boom, an identification signal is sent to the first signal input end through the second signal output end, so that based on the port connection status of the first signal output end, the port voltage of the second signal input end corresponding to the first signal output end is changed. Since the port connection status of at least one first signal output end of any two attachment-side identification modules is different, for any two attachment-side identification modules, the port voltages of at least one second signal input end of the control module are different. The port voltages of the multiple second signal input ends are further obtained, and then the type of attachment can be confirmed based on the port voltages of the multiple second signal input ends. Compared with traditional attachment identification technologies, the attachment identification device, forklift and attachment identification method of the embodiments of the present application are not easily affected by the environment and can accurately identify the type of attachment.

[0035] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0037] Figure 1 This is a structural diagram of a forklift in one embodiment of the present application;

[0038] Figure 2 This is a structural diagram of an accessory side identification module in one embodiment of the present application;

[0039] Figure 3 This is a structural diagram of the arm side identification module in one embodiment of the present application;

[0040] Figure 4 Schematic diagram a of the connection between the arm side identification module and the attachment side identification module in one embodiment of the present application;

[0041] Figure 5 Schematic diagram b of the connection between the arm side identification module and the attachment side identification module in one embodiment of the present application;

[0042] Figure 6 Schematic diagram c of the connection between the arm side identification module and the attachment side identification module in one embodiment of the present application;

[0043] Figure 7 This is a flow chart of an identification method in one embodiment of the present application.

[0044] Reference numerals:

[0045] Forklift 100, boom 110, attachment 120, attachment side identification module 130, boom side identification module 140,

[0046] A first signal input terminal 200, a first signal output terminal 210, a second signal input terminal 220, a second signal output terminal 230, a resistor 240,

[0047] Control module 300. DETAILED DESCRIPTION

[0048] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0049] In the description of this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0050] In the description of this application, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0051] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0052] Refer to the following Figures 1 to 7 An attachment identification device, a forklift 100 , and an attachment identification method according to embodiments of the present application are described.

[0053] The attachment identification device of the embodiment of the present application is applied to a forklift 100, such as Figure 1 As shown, the forklift 100 has a boom 110 and a plurality of different types of attachments 120, the attachments 120 are used to be installed on the boom 110, and the device includes a boom side identification module 140 and a plurality of attachment side identification modules 130. The plurality of attachment side identification modules 130 are used to be respectively set on different types of attachments 120. Figure 2As shown, each accessory side identification module 130 has a first signal input terminal 200 and multiple first signal output terminals 210. The port connection status of at least one first signal output terminal 210 of any two accessory side identification modules 130 is different. The port connection status is: the connection status between the first signal output terminal 210 and the first signal input terminal 200 in the same accessory side identification module 130.

[0054] The arm side identification module 140 is used to be set on the arm 110, such as Figure 3 As shown, the boom side identification module 140 includes a control module 300, and the control module 300 has a second signal output terminal 230 and a plurality of second signal input terminals 220. Figure 4 As shown, when the attachment 120 is installed on the boom 110 , the second signal output end 230 is connected to the first signal input end 200 , and the plurality of second signal input ends 220 are correspondingly connected to the plurality of first signal output ends 210 .

[0055] The control module 300 sends an identification signal to the first signal input terminal 200 through the second signal output terminal 230, so that based on the port connection status of the first signal output terminal 210, the port voltage of the second signal input terminal 220 corresponding to the first signal output terminal 210 is changed, thereby confirming the type of the accessory 120 based on the port voltages of multiple second signal input terminals 220.

[0056] In this embodiment, when the attachment 120 is mounted on the boom 110, an identification signal is sent to the first signal input 200 via the second signal output 230. This causes the port voltage of the second signal input 220 corresponding to the first signal output 210 to be changed based on the port connection status of the first signal output 210. Because the port connection status of at least one first signal output 210 of any two attachment-side identification modules 130 differs, the port voltage of at least one of the multiple second signal inputs 220 of the control module 300 differs for any two attachment-side identification modules 130. Further, the port voltages of the multiple second signal inputs 220 are obtained, and the type of the attachment 120 can be determined based on these multiple port voltages. Compared to traditional attachment 120 identification technologies, the attachment identification device of this embodiment is less susceptible to environmental influences and can accurately identify the type of the attachment 120, thereby matching the corresponding load diagram.

