Indoor and outdoor automatic speed limiting control system and method for electric forklift

Abstract

The invention provides an indoor and outdoor automatic speed limit control method for an electric forklift, which is applied to the electric forklift and comprises the following steps: acquiring driving control indication information; the driving control indication information is arranged at the entrance and exit of the indoor environment and comprises speed limit parameters in the indoor environment; calculating a relative moving track of the forklift according to the receiving angle and the receiving distance of the driving control indication information; and if the relative moving track of the forklift is from the outdoor to the indoor, a motor controller of the electric forklift is regulated and controlled according to the indoor highest driving speed so as to ensure that the highest speed limit corresponding to the speed limit parameter is met when the electric forklift passes through the entrance and exit. The motor controller of the electric forklift can be regulated and controlled according to the driving control indication information, and it is ensured that the highest speed limit is met. The invention further provides an electric forklift indoor and outdoor automatic speed limiting control system, a computer readable storage medium and electronic equipment which have the above beneficial effects.

Description

Technical Field

[0001] The present application relates to the field of mechanical equipment control, and in particular to an indoor and outdoor automatic speed limit control system and method for an electric forklift. Background Art

[0002] With the development of technology and the demand for improved efficiency, the operating speed of forklifts is getting faster and faster. The increase in speed has a very obvious improvement in outdoor operating efficiency, but in indoor warehouses, high-speed forklifts have become a safety hazard. Therefore, it is necessary to limit the speed of forklifts operating indoors. Summary of the invention

[0003] The purpose of the present application is to provide an indoor and outdoor automatic speed limit control method, system, computer-readable storage medium and electronic device for an electric forklift, which can regulate the speed of the forklift in an indoor environment.

[0004] In order to solve the above technical problems, the present application provides an indoor and outdoor automatic speed limit control method for an electric forklift, which is applied to an electric forklift. The specific technical solution is as follows:

[0005] Acquire driving control instruction information; the driving control instruction information is set at the entrance and exit of the indoor environment, and includes speed limit parameters in the indoor environment;

[0006] Calculating the relative running trajectory of the forklift according to the receiving angle and the receiving distance of the driving control instruction information;

[0007] If the relative running trajectory of the forklift is from outdoors to indoors, the motor controller of the electric forklift is regulated according to the maximum driving speed indoors to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance and exit.

[0008] Optionally, after calculating the relative running trajectory of the forklift according to the receiving angle and the receiving distance of the driving control instruction information, the method further includes:

[0009] The relative running trajectory of the forklift is verified according to the motor speed of the electric forklift.

[0010] Optionally, verifying the relative running trajectory of the forklift according to the motor speed of the electric forklift includes:

[0011] Obtaining the motor speed of the electric forklift, and determining the forklift speed corresponding to the motor speed;

[0012] Performing integral calculation according to the forklift speed to calculate a first travel distance of the electric forklift within a set time period;

[0013] Calculating a second driving distance of the electric forklift according to a difference in receiving distances and a difference in receiving angles of the driving control instruction information received by the electric forklift successively before and after the set time period;

[0014] If the difference between the first driving distance and the second driving distance is less than a set threshold, it is confirmed that the relative running trajectory of the forklift is correct.

[0015] Optionally, before regulating the motor controller of the electric forklift according to the maximum indoor driving speed, the method further includes:

[0016] The driving direction of the electric forklift is determined according to the difference in receiving distances and receiving angles of the driving control instruction information received by the electric forklift successively before and after the set time period; the driving direction includes driving from outdoors to indoors and from indoors to outdoors.

[0017] Optionally, if the driving control instruction information further includes a forklift lifting limit parameter, after calculating the relative running trajectory of the forklift according to the receiving angle and the receiving distance of the driving control instruction information, and the driving direction of the electric forklift is from indoors to outdoors, it also includes:

[0018] The relative angle between the electric forklift and the electronic device is acquired in real time, and when the relative angle is greater than a first set angle, the travel speed limit of the electric forklift and the forklift lifting limit corresponding to the forklift lifting limit parameter are released.

