A method and system for monitoring power consumption of an electric forklift

Abstract

The present invention discloses a method and system for monitoring the power consumption of an electric forklift, belonging to the field of intelligent monitoring technology. The method comprises the following steps: obtaining the voltage and current at the bus terminals of the oil pump controller and the travel controller of the electric forklift, calculating the first power consumption and the second power consumption of the oil pump controller and the travel controller per unit time; the oil pump controller encapsulates the first power consumption into a first data frame, and transmits the first data frame to the travel controller based on the CAN protocol; verifies the first data frame, and based on the first and second power consumptions, the travel controller calculates the third power consumption of the entire vehicle operation per unit time and the fourth power consumption accumulated after a single power-on, and displays the third and fourth power consumptions on the instrument panel; establishes an encrypted communication channel, and based on the encrypted communication channel, the travel controller transmits the third and fourth power consumptions to a remote client. The present invention improves the real-time efficiency of power consumption monitoring for electric forklifts.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent monitoring, and in particular relates to a method and system for monitoring the power consumption of an electric forklift. Background Art

[0002] With the advancement of industrial automation and logistics efficiency, electric forklifts are widely used in various operating environments, such as warehouses, factories, and distribution centers, due to their operational flexibility and environmental friendliness. Electric forklifts primarily rely on batteries or lithium batteries for power, and managing their energy consumption is crucial for improving energy efficiency, reducing operating costs, and extending battery life.

[0003] Existing electric forklift systems have relatively backward energy consumption monitoring technologies, most relying on simple voltage or current measurements and lacking the ability to accurately monitor and analyze energy consumption. These systems typically fail to provide real-time energy consumption data or effectively analyze energy consumption under different operating conditions, hindering optimization of forklift operation and maintenance.

[0004] Furthermore, existing power consumption monitoring systems often lack integrated designs, requiring additional hardware and complex wiring, increasing installation and maintenance costs. Furthermore, due to limitations in data transmission and processing, these systems struggle to implement remote monitoring and data analysis, limiting the efficiency and effectiveness of forklift management.

[0005] While some research and products have attempted to improve the accuracy of power consumption monitoring by improving sensor technology and data processing algorithms, these solutions are often costly and difficult to adapt to changing operating environments and requirements. Therefore, developing a system that can accurately and in real time monitor the power consumption of electric forklifts and ensure the security of data transmitted to remote clients is of great practical significance for improving forklift operating efficiency, reducing energy consumption, and optimizing maintenance plans. Summary of the Invention

[0006] To solve the above problems, the present invention provides a method and system for monitoring power consumption of an electric forklift to solve the problems in the prior art.

[0007] In order to achieve the above-mentioned object of the invention, the present invention provides a method for monitoring the power consumption of an electric forklift, comprising:

[0008] S1: Obtain the voltage and current at the bus terminals of the oil pump controller and the travel controller of the electric forklift respectively, and calculate the power consumption of the oil pump controller and the travel controller per unit time, which are defined as the first power consumption and the second power consumption respectively;

[0009] S2: The oil pump controller encapsulates the first electric energy consumption into a first data frame, and transmits the first data frame to the travel controller based on the CAN protocol;

[0010] S3: The travel controller verifies the first data frame. After verification, it obtains the first power consumption of the oil pump controller from the first data frame. Based on the first power consumption and the second power consumption, the travel controller calculates a third power consumption of the entire vehicle operation per unit time and a fourth power consumption accumulated after a single power-on, and displays the third power consumption and the fourth power consumption on the instrument panel.

[0011] S4: Establish an encrypted communication channel between the walking controller and the remote client, and transmit the third power consumption and the fourth power consumption to the remote client based on the encrypted communication channel.

[0012] Preferably, the time t is calculated based on the first formula and the second formula k-1 To time t k The first power consumption Q P (k) and the second electric energy consumption Q T (k), the first formula is: U p (k) and I p (k) are the bus voltage and bus current of the oil pump controller at time k, respectively. The second formula is: Among them, U T (k) and I T (k) are the bus voltage and bus current of the travel controller at time k respectively.

[0013] Preferably, the third electric energy consumption Q(k) is calculated based on the third formula, and the third formula is: Q(k)=Q P (k)+Q T (k) Calculate the time from the start of power-on t0 to the time t1 of the electric forklift based on the fourth formula. k The fourth power consumption Q sum , the fourth formula is:

[0014] Preferably, the oil pump controller includes the following steps before encapsulating the first electric energy consumption into a first data frame:

[0015] Obtain the original data layout of the data field in the data frame, update the original data layout based on the value of the first electric energy consumption to obtain a new data layout, construct a second data frame, the second data frame includes definition information of the new data layout, and is used to notify the travel controller that the data layout information has changed, assign a unique identifier to the second data frame, the oil pump controller sends the second data frame to the travel controller via the CAN bus, the travel controller identifies the second data frame based on the unique identifier, receives and parses the second data frame to obtain new data layout information, updates its own internal data layout based on the new data layout information, and generates a confirmation frame and returns it to the oil pump controller. After receiving the confirmation frame, the oil pump controller sends the first data frame containing the first electric energy consumption to the travel controller via the CAN bus.