[0057] In one embodiment of the present application, the port connection state of the first signal output terminal 210 is any one of a first connection state and a second connection state. The first connection state is a state in which the first signal input terminal 200 is connected to the first signal output terminal 210, and the second connection state is a state in which the first signal input terminal 200 is disconnected from the first signal output terminal 210.

[0058] In this embodiment, the control module 300 transmits an identification signal via the second signal output terminal 230. The identification signal is a high-level signal. If the first signal output terminal 210 is in the first connection state, the identification signal sequentially passes through the first signal input terminal 200, the first signal output terminal 210, and the corresponding second signal input terminal 220, thereby causing the port voltage of the corresponding second signal input terminal 220 to change, i.e., the port voltage becomes high. If the first signal output terminal 210 is in the second connection state, since the circuit between the first signal input terminal 200 and the first signal output terminal 210 is open, the identification signal cannot be input to the corresponding second signal input terminal 220. Therefore, the port voltage of the corresponding second signal input terminal 220 is low.

[0059] like Figure 5 As shown, Figure 5 The attachment-side identification module 130 has seven first signal output terminals 210 , six of which are in the first connection state, and one is in the second connection state.

[0060] In one embodiment of the present application, the port connection state of the first signal output terminal 210 is any one of a first connection state, a second connection state and a third connection state. The first connection state is a state in which the first signal input terminal 200 and the first signal output terminal 210 are connected through a wire, the second connection state is a state in which the first signal input terminal 200 and the first signal output terminal 210 are disconnected, and the third connection state is a state in which the first signal input terminal 200 and the first signal output terminal 210 are connected through a resistor 240.

[0061] In this embodiment, the control module 300 transmits an identification signal through the second signal output terminal 230. The identification signal is a high-level signal. If the first signal output terminal 210 is in the first connection state, the identification signal sequentially passes through the first signal input terminal 200, the first signal output terminal 210, and the corresponding second signal input terminal 220, thereby causing the port voltage of the corresponding second signal input terminal 220 to change, i.e., the port voltage becomes high. If the first signal output terminal 210 is in the second connection state, due to the disconnection between the first signal input terminal 200 and the first signal output terminal 210, the identification signal cannot be input to the corresponding second signal input terminal 220, and the port voltage of the corresponding second signal input terminal 220 becomes low. If the first signal output terminal 210 is in the third connection state, the identification signal sequentially passes through the first signal input terminal 200, the resistor 240, and the first signal output terminal 210 to the corresponding second signal input terminal 220, thereby causing the corresponding port voltage to change. Due to the voltage drop across the resistor 240, the port voltage becomes an intermediate voltage, i.e., the port voltage is between a high level and a low level.

[0062] like Figure 6 As shown, Figure 6 The attachment-side identification module 130 has seven first signal output terminals 210 , five of which are in the first connection state, one is in the second connection state, and one is in the third connection state.

[0063] In one embodiment of the present application, the third signal input terminal of the control module 300 is connected to the output terminal of the key switch of the forklift 100 .

[0064] In this embodiment, the key switch status of the forklift 100 is detected by the third signal input terminal of the control module 300. When the control module 300 detects that the key switch is closed and the forklift 100 is powered on, the control module 300 sends an identification signal through the second signal output terminal 230 to identify the attachment 120.

[0065] In addition, an embodiment of the present application discloses a forklift 100 including the attachment identification device as described above.

[0066] The forklift 100 provided in the embodiment of the present application can implement each process implemented in the above method embodiment and achieve the same beneficial effects. To avoid repetition, they will not be described here.

[0067] In addition, an embodiment of the present application discloses an accessory identification method, which is applied to the accessory identification device as described above. Figure 7 As shown, the method includes but is not limited to step S100, step S200 and step S300.

[0068] Step S100: When the attachment 120 is mounted on the boom 110, an identification signal is sent to the first signal input 200 via the second signal output 230, thereby changing the port voltage of the second signal input 220 corresponding to the first signal output 210 based on the port connection status of the first signal output 210. Because the port connection status of at least one of the first signal outputs 210 of any two attachment-side identification modules 130 is different, the port voltage of at least one of the second signal inputs 220 of any two boom-side identification modules 140 is different due to the identification signal.

