An indoor and outdoor automatic speed limiting control system and method for electric forklifts

Abstract

This application provides an indoor and outdoor automatic speed limiting control method for electric forklifts, applied to electric forklifts, including: acquiring driving control instruction information; the driving control instruction information is located at the entrance and exit of the indoor environment, including speed limit parameters in the indoor environment; calculating the relative running trajectory of the forklift based on the receiving angle and receiving distance of the driving control instruction information; if the relative running trajectory of the forklift is from outdoors into indoors, adjusting 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. This application can adjust the motor controller of the electric forklift according to the driving control instruction information to ensure that the maximum speed limit is met. This application also provides an indoor and outdoor automatic speed limiting control system for electric forklifts, a computer-readable storage medium, and an electronic device, which have the above-mentioned beneficial effects.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment control, and in particular to an indoor and outdoor automatic speed limiting control system and method for electric forklifts. Background Technology

[0002] With the development of technology and the demand for efficiency improvement, forklifts are running faster and faster. The increase in speed has a significant effect on improving efficiency in outdoor operations, 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 this application is to provide an indoor and outdoor automatic speed limiting control method, system, computer-readable storage medium, and electronic device for electric forklifts, which can regulate the speed of forklifts in indoor environments.

[0004] To address the aforementioned technical problems, this application provides an indoor and outdoor automatic speed limiting control method for electric forklifts, applicable to electric forklifts. The specific technical solution is as follows:

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

[0006] The relative running trajectory of the forklift is calculated based on the receiving angle and receiving distance of the driving control instruction information;

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

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

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

[0010] Optionally, verifying the relative running trajectory of the forklift based on its motor speed includes:

[0011] Obtain the motor speed of the electric forklift and determine the forklift speed corresponding to the motor speed;

[0012] The electric forklift's first travel distance within a set time period is calculated by integrating the forklift's speed.

[0013] The second travel distance of the electric forklift is calculated based on the difference in receiving distance and the difference in receiving angle when the electric forklift receives the driving control instruction information before and after the set time period.

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

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

[0016] The driving direction of the electric forklift is determined based on the difference in receiving distance and angle between the electric forklift receiving the driving control instruction information before and after the set time period; the driving direction includes driving from outdoors into indoors and driving from indoors to outdoors.

[0017] Optionally, if the driving control instruction information further includes forklift lifting limit parameters, after calculating the relative running trajectory of the forklift based on 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 method further includes:

[0018] The relative angle between the electric forklift and the electronic device is acquired 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.

[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] If the positioning information of the electric forklift is determined to be abnormal, the electric forklift is repositioned using a positioning algorithm that combines ultra-wideband and angle of arrival.

[0021] Optionally, the motor controller of the electric forklift is adjusted according to the maximum indoor travel speed, including:

[0022] The relative angle between the electric forklift and the electronic device is acquired in real time. 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] This application discloses an indoor and outdoor automatic speed limiting control system for electric forklifts, applicable to electric forklifts, comprising:

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

[0025] The trajectory calculation module is used to calculate the relative running trajectory of the forklift based on 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 speed if the relative running trajectory of the forklift is from outdoors to indoors, so as to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance / exit.

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

[0028] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described above when it invokes the computer program in the memory.

[0029] This application provides an indoor and outdoor automatic speed limit control method for electric forklifts, applied to electric forklifts, comprising: acquiring 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 based on the receiving angle and receiving distance of the driving control instruction information; if the relative running trajectory of the forklift is from outdoors to indoors, adjusting the motor controller of the electric forklift according to the maximum driving speed indoors, so as 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 driving control instruction information, this application calculates the relative running trajectory of the electric forklift based on the receiving angle and receiving distance. Thus, when the electric forklift moves from an outdoor environment to an 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. This enables automatic speed control of the electric forklift when entering environments such as warehouses, thereby improving the control safety of the electric forklift.

[0031] This application also provides an indoor and outdoor automatic speed limiting control system for electric forklifts, a computer-readable storage medium, and an electronic device, which have the above-mentioned beneficial effects, and will not be elaborated here. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0033] Figure 1 A flowchart of the indoor and outdoor automatic speed limiting control method for electric forklifts provided in the embodiments of this application;

[0034] Figure 2 This is a schematic diagram of the trajectory calculation provided in the embodiments of this application;

[0035] Figure 3 This is a schematic diagram illustrating the principle of automatic indoor and outdoor speed limiting control for electric forklifts provided in an embodiment of this application.