[0016] Preferably, obtaining a new data layout comprises the following steps:

[0017] Add a first keyword and a second keyword to the data field of the first data frame. If the value of the first electric energy consumption is greater than a first threshold, place the first keyword and the second keyword in the front bytes of the data field. If it is less than or equal to the first threshold, place the first keyword and the second keyword in the back bytes of the data field. Generate a new data layout based on the position information of the first keyword, the second keyword and the first electric energy consumption.

[0018] Preferably, the walking controller verifies the first data frame including the following steps:

[0019] The walking controller extracts the first keyword and the second keyword from the first data frame based on the new data layout information, and matches the first keyword and the second keyword with the preset first and second values. If the match is successful, it indicates that the first data frame is correct.

[0020] Preferably, establishing an encrypted communication channel between the walking controller and the remote client comprises the following steps:

[0021] The remote client generates a pair of keys, including a first public key and a first private key, and shares the key pair with the walking controller. The walking controller encrypts the third electric energy consumption and the fourth electric energy consumption based on the first public key, which is defined as the first encrypted data, constructs a first verification value of the third electric energy consumption and the fourth electric energy consumption, sets a third key to encrypt the first verification value, which is defined as the second encrypted data, and sends the first encrypted data and the second encrypted data to the remote server. After receiving the encrypted data, the remote server uses the first private key to decrypt the data to obtain the original third electric energy consumption and the fourth electric energy consumption, and verifies the first verification value. If the verification is successful, the remote server displays the third electric energy consumption and the fourth electric energy consumption.

[0022] Preferably, constructing the verification values of the third electric energy consumption and the fourth electric energy consumption comprises the following steps:

[0023] The first private key is derived based on a key derivation function to obtain a fourth key, the fourth key, the third power consumption and the fourth power consumption are input into an HMAC algorithm to obtain a hash value, and the hash value is defined as a first verification value of the third power consumption and the fourth power consumption.

[0024] Preferably, matching the first verification value comprises the following steps:

[0025] The remote client decrypts the first verification value based on the third key, and calculates a second verification value based on the third power consumption and the fourth power consumption received based on the HMAC algorithm and the fourth key. If the second verification value is the same as the decrypted first verification value, the verification value verification is successful.

[0026] The present invention also provides an electric forklift power consumption monitoring system, which is used to implement the above method. The system mainly includes:

[0027] an acquisition module, configured to respectively acquire the voltage and current at the bus terminals of the oil pump controller and the travel controller of the electric forklift, and calculate the power consumption of the oil pump controller and the travel controller per unit time, which are defined as a first power consumption and a second power consumption, respectively;

[0028] a first transmission module, configured for the oil pump controller to encapsulate the first electric energy consumption into a first data frame, and transmit the first data frame to the travel controller based on the CAN protocol;

[0029] a display module, configured for the travel controller to verify the first data frame, obtain a first power consumption of the oil pump controller from the first data frame after the verification is passed, calculate a third power consumption of the entire vehicle operation per unit time and a fourth power consumption accumulated after a single power-on based on the first power consumption and the second power consumption, and display the third power consumption and the fourth power consumption on an instrument panel;

[0030] The second transmission module is used to establish an encrypted communication channel between the walking controller and the remote client, and transmit the third power consumption and the fourth power consumption to the remote client based on the encrypted communication channel.

[0031] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0032] By determining specific electric energy consuming components and corresponding motor controllers, the present invention enables the system to accurately monitor and manage the energy consumption of the forklift, providing basic data for further energy consumption analysis and optimization; acquiring the voltage and current data of the controller bus terminal in real time, calculating the electric energy consumption per unit time, which is helpful to analyze the use efficiency and energy consumption pattern of the forklift, transmitting the first data frame through the CAN protocol, ensuring the reliability and real-time performance of data communication, providing support for subsequent data processing and monitoring, verifying the data frame, ensuring that the received data is accurate, and enhancing the safety and reliability of the system; calculating the electric energy consumption of the entire vehicle operation based on the electric energy consumption of the oil pump controller and the travel controller, providing a more comprehensive energy consumption analysis, displaying the third electric energy consumption and the fourth electric energy consumption on the instrument panel, so that the operator can intuitively understand the energy consumption status of the forklift, and facilitating the operator to make energy-saving operations; by establishing an encrypted communication channel, allowing remote clients to access the electric energy consumption data, facilitating remote monitoring and management, and improving management efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A flowchart of the steps of a method for monitoring power consumption of an electric forklift according to the present invention;

[0034] Figure 2 It is a structural diagram between the controllers of the present invention;

[0035] Figure 3 This is a structural diagram of an electric energy consumption monitoring system for an electric forklift according to the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script without departing from the scope of this application.