[0069] In this step, since the first signal input terminal 200 inputs the identification signal, if the port connection status of the first signal output terminal 210 is different, the port voltage of the corresponding second signal input terminal 220 is also different.

[0070] Step S200: obtaining the port voltages of the plurality of second signal input terminals 220;

[0071] Step S300 : determining the type of the accessory 120 according to the port voltages of the second signal input terminals 220 .

[0072] In this step, since the port voltage of at least one second signal input terminal 220 of any two arm side identification modules 140 is different, based on the multiple second signal input terminals 220 of the predetermined multiple arm side identification modules 140, the multiple port voltages under the action of the identification signal, and the multiple port voltages of the multiple second signal input terminals 220 of the type of the accessory 120 to be identified, the corresponding accessory 120 type can be determined.

[0073] In this embodiment, when the attachment 120 is mounted on the boom 110, an identification signal is sent to the first signal input 200 via the second signal output 230. This causes the port voltage of the second signal input 220 corresponding to the first signal output 210 to be changed based on the port connection status of the first signal output 210. Because the port connection status of at least one first signal output 210 of any two attachment-side identification modules 130 differs, the port voltage of at least one of the multiple second signal inputs 220 of the control module 300 differs for any two attachment-side identification modules 130. Further, the port voltages of the multiple second signal inputs 220 are obtained, and the type of the attachment 120 can be determined based on these multiple port voltages. Compared to traditional attachment 120 identification technologies, the attachment identification method of this embodiment is less susceptible to environmental influences and can accurately identify the type of the attachment 120, thereby matching the corresponding load diagram.

[0074] According to some embodiments of the present application, the port connection state of the first signal output terminal 210 is any one of a first connection state and a second connection state, the first connection state is a state in which the first signal input terminal 200 is connected to the first signal output terminal 210, and the second connection state is a state in which the first signal input terminal 200 is disconnected from the first signal output terminal 210.

[0075] The step S100 of “sending an identification signal to the first signal input terminal 200 through the second signal output terminal 230 so as to change the port voltage of the second signal input terminal 220 correspondingly connected to the first signal output terminal 210 based on the port connection status of the first signal output terminal 210” includes but is not limited to step S110.

[0076] Step S110: Send an identification signal to the first signal input terminal 200 through the second signal output terminal 230, so that the port voltage of the first target input terminal is a high level, and the port voltage of the second target input terminal is a low level, the first target input terminal is: the second signal input terminal 220 connected to the first target output terminal, the first target output terminal is: the first signal output terminal 210 in the first connection state, the second target input terminal is: the second signal input terminal 220 connected to the second target output terminal, and the second target output terminal is: the first signal output terminal 210 in the second connection state.

[0077] In this embodiment, the control module 300 transmits an identification signal via the second signal output terminal 230. The identification signal is a high-level signal. If the first signal output terminal 210 is in the first connection state, the identification signal sequentially passes through the first signal input terminal 200, the first signal output terminal 210, and the corresponding second signal input terminal 220, thereby causing the port voltage of the corresponding second signal input terminal 220 to change, i.e., the port voltage becomes high. If the first signal output terminal 210 is in the second connection state, since the circuit between the first signal input terminal 200 and the first signal output terminal 210 is open, the identification signal cannot be input to the corresponding second signal input terminal 220. Therefore, the port voltage of the corresponding second signal input terminal 220 is low.

[0078] According to an embodiment of the present application, “determining the type of the accessory 120 according to the port voltages of the plurality of second signal input terminals 220 ” in step S300 includes but is not limited to step S310 , step S320 , step S330 and step S340 .

[0079] Step S310: sorting the port voltages of the plurality of second signal input terminals 220 based on the port sequence of the plurality of second signal input terminals 220 to obtain a target voltage sequence;

[0080] In this step, the port voltage of the second signal input terminal 220 is high or low. The port voltages of the second signal input terminals 220 are sorted according to the port order of the second signal input terminals 220 to obtain a target voltage sequence.