[0019] Optionally, if the difference between the first driving distance and the second driving distance is not less than the set threshold, the method further includes:

[0020] It is determined that there is an abnormality in the positioning information of the electric forklift, and the electric forklift is repositioned by using a positioning algorithm combining ultra-wideband and angle of arrival.

[0021] Optionally, regulating the motor controller of the electric forklift according to the maximum indoor driving speed includes:

[0022] The relative angle between the electric forklift and the electronic device is acquired in real time, and when the relative angle is less than a second set angle, the motor controller is controlled to execute the maximum speed limit corresponding to the speed limit parameter.

[0023] The present application discloses an indoor and outdoor automatic speed limit control system for an electric forklift, which is applied to an electric forklift and includes:

[0024] A signal acquisition module, used to acquire driving control instruction information; the driving control instruction information is set at the entrance and exit of the indoor environment, including speed limit parameters in the indoor environment;

[0025] A trajectory calculation module, used to calculate the relative running trajectory of the forklift according to the receiving angle and receiving distance of the driving control instruction information;

[0026] The control module is used to adjust the motor controller of the electric forklift according to the maximum indoor driving speed if the relative running trajectory of the forklift is from outdoor to indoor, so as to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance and exit.

[0027] The present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above-mentioned method when executed by a processor.

[0028] The present application also provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above-mentioned method when calling the computer program in the memory.

[0029] The present application provides an indoor and outdoor automatic speed limit control method for an electric forklift, which is applied to an electric forklift, comprising: obtaining driving control instruction information; the driving control instruction information is set at the entrance and exit of the indoor environment, and includes speed limit parameters in the indoor environment; calculating the relative running trajectory of the forklift according to the receiving angle and receiving distance of the driving control instruction information; if the relative running trajectory of the forklift is from the outdoors to the indoors, regulating the motor controller of the electric forklift according to the maximum indoor driving speed to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameters when passing through the entrance and exit.

[0030] After obtaining the driving control instruction information, the present application calculates the relative running trajectory of the electric forklift according to the receiving angle and the receiving distance, so that when the electric forklift drives from the outdoor environment into the indoor environment, the motor controller of the electric forklift is adjusted according to the driving control instruction information to ensure that the maximum speed limit is met, so that when the electric forklift enters the warehouse and other environments, the speed of the area can be automatically controlled, thereby improving the control safety of the electric forklift.

[0031] The present application also provides an indoor and outdoor automatic speed limit control system for an electric forklift, a computer-readable storage medium, and an electronic device, which have the above-mentioned beneficial effects and are not described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0033] Figure 1 A flow chart of the indoor and outdoor automatic speed limit control method for an electric forklift provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the running trajectory calculation provided in the embodiment of the present application;

[0035] Figure 3 A schematic diagram of the indoor and outdoor automatic speed limit control principle of an electric forklift provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of the structure of an indoor and outdoor automatic speed limit control system for an electric forklift provided in an embodiment of the present application;

[0037] Figure 5 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] The object information involved in this application, including but not limited to the object device information, object personal information, etc., and data, including but not limited to data used for analysis, stored data, displayed data, etc., are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the laws, regulations and standards of relevant countries and regions.

[0040] See also Figure 1 , Figure 1 This is a flow chart of the indoor and outdoor automatic speed limit control method for an electric forklift provided in an embodiment of the present application, the method comprising:

[0041] S101: Acquire driving control instruction information; the driving control instruction information is set at the entrance and exit of the indoor environment, and includes speed limit parameters in the indoor environment;

[0042] S102: Calculating the relative running trajectory of the forklift according to the receiving angle and the receiving distance of the driving control instruction information;

[0043] S103: If the relative running trajectory of the forklift is from outdoors to indoors, the motor controller of the electric forklift is regulated according to the maximum driving speed indoors to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance and exit.

[0044] This embodiment is applied to electric forklifts, and the indoor and outdoor environments in which it is applied include driving in indoor environments, driving from outdoor to indoor, driving from indoor to outdoor, and driving in outdoor environments. In indoor environments, in order to ensure driving and transportation safety, the driving speed is usually low. Therefore, it is necessary to limit the speed of the electric forklift.