[0036] Figure 4 This is a schematic diagram of the structure of the indoor and outdoor automatic speed limiting control system for electric forklifts provided in the embodiments of this application;

[0037] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0040] See Figure 1 , Figure 1 This is a flowchart of an indoor / outdoor automatic speed limiting control method for electric forklifts provided in an embodiment of this application. The method includes:

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

[0042] S102: Calculate the relative running trajectory of the forklift based on the receiving angle and receiving distance of the driving control instruction information;

[0043] S103: If the relative running trajectory of the forklift is from outdoors to indoors, adjust 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 parameter when passing through the entrance / exit.

[0044] This embodiment applies to electric forklifts, and the indoor and outdoor environments covered include driving entirely indoors, driving from outdoors into indoors, driving from indoors to outdoors, and driving entirely outdoors. In indoor environments, to ensure safe transportation, the driving speed is usually lower. Therefore, it is necessary to implement speed limiting control for electric forklifts.

[0045] Driving control instruction information can be obtained during or before the electric forklift is in motion. This driving control instruction information includes at least the speed limit parameters for 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 specific application scenario of the indoor environment. For example, different maximum indoor driving speeds can be used for different time periods, or different maximum indoor driving speeds can be used for different warehouse indoor environments.

[0046] Furthermore, the specific method of indicating the driving control information is not limited here. It can be a static sign, and the corresponding electric forklift can obtain the information it contains by recognizing the static sign. Alternatively, it can be a signal broadcast method, and the corresponding electric forklift can obtain the driving control recognition signal by receiving the broadcast signal. To realize the forklift speed control process in an indoor environment, it can be set up at the entrances and exits of both indoor and outdoor environments. For example, electronic devices (such as speakers) or fixed tag units can be installed at the entrances and exits. 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 units are not limited here and can be adjusted by selecting different types of fixed tag units. For example, a feasible fixed tag unit can be installed at the warehouse entrance, with a broadcast distance of 10 meters and a broadcast angle of 120°. The angle bisector of this broadcast angle can be the boundary line between the indoor and outdoor environments, thus simultaneously detecting both scenarios of the electric forklift entering from outdoors and traveling from indoors to outdoors, eliminating the need to set up multiple fixed tag units for each indoor environment and saving material costs.

[0047] Subsequently, during the operation of the electric forklift, especially when moving from outdoors to indoors and from indoors to outdoors, its 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 distance of the driving control instruction information. At this time, positive and negative angles can be set for the receiving angle, for example, using the boundary line between the indoor and outdoor environments as the boundary. The positive or negative value of the receiving angle can then determine whether the electric forklift is moving from outdoors to indoors or from indoors to outdoors, thus calculating the forklift's relative running trajectory. There is no limitation on how the receiving angle and distance are determined here; the electric forklift can be positioned. Since the position of the driving control instruction information remains 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. The specific positioning method used is not limited here. One feasible implementation is to employ UWB AOA (Ultra Wide Band Angle of Arrival) positioning technology, a high-precision positioning method based on UWB technology. This method determines the location of the signal source by measuring the angle at which the driving control instruction information arrives at the electric forklift. In UWB systems, multiple receiving antenna arrays are typically used to accurately measure the signal arrival angle.

[0048] See Figure 2 , Figure 2 This is a schematic diagram of the trajectory calculation provided in the embodiments of this application. A fixed tag is used as a feasible driving control indication information. The trajectory calculation is as follows: Figure 3 As shown, within a set time period, the electric forklift travels from point A to point B, covering a distance of [distance not specified]. 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. This represents the change in angle between two measurements. It can also be used to determine the direction of movement.

[0051] Because wireless positioning signals can be interfered with, leading to incorrect judgments, it is necessary to... The distance is compared with the integral of the vehicle speed over that time period. If the distance is less than the set error, the positioning information is considered valid.

[0052] In one feasible implementation, the relative running trajectory of the forklift can be verified based on the motor speed of the electric forklift. Specifically, this may include the following steps:

[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] The second step is to perform an integral calculation based on the forklift speed to calculate the first travel distance of the electric forklift within a set time period.

[0055] Third step: Calculate the second travel distance of the electric forklift based on the difference in receiving distance and the difference in receiving angle when the electric forklift receives the driving control instruction information before and after the set time period;

[0056] Fourth step: If the difference between the first travel distance and the second travel distance is less than a set threshold, confirm 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 travel distance and the second travel distance is not less than the set threshold value, it can be determined that the positioning information of the electric forklift is abnormal. The electric forklift is then repositioned using a positioning algorithm that combines ultra-wideband angle of arrival until the difference between the first travel distance and the second travel distance is less than the set threshold value, which confirms that the positioning of the electric forklift is accurate.

[0058] Furthermore, the driving direction of the electric forklift can be determined based on the difference in receiving distance and angle between the forklift receiving the driving control instruction information before and after the set time period. The driving direction includes driving from outdoors into indoors and driving from indoors to outdoors. Since the speed limit of the electric forklift typically does not fluctuate significantly when driving entirely indoors, changes in driving direction during indoor driving are not considered.