[0081] Step S320: based on the high and low levels of the multiple port voltages in the target voltage sequence, convert the target voltage sequence into a binary number to obtain a target binary number;

[0082] In this step, the target voltage sequence is converted into a binary number based on the high and low levels of the multiple port voltages in the target voltage sequence. High levels are converted to the number 1, and low levels are converted to the number 0, resulting in a target binary number. Different types of accessory-side identification modules 130 correspond to different binary numbers.

[0083] Step S330: Obtain a first numerical type mapping relationship, where the first numerical type mapping relationship is a correspondence relationship between a plurality of binary numbers and a plurality of types of attachments 120;

[0084] In this step, the first value type mapping relationship is: a correspondence between a plurality of binary numbers and a plurality of types of accessories 120 predetermined according to the identification signal and the port connection status of the first signal output terminal 210 of each accessory-side identification module 130 .

[0085] Step S340 : Determine the type of the attachment 120 according to the mapping relationship between the target binary number and the first numerical type.

[0086] In this embodiment, the port voltages of the multiple second signal input terminals 220 of the arm side identification module 140 are converted into digital 1 or digital 0 in sequence to obtain a target binary number, and then the type of the attachment 120 to be identified is determined based on the first numerical type mapping relationship and the target binary number.

[0087] It is understandable that if Figure 5 As shown, the binary number corresponding to the port voltage of the multiple second signal input terminals 220 of the arm side identification module 140 is 0111111. According to the mapping relationship between 0111111 and the first numerical type, the type of the attachment 120 to be identified can be determined. The seven-bit binary number can match the types of multiple attachments 120. Figure 4 As shown, the binary number corresponding to the port voltage of the multiple second signal input terminals 220 of the boom-side identification module 140 is 1111111.

[0088] In one embodiment of the present application, the port connection state of the first signal output terminal 210 is any one of a first connection state, a second connection state, and a third connection state. The first connection state is a state in which the first signal input terminal 200 and the first signal output terminal 210 are connected through a wire. The second connection state is a state in which the first signal input terminal 200 and the first signal output terminal 210 are disconnected. The third connection state is a state in which the first signal input terminal 200 and the first signal output terminal 210 are connected through a resistor 240.

[0089] The step S100 of “sending an identification signal to the first signal input terminal 200 through the second signal output terminal 230 so as to change the port voltage of the second signal input terminal 220 correspondingly connected to the first signal output terminal 210 based on the port connection status of the first signal output terminal 210” includes but is not limited to step S120.

[0090] Step S120: Send an identification signal to the first signal input terminal 200 through the second signal output terminal 230, so that the port voltage of the first target input terminal is a high level, the port voltage of the second target input terminal is a low level, and the port voltage of the third target input terminal is an intermediate voltage, the intermediate voltage is a voltage between the high level and the low level, the first target input terminal is: the second signal input terminal 220 connected to the first target output terminal, the first target output terminal is: the first signal output terminal 210 in the first connection state, the second target input terminal is: the second signal input terminal 220 connected to the second target output terminal, the second target output terminal is: the first signal output terminal 210 in the second connection state, the third target input terminal is: the second signal input terminal 220 connected to the third target output terminal, and the third target output terminal is: the first signal output terminal 210 in the third connection state.

[0091] In this embodiment, the control module 300 transmits an identification signal through the second signal output terminal 230. The identification signal is a high-level signal. If the first signal output terminal 210 is in the first connection state, the identification signal sequentially passes through the first signal input terminal 200, the first signal output terminal 210, and the corresponding second signal input terminal 220, thereby causing the port voltage of the corresponding second signal input terminal 220 to change, i.e., the port voltage becomes high. If the first signal output terminal 210 is in the second connection state, due to the disconnection between the first signal input terminal 200 and the first signal output terminal 210, the identification signal cannot be input to the corresponding second signal input terminal 220, and the port voltage of the corresponding second signal input terminal 220 becomes low. If the first signal output terminal 210 is in the third connection state, the identification signal sequentially passes through the first signal input terminal 200, the resistor 240, and the first signal output terminal 210 to the corresponding second signal input terminal 220, thereby causing the corresponding port voltage to change. Due to the voltage drop across the resistor 240, the port voltage becomes an intermediate voltage, i.e., the port voltage is between a high level and a low level.