[0045] The driving control instruction information can be obtained during or before the electric forklift is driven, and the driving control instruction information at least includes the speed limit parameter in the indoor environment. It should be noted that the maximum indoor driving speed can be set by those skilled in the art according to the application scenario of the specific indoor environment. For example, different maximum indoor driving speeds can be used according to different time periods, or different maximum indoor driving speeds can be used for different warehouse indoor environments.

[0046] In addition, the specific indication method of the driving control indication information is not limited here. It can be a static identification, and the corresponding electric forklift can obtain the information contained therein by identifying the static identification. It can also be a signal broadcasting method, and the corresponding electric forklift can obtain the driving control identification signal by receiving the broadcast signal. In order to realize the forklift speed control process in the indoor environment, it can be set at the entrance and exit of the indoor environment and the outdoor environment. For example, electronic equipment (such as speakers, etc.) or fixed tag units are set at the entrance and exit. Fixed tag units play an important role in warehouse management and can be used in radio frequency identification (RFID) systems. The broadcast distance and broadcast angle of the fixed tag unit are not limited here, and can be adjusted by selecting different types of fixed tag units in the art. For example, a feasible fixed tag unit can be installed at the door of the warehouse, and the broadcast distance can be 10 meters and the broadcast angle is 120°. The bisector of the broadcast angle can be the dividing line between the indoor environment and the outdoor environment, so that the electric forklift can be detected from the outdoor to the indoor and from the indoor to the outdoor application scenarios at the same time, and it is not necessary to set multiple fixed tag units for each indoor environment, saving material costs.

[0047] Thereafter, during the driving process of the electric forklift, especially when driving from outdoor to indoor and from indoor to outdoor, the angle and distance relative to the driving control instruction information will change. Therefore, the relative running trajectory of the forklift can be calculated based on the receiving angle and receiving distance of the driving control instruction information. At this time, positive and negative angles can be set for the receiving angle. For example, the boundary between the indoor environment and the outdoor environment can be used as the boundary. The positive and negative values ​​of the receiving angle can be used to determine whether the electric forklift is driving from outdoor to indoor or from indoor to outdoor, thereby calculating the relative running trajectory of the forklift. There is no limitation on how to determine the receiving angle and the receiving distance. The electric forklift can be positioned. Since the position of the driving control instruction information is fixed, the receiving angle and the receiving distance between the electric forklift and the driving control instruction information can be determined by positioning the electric forklift. There is no limitation on the positioning method used here. In a feasible implementation, UWB AOA (Ultra Wide Band Angle of Arrival) positioning technology can be used. It is a high-precision positioning method based on UWB technology. The signal source position is determined by measuring the angle at which the driving control instruction information reaches the electric forklift. In the UWB system, multiple receiving antenna arrays are usually used to achieve accurate measurement of the signal arrival angle.

[0048] See also Figure 2 , Figure 2 The running trajectory calculation schematic diagram provided in the embodiment of the present application uses a fixed tag as a feasible driving control indication information. The running trajectory calculation is as follows: Figure 3 As shown, the distance traveled by the electric forklift from point A to point B within the set time period is for:

[0049] ;

[0050] LA represents the distance from point A to the fixed label, and LB represents the distance from point B to the fixed label. Represents the change in angle between two times, It can also be used to determine the running direction.

[0051] Since wireless positioning signals may be interfered with, resulting in errors in judgment, it is necessary to The positioning information is compared with the integrated distance of the vehicle speed during the time period. If it is less than the set error, the positioning information is considered valid.

[0052] In a feasible implementation, the relative running trajectory of the electric forklift can be verified according to the motor speed of the electric forklift. Specifically, the following steps can be included:

[0053] The first step is to obtain the motor speed of the electric forklift and determine the forklift speed corresponding to the motor speed;

[0054] Step 2: performing integral calculation according to the forklift speed to calculate a first travel distance of the electric forklift within a set time period;

[0055] Step 3: calculating a second driving distance of the electric forklift according to a difference in receiving distances and a difference in receiving angles of the driving control instruction information received by the electric forklift successively before and after the set time period;

[0056] Step 4: If the difference between the first driving distance and the second driving distance is less than a set threshold, it is confirmed that the relative running trajectory of the forklift is correct.