[0059] Since both speed limiting and acceleration involve a process, the judgment execution points for entering and exiting indoors will be different.

[0060] When a forklift is detected entering from outdoors, a speed limit can be applied in advance. Continuing the example, for instance, when the angle between the electric forklift and the fixed label is greater than 15 degrees, the speed limit command is executed to ensure the forklift's speed has decreased after entering the indoor environment. When the forklift is detected moving from indoors to outdoors, the speed limit command is lifted when the forklift reaches the doorway, i.e., when the angle between the forklift and the fixed label is less than 60 degrees.

[0061] In this embodiment, after obtaining driving control instruction information, the relative running trajectory of the electric forklift is calculated based on the receiving angle and receiving distance. Thus, when the electric forklift moves from an outdoor environment to an 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. This enables automatic speed control of the electric forklift when entering environments such as warehouses, thereby improving the control safety of the electric forklift.

[0062] In one feasible implementation, the driving control instruction information may further include instructions for forklift lifting limit parameters. After calculating the relative running trajectory of the forklift based on the receiving angle and receiving distance of the driving control instruction information, and assuming the electric forklift is traveling from indoors to outdoors, the relative angle between the electric forklift and the electronic device may also be acquired 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 parameters are released.

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

[0064] To better understand the indoor and outdoor automatic speed limiting control method for electric forklifts provided in this application, a specific application process of this application is described below:

[0065] This application allows for the installation of a tag at the warehouse entrance. Electric forklifts equipped with receiving units can then automatically enforce speed and height restrictions inside the warehouse, without human intervention, significantly improving the safety of electric forklifts. See also: Figure 3 , Figure 3 This is a schematic diagram illustrating the principle of automatic speed limiting control for electric forklifts both indoors and outdoors, as provided in an embodiment of this application. Figure 3 This paper uses the modular structure of an electric forklift as an example to illustrate the operation process of this application. A fixed tag unit is used as the specific representation of the driving control instruction information. The fixed tag unit is powered by a fixed tag power supply to ensure it is in working condition. The driving control instruction information includes speed limit parameters and forklift lifting limit parameters in the indoor environment, such as the maximum indoor travel speed, maximum lifting speed, and maximum lifting height.

[0066] The electric forklift is equipped with a vehicle controller for managing the electric forklift. It includes an on-board signal receiving unit for receiving driving control instructions broadcast by the fixed tag unit and sending them to the vehicle controller via serial communication.

[0067] Subsequently, the vehicle controller receives lifting and traveling commands and issues corresponding control commands to the lifting motor driver, which directly controls the lifting motor, ensuring that its operation meets the forklift lifting limit parameters. Simultaneously, control commands are also issued to the traveling motor driver to control the traveling motor. The traveling motor feeds back its speed to the traveling motor driver, which in turn feeds back the forklift speed to the vehicle controller for position verification of the electric forklift, thereby verifying the forklift's relative travel trajectory.

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

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

[0070] This application discloses an indoor and outdoor automatic speed limiting control system for electric forklifts, applicable to electric forklifts, comprising:

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

[0072] The trajectory calculation module is used to calculate the relative running trajectory of the forklift based on 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 speed if the relative running trajectory of the forklift is from outdoors to indoors, so as to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance / exit.

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

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

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

[0077] The vehicle speed calculation unit is used to obtain the motor speed of the electric forklift and determine the forklift speed corresponding to the motor speed.

[0078] The first distance calculation unit is used to perform integral calculation based on the forklift speed to calculate the first travel distance of the electric forklift within a set time period.

[0079] The second distance calculation unit is used to calculate the second travel distance of the electric forklift based on the difference in receiving distance and the difference in receiving angle when the electric forklift receives the driving control instruction information 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 travel distance and the second travel distance is less than a set threshold.

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

[0082] The direction determination module is used to determine the driving direction of the electric forklift based on the difference in receiving distance and the difference in receiving angle when the electric forklift receives the driving control instruction information before and after the set time period; the driving direction includes driving from outdoors into indoors and driving from indoors to outdoors.

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

[0084] The lifting limit module is used to acquire the relative angle between the electric forklift and the electronic device in real time if the electric forklift is traveling from indoors to outdoors. When the relative angle is greater than a first set angle, the module releases the travel speed limit of the electric forklift and the forklift lifting limit corresponding to the lifting limit parameter.

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

[0086] The repositioning module is used to determine if the positioning information of the electric forklift is abnormal, and to reposition the electric forklift using a positioning algorithm that combines ultra-wideband and angle of arrival.

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

[0088] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0089] This application also provides an electronic device, see [link to document]. Figure 5 The present application provides a structural diagram of an electronic device, such as... Figure 5 As shown, it may include a processor 1410 and a memory 1420.