[0092] In one embodiment of the present application, “determining the type of the accessory 120 according to the port voltages of the plurality of second signal input terminals 220 ” in step S300 includes but is not limited to step S350 , step S360 , step S370 and step S380 .

[0093] Step S350: sorting the port voltages of the plurality of second signal input terminals 220 based on the port sequence of the plurality of second signal input terminals 220 to obtain a target voltage sequence;

[0094] In this step, the port voltage of the second signal input terminal 220 is a high level, a low level or an intermediate voltage. The port voltages of the plurality of second signal input terminals 220 are sorted according to the port order of the plurality of second signal input terminals 220 to obtain a target voltage sequence.

[0095] Step S360: based on the voltage magnitudes of the multiple port voltages in the target voltage sequence, convert the target voltage sequence into a ternary number to obtain a target ternary number;

[0096] In this step, the target voltage sequence is converted into a ternary number based on the high and low levels of the multiple port voltages in the target voltage sequence. High levels are converted to the number 2, low levels are converted to the number 0, and intermediate voltages are converted to the number 1, resulting in a target ternary number. Different types of accessory-side identification modules 130 correspond to different ternary numbers.

[0097] Step S370: Obtain a second numerical type mapping relationship, where the second numerical type mapping relationship is a correspondence relationship between a plurality of ternary numbers and a plurality of types of attachments 120;

[0098] In this step, the second value type mapping relationship is: a correspondence between a plurality of predetermined ternary numbers and a plurality of types of accessories 120 according to the identification signal and the port connection status of the first signal output terminal 210 of each accessory-side identification module 130 .

[0099] Step S380: Determine the type of the attachment 120 according to the mapping relationship between the target ternary number and the second numerical type.

[0100] In this embodiment, the port voltages of the multiple second signal input terminals 220 of the arm side identification module 140 are converted into numbers 0, 1, and 2 in sequence to obtain a target ternary number, and then the type of the accessory 120 to be identified is determined based on the first numerical type mapping relationship and the target ternary number.

[0101] It is understandable that if Figure 6 As shown, the binary number corresponding to the port voltages of the multiple second signal input terminals 220 of the boom-side identification module 140 is 1022222. Based on the mapping relationship between 1022222 and the first numerical type, the type of the attachment 120 to be identified can be determined. The seven-digit ternary number can match multiple types of attachments 120.

[0102] It is understandable that the state type of the port connection state of the first signal output terminal 210 can be increased so that the port voltage of the second signal input terminal 220 can be a variety of different voltages under the identification signal, which can be converted into corresponding values ​​in other bases to distinguish different types of accessories 120.

[0103] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. An attachment identification device, applied to a forklift, wherein the forklift has a boom and a plurality of different types of attachments, wherein the attachments are mounted on the boom, characterized in that: The device includes: Multiple accessory-side identification modules, each of which is configured to be mounted on different types of accessories. Each accessory-side identification module comprises a first signal input terminal and multiple first signal output terminals. Any two accessory-side identification modules have at least one first signal output terminal having a different port connection status. The port connection status is defined as the connection status between the first signal output terminal and the first signal input terminal in the same accessory-side identification module. A boom-side identification module, the boom-side identification module is configured to be disposed on the boom, the boom-side identification module including a control module having a second signal output terminal and a plurality of second signal input terminals. When the attachment is mounted on the boom, the second signal output terminal is connected to the first signal input terminal, and the plurality of second signal input terminals are correspondingly connected to the plurality of first signal output terminals. The control module sends an identification signal to the first signal input terminal via the second signal output terminal, so that based on the port connection status of the first signal output terminal, the port voltage of the second signal input terminal corresponding to the first signal output terminal is changed, thereby confirming the type of the accessory based on the port voltages of the plurality of second signal input terminals; The port connection state of the first signal output end is any one of a first connection state, a second connection state, and a third connection state, wherein the first connection state is a state in which the first signal input end and the first signal output end are connected via a wire, the second connection state is a state in which the first signal input end and the first signal output end are disconnected, and the third connection state is a state in which the first signal input end and the first signal output end are connected via a resistor; The third signal input terminal of the control module is connected to the output terminal of the key switch of the forklift.