[0057] The threshold value is not limited here and can be set by those skilled in the art. If the difference between the first driving distance and the second driving distance is not less than the set threshold, it can be determined that the positioning information of the electric forklift is abnormal, and the electric forklift is repositioned using a positioning algorithm combined with an ultra-wideband angle of arrival until the difference between the first driving distance and the second driving distance is less than the set threshold, and it can be confirmed that the positioning of the electric forklift is accurate.

[0058] In addition, the driving direction of the electric forklift can also be determined according to the difference in receiving distances and receiving angles of the driving control instruction information received by the electric forklift before and after the set time period. The driving direction includes driving from outdoor to indoor and from indoor to outdoor. Since there is usually no significant fluctuation in the speed limit of the electric forklift when driving completely in an indoor environment, the change in driving direction when driving indoors is not considered.

[0059] Since speed limit and speed increase both have a process, the judgment and execution points for entering and leaving the room will be different.

[0060] When it is detected that the forklift is entering from the outdoors to the indoors, the speed limit can be set in advance. Following the above example, when the angle between the electric forklift and the fixed tag is greater than 15 degrees, the speed limit command is executed to ensure that the speed of the electric forklift is reduced after entering the indoor environment. When it is detected that the electric forklift is driving from the indoor environment to the outdoor environment, the speed limit command is canceled when the electric forklift reaches the door, that is, when the angle between the electric forklift and the fixed tag is less than 60 degrees.

[0061] After acquiring the driving control instruction information, the embodiment of the present application calculates the relative running trajectory of the electric forklift according to the receiving angle and the receiving distance, so that when the electric forklift drives from the outdoor environment into the indoor environment, the motor controller of the electric forklift is regulated according to the driving control instruction information to ensure that the maximum speed limit is met, so that when the electric forklift enters the warehouse and other environments, the speed of the area can be automatically regulated, thereby improving the control safety of the electric forklift.

[0062] In a feasible implementation, the driving control instruction information may also include a forklift lifting limit parameter. After calculating the relative running trajectory of the forklift according to the receiving angle and receiving distance of the driving control instruction information, and the driving direction of the electric forklift is from indoors to outdoors, the relative angle between the electric forklift and the electronic device can also be obtained in real time. When the relative angle is greater than a first set angle, the driving speed limit of the electric forklift and the forklift lifting limit corresponding to the forklift lifting limit parameter are released.

[0063] Similarly, if the electric forklift is traveling from outside to outside, the forklift should be controlled according to the forklift lifting limit parameters. The forklift lifting limit parameters may include lifting speed and / or maximum lifting height.

[0064] In order to better understand the indoor and outdoor automatic speed limit control method for electric forklifts provided by the present application, a specific application process of the present application is described below:

[0065] This application can set a tag at the warehouse door, and the electric forklift equipped with a receiving unit can realize the speed limit and height limit information inside the warehouse. After the forklift enters the warehouse, it can automatically execute the above restrictions without human control, which can greatly improve the safety of the electric forklift. Figure 3 , Figure 3 Schematic diagram of the indoor and outdoor automatic speed limit control principle of an electric forklift provided in an embodiment of the present application. Figure 3 In the example, the operation process of the present application is described by taking the modular structure of an electric forklift as an example, and the fixed tag unit is used as the specific form of the driving control instruction information, and the fixed tag power supply supplies power to the fixed tag unit to ensure that it is in a working state. The driving control instruction information includes speed limit parameters in indoor environments and forklift lifting limit parameters, such as the maximum indoor walking speed, the maximum lifting speed, and the maximum lifting height.

[0066] The electric forklift is equipped with a vehicle controller for controlling the electric forklift, which includes an on-board signal receiving unit for receiving the driving control instruction information broadcast by the fixed tag unit and sending it to the vehicle controller via serial port communication.

[0067] After that, the vehicle controller can receive lifting instructions and travel instructions, and send corresponding control instructions to the lifting motor driver for directly controlling the lifting motor to ensure that its operation meets the lifting limit parameters of the forklift. At the same time, the control instructions are also sent to the travel motor driver to control the travel motor. The travel motor feeds back the motor speed to the travel motor driver, which further feeds back the forklift speed to the vehicle controller to verify the position of the electric forklift, thereby verifying the relative running trajectory of the forklift.