[0090] The processor 1410 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 1410 may be implemented using at least one hardware form selected from 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, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 1410 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 1410 may also include an AI (Artificial Intelligence) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 1420 is used to store at least the following computer program 1421, which, after being loaded and executed by the processor 1410, is capable of implementing the relevant steps in the methods executed by the electronic device side as disclosed in any of the foregoing 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. 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 supply 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 this application. In practical applications, the electronic device may include more than [other components]. Figure 5 More or fewer components as shown, or combinations of certain components.

[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. As the system provided in the embodiments corresponds to the method provided in the embodiments, the description is relatively simple; relevant parts can be found in the method section.

[0095] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0096] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. An indoor and outdoor automatic speed limiting control method for electric forklifts, applied to electric forklifts, characterized in that, include: Obtain driving control instruction information; The driving control instruction information is located at the entrance and exit of the indoor environment and includes speed limit parameters in the indoor environment; The relative running trajectory of the forklift is calculated based on the receiving angle and receiving distance of the driving control instruction information; The relative running trajectory of the forklift is verified based on the motor speed of the electric forklift; If the relative running trajectory of the forklift is from outdoors to indoors, the motor controller of the electric forklift is adjusted according to the maximum indoor speed to ensure that the electric forklift meets the maximum speed limit corresponding to the speed limit parameter when passing through the entrance / exit. Verifying the relative running trajectory of the forklift based on its motor speed includes: Obtain the motor speed of the electric forklift and determine the forklift speed corresponding to the motor speed; The electric forklift's first travel distance within a set time period is calculated by integrating the forklift's speed. The second travel distance of the electric forklift is calculated based on the difference in receiving distance and the difference in receiving angle when the electric forklift receives the driving control instruction information before and after the set time period. If the difference between the first travel distance and the second travel distance is less than a set threshold, the relative running trajectory of the forklift is confirmed to be correct. The driving control instruction information also includes forklift lifting limit parameters. After calculating the relative running trajectory of the forklift based on the receiving angle and receiving distance of the driving control instruction information, and given that the electric forklift's driving direction is from indoors to outdoors, it also includes: An electronic device is installed at the entrance / exit to acquire the relative angle between the electric forklift and the electronic device in real time. When the relative angle is greater than a first set angle, the device releases the speed limit of the electric forklift and the forklift lifting limit corresponding to the forklift lifting limit parameter. The forklift lifting limit parameter includes lifting speed and / or maximum lifting height. Also includes: The driving direction of the electric forklift is determined based on the difference in receiving distance and angle between the electric forklift receiving the driving control instruction information before and after the set time period; the driving direction includes driving from outdoors into indoors and driving from indoors to outdoors; If the difference between the first driving distance and the second driving distance is not less than the set threshold, the method further includes: If the positioning information of the electric forklift is found to be abnormal, the electric forklift is repositioned using a positioning algorithm that combines ultra-wideband and angle of arrival. The motor controller for adjusting the electric forklift based on the maximum indoor travel speed includes: The relative angle between the electric forklift and the electronic device is acquired in real time. 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.

2. An indoor and outdoor automatic speed limiting control system for an electric forklift, used to execute the indoor and outdoor automatic speed limiting control method for an electric forklift as described in claim 1, and applied to an electric forklift, characterized in that, include: The signal acquisition module is used to acquire driving control instruction information; The driving control instruction information is located at the entrance and exit of the indoor environment and includes speed limit parameters in the indoor environment; The trajectory calculation module is used to calculate the relative running trajectory of the forklift based on the receiving angle and receiving distance of the driving control instruction information; The trajectory verification module is used to verify the relative running trajectory of the electric forklift based on the motor speed of the electric forklift; The control module is used to adjust the motor controller of the electric forklift according to the maximum indoor speed if the relative running trajectory of the forklift is from outdoors 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 / exit. The trajectory verification module includes: The vehicle speed calculation unit is used to obtain the motor speed of the electric forklift and determine the forklift speed corresponding to the motor speed. The first distance calculation unit is used to perform integral calculation based on the forklift speed to calculate the first travel distance of the electric forklift within a set time period. The second distance calculation unit is used to calculate the second travel distance of the electric forklift based on the difference in receiving distance and the difference in receiving angle when the electric forklift receives the driving control instruction information before and after the set time period. The trajectory verification unit is used to confirm that the relative running trajectory of the forklift is correct if the difference between the first travel distance and the second travel distance is less than a set threshold.

3. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the steps of the indoor and outdoor automatic speed limiting control method for electric forklifts as described in claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the steps of the indoor and outdoor automatic speed limiting control method for electric forklifts as described in claim 1.

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