2. A forklift, characterized in that: It comprises the accessory identification device as claimed in claim 1.

3. A method for identifying an attachment, characterized in that: Applied to the attachment identification device according to claim 1, the method comprises: When the attachment is mounted on the boom, an identification signal is sent to the first signal input terminal through the second signal output terminal, so that based on the port connection state of the first signal output terminal, the port voltage of the second signal input terminal correspondingly connected to the first signal output terminal is changed; Acquiring port voltages of a plurality of second signal input terminals; The type of the accessory is determined according to the port voltages of the plurality of second signal input terminals.

4. The attachment identification method according to claim 3, characterized in that: The port connection state of the first signal output end is any one of a first connection state and a second connection state, wherein the first connection state is a state in which the first signal input end is connected to the first signal output end, and the second connection state is a state in which the first signal input end is disconnected from the first signal output end. The step of sending an identification signal to the first signal input terminal through the second signal output terminal, so as to change a port voltage of the second signal input terminal correspondingly connected to the first signal output terminal based on a port connection state of the first signal output terminal, includes: The identification signal is sent to the first signal input end through the second signal output end, so that the port voltage of the first target input end is a high level, and the port voltage of the second target input end is a low level, the first target input end is: the second signal input end connected to the first target output end, the first target output end is: the first signal output end in the first connection state, the second target input end is: the second signal input end connected to the second target output end, and the second target output end is: the first signal output end in the second connection state.

5. The attachment identification method according to claim 4, characterized in that: The determining the type of the accessory according to the port voltages of the plurality of second signal input terminals includes: sorting the port voltages of the plurality of second signal input terminals based on the port sequence of the plurality of second signal input terminals to obtain a target voltage sequence; Based on the high and low levels of multiple port voltages in the target voltage sequence, the target voltage sequence is converted into a binary number to obtain a target binary number; Obtaining a first numerical type mapping relationship, where the first numerical type mapping relationship is a correspondence relationship between a plurality of binary numbers and a plurality of types of the attachments; The type of the attachment is determined according to a mapping relationship between the target binary number and the first numerical type.

6. The attachment identification method according to claim 3, characterized in that: The port connection state of the first signal output end is any one of a first connection state, a second connection state, and a third connection state, wherein the first connection state is a state in which the first signal input end and the first signal output end are connected via a wire, the second connection state is a state in which the first signal input end and the first signal output end are disconnected, and the third connection state is a state in which the first signal input end and the first signal output end are connected via a resistor. The step of sending an identification signal to the first signal input terminal through the second signal output terminal, so as to change a port voltage of the second signal input terminal correspondingly connected to the first signal output terminal based on a port connection state of the first signal output terminal, includes: The identification signal is sent to the first signal input terminal through the second signal output terminal, so that the port voltage of the first target input terminal is a high level, the port voltage of the second target input terminal is a low level, and the port voltage of the third target input terminal is an intermediate voltage, and the intermediate voltage is a voltage between the high level and the low level. The first target input terminal is: the second signal input terminal connected to the first target output terminal, the first target output terminal is: the first signal output terminal in the first connection state, the second target input terminal is: the second signal input terminal connected to the second target output terminal, the second target output terminal is: the first signal output terminal in the second connection state, the third target input terminal is: the second signal input terminal connected to the third target output terminal, and the third target output terminal is: the first signal output terminal in the third connection state.

7. The attachment identification method according to claim 6, characterized in that: The determining the type of the accessory according to the port voltages of the plurality of second signal input terminals includes: sorting the port voltages of the plurality of second signal input terminals based on the port sequence of the plurality of second signal input terminals to obtain a target voltage sequence; Based on the voltage magnitudes of the multiple port voltages in the target voltage sequence, the target voltage sequence is converted into a ternary number to obtain a target ternary number; Obtaining a second numerical type mapping relationship, where the second numerical type mapping relationship is a correspondence between a plurality of ternary numbers and a plurality of types of the attachments; The type of the attachment is determined according to a mapping relationship between the target ternary number and the second numerical type.

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