[0068] In addition, the vehicle controller can also control the display unit to display the speed limit parameters and forklift lifting limit parameters currently followed in the indoor environment, and can also change the limit status of the two limit parameters according to the movement state or forklift positioning of the electric forklift.

[0069] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an indoor and outdoor automatic speed limit control system for an electric forklift provided in an embodiment of the present application. The system includes:

[0070] The present application discloses an indoor and outdoor automatic speed limit control system for an electric forklift, which is applied to an electric forklift and includes:

[0071] A signal acquisition module, used to acquire driving control instruction information; the driving control instruction information is set at the entrance and exit of the indoor environment, including speed limit parameters in the indoor environment;

[0072] A trajectory calculation module, used to calculate the relative running trajectory of the forklift according to the receiving angle and receiving distance of the driving control instruction information;

[0073] The control module is used to adjust the motor controller of the electric forklift according to the maximum indoor driving speed if the relative running trajectory of the forklift is from outdoor to indoor, so as to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance and exit.

[0074] Based on the above embodiments, as a preferred embodiment, it also includes:

[0075] The trajectory verification module is used to verify the relative running trajectory of the forklift according to the motor speed of the electric forklift.

[0076] Based on the above embodiment, as a preferred embodiment, the trajectory verification module includes:

[0077] A vehicle speed calculation unit, used to obtain the motor speed of the electric forklift and determine the forklift speed corresponding to the motor speed;

[0078] A first distance calculation unit, configured to perform integral calculation according to the forklift speed, so as to calculate a first travel distance of the electric forklift within a set time period;

[0079] A second distance calculation unit, configured to calculate a second travel distance of the electric forklift according to a difference in receiving distances and a difference in receiving angles of the electric forklift receiving the travel control instruction information successively before and after the set time period;

[0080] The trajectory verification unit is used to confirm that the relative running trajectory of the forklift is correct if the difference between the first driving distance and the second driving distance is less than a set threshold.

[0081] Based on the above embodiments, as a preferred embodiment, it also includes:

[0082] The direction determination module is used to determine the driving direction of the electric forklift according to the difference in receiving distances and receiving angles of the driving control instruction information received by the electric forklift successively before and after the set time period; the driving direction includes driving from outdoor to indoor and from indoor to outdoor.

[0083] Based on the above embodiment, as a preferred embodiment, if the driving control instruction information further includes a forklift lifting limit parameter, it also includes:

[0084] The lifting restriction module is used to obtain the relative angle between the electric forklift and the electronic device in real time if the driving direction of the electric forklift is from indoors to outdoors, and when the relative angle is greater than a first set angle, release the driving speed limit of the electric forklift and the forklift lifting restriction corresponding to the forklift lifting restriction parameter.

[0085] Based on the above embodiments, as a preferred embodiment, it also includes:

[0086] The repositioning module is used to determine whether there is an abnormality in the positioning information of the electric forklift and to reposition the electric forklift by using a positioning algorithm combining ultra-wideband and angle of arrival.

[0087] Based on the above embodiments, as a preferred embodiment, the control module is a module for obtaining the relative angle between the electric forklift and the electronic device in real time, and when the relative angle is less than a second set angle, controlling the motor controller to execute the maximum speed limit corresponding to the speed limit parameter.

[0088] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0089] The present application also provides an electronic device, see Figure 5 , a structural diagram of an electronic device provided in an embodiment of the present application, such as Figure 5 As shown, a processor 1410 and a memory 1420 may be included.

[0090] Among them, the processor 1410 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1410 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1410 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1410 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1410 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0091] The memory 1420 may include one or more computer-readable storage media, which may be non-transitory. The memory 1420 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 1420 is at least used to store the following computer program 1421, wherein, after the computer program is loaded and executed by the processor 1410, it can implement the relevant steps in the method performed by the electronic device side disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 1420 may also include an operating system 1422 and data 1423, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 1422 may include Windows, Linux, Android, etc.

[0092] In some embodiments, the electronic device may further include a display screen 1430 , an input / output interface 1440 , a communication interface 1450 , a sensor 1460 , a power source 1470 , and a communication bus 1480 .

[0093] certainly, Figure 5 The structure of the electronic device shown does not constitute a limitation on the electronic device in the embodiments of the present application. In actual applications, the electronic device may include Figure 5 More or fewer components than shown, or combinations of certain components.

[0094] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0095] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

[0096] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. An automatic speed limit control method for an electric forklift indoors and outdoors, applied to an electric forklift, characterized in that: include: Obtaining driving control instruction information; The driving control instruction information is provided at the entrance and exit of the indoor environment, and includes speed limit parameters in the indoor environment; Calculating the relative running trajectory of the forklift according to the receiving angle and the receiving distance of the driving control instruction information; If the relative running trajectory of the forklift is from outdoors to indoors, the motor controller of the electric forklift is regulated according to the maximum driving speed indoors to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance and exit.

2. The method according to claim 1, characterized in that After calculating the relative running track of the forklift according to the receiving angle and the receiving distance of the driving control instruction information, the method further includes: The relative running trajectory of the forklift is verified according to the motor speed of the electric forklift.

3. The method according to claim 2, characterized in that Verifying the relative running trajectory of the forklift according to the motor speed of the electric forklift includes: Obtaining the motor speed of the electric forklift, and determining the forklift speed corresponding to the motor speed; Performing integral calculation according to the forklift speed to calculate a first travel distance of the electric forklift within a set time period; Calculating a second driving distance of the electric forklift according to a difference in receiving distances and a difference in receiving angles of the driving control instruction information received by the electric forklift successively before and after the set time period; If the difference between the first driving distance and the second driving distance is less than a set threshold, it is confirmed that the relative running trajectory of the forklift is correct.

4. The method according to claim 3, characterized in that Before regulating the motor controller of the electric forklift according to the maximum indoor driving speed, the method further includes: The driving direction of the electric forklift is determined according to the difference in receiving distances and receiving angles of the driving control instruction information received by the electric forklift successively before and after the set time period; the driving direction includes driving from outdoors to indoors and from indoors to outdoors.

5. The method according to claim 4, characterized in that If the driving control instruction information further includes a forklift lifting restriction parameter, after calculating the relative running trajectory of the forklift according to the receiving angle and receiving distance of the driving control instruction information, and the driving direction of the electric forklift is from indoors to outdoors, it also includes: The relative angle between the electric forklift and the electronic device is acquired in real time, and when the relative angle is greater than a first set angle, the travel speed limit of the electric forklift and the forklift lifting limit corresponding to the forklift lifting limit parameter are released.

6. The method according to claim 3, characterized in that If the difference between the first driving distance and the second driving distance is not less than the set threshold, the method further includes: It is determined that there is an abnormality in the positioning information of the electric forklift, and the electric forklift is repositioned by using a positioning algorithm combining ultra-wideband and angle of arrival.

7. The method according to claim 1, characterized in that The motor controller for regulating the electric forklift according to the maximum indoor driving speed includes: The relative angle between the electric forklift and the electronic device is acquired in real time, and when the relative angle is less than a second set angle, the motor controller is controlled to execute the maximum speed limit corresponding to the speed limit parameter.

8. An indoor and outdoor automatic speed limit control system for electric forklifts, applied to electric forklifts, characterized in that: include: A signal acquisition module, used for acquiring driving control instruction information; The driving control instruction information is provided at the entrance and exit of the indoor environment, and includes speed limit parameters in the indoor environment; A trajectory calculation module, used to calculate the relative running trajectory of the forklift according to the receiving angle and receiving distance of the driving control instruction information; The control module is used to adjust the motor controller of the electric forklift according to the maximum indoor driving speed if the relative running trajectory of the forklift is from outdoor to indoor, so as to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance and exit.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the indoor and outdoor automatic speed limit control method of an electric forklift as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the steps of the indoor and outdoor automatic speed limit control method for an electric forklift are implemented as claimed in any one of claims 1 to 7.

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