[0038] Explanation of terms:

[0039] Electric forklifts: These can be pure electric forklifts powered only by batteries or lithium batteries; they can also be new energy hybrid forklifts that use hydrogen energy, solar energy, engines, and other energy sources to generate electricity through energy conversion, which is used to power the motor directly or through energy storage batteries.

[0040] Oil pump controller: A motor controller used to control and drive the oil pump motor in an electric forklift;

[0041] Travel controller: In an electric forklift, a motor controller is used to control and drive the vehicle's travel motor.

[0042] Example 1:

[0043] like Figure 1 As shown, this embodiment discloses a method for monitoring power consumption of an electric forklift, comprising:

[0044] S1: Obtain the voltage and current of the bus terminals of the oil pump controller and the travel controller of the electric forklift respectively, and calculate the power consumption of the oil pump controller and the travel controller per unit time, which are defined as the first power consumption and the second power consumption respectively.

[0045] Specifically, the main components that consume electricity in the electric forklift are identified. These components may include the travel motor, oil pump motor, etc. The motor controller is responsible for controlling the operation of the motor. This embodiment mainly calculates the electricity consumption generated by the oil pump controller and the travel controller. The voltage and current at the bus end can be directly read from the interface of the controller. The electricity consumption of the oil pump controller and the travel controller per unit time is calculated based on the bus voltage and bus current.

[0046] S2: The oil pump controller encapsulates the first electric energy consumption into a first data frame, and transmits the first data frame to the travel controller based on the CAN protocol.

[0047] Specifically, the oil pump controller encapsulates the calculated first electric energy consumption into a first data frame. The CAN protocol is a serial communication protocol commonly used in automobiles and industrial control systems. It allows multiple devices to share the same communication line and send and receive data in the form of frames. In this embodiment, the CAN protocol is used for communication between the oil pump controller and the travel controller to ensure accurate data transmission. The specific transmission process will be explained later.

[0048] S3: The travel controller verifies the first data frame. After the verification is passed, it obtains the first power consumption of the oil pump controller from the first data frame. Based on the first power consumption and the second power consumption, the travel controller calculates the third power consumption of the entire vehicle operation per unit time and the fourth power consumption accumulated after a single power-on, and displays the third power consumption and the fourth power consumption on the instrument panel.

[0049] Specifically, if Figure 2 As shown, it is a structural diagram between the controllers. After the travel controller receives the first data frame sent by the oil pump controller, it verifies it to ensure that the first data frame has not been tampered with or damaged during the transmission process. The third power consumption is the power consumption of the electric forklift from the time the key switch is turned on once, from the time the entire vehicle is powered on to the next time the key switch is turned off and powered off. The fourth power consumption is the cumulative energy consumption from the time the equipment is powered on to the current moment, that is, the total energy consumption from the time the equipment is started to the current moment. Finally, the calculated third and fourth power consumptions are displayed on the instrument panel. Real-time monitoring of power consumption through the instrument panel can provide real-time energy consumption data for the forklift driver, so that the driver can make corresponding plans based on the energy consumption of the operating conditions.

[0050] S4: Establish an encrypted communication channel between the walking controller and the remote client, and transmit the third power consumption and the fourth power consumption to the remote client based on the encrypted communication channel.

[0051] Specifically, the travel controller transmits the calculated energy consumption per unit time for the entire vehicle operation and the cumulative energy consumption after a single power-up to a remote client via the remote communication module's wireless network. During transmission, an encrypted communication channel is established to prevent data eavesdropping or tampering and protect the confidentiality and integrity of the data. After receiving the data, the remote client uses a corresponding decryption mechanism to interpret the data for further analysis and monitoring. Transmitting energy consumption information to the remote client allows forklift manufacturers to view actual energy consumption data and understand energy consumption under different operating conditions. This provides data reference for energy consumption monitoring by motor controller and motor manufacturers, facilitating subsequent design optimization.

[0052] Furthermore, the time t is calculated based on the first formula and the second formula k-1 To time t k The first power consumption Q P(k) and the second electric energy consumption Q T (k), the first formula is: U P (k) and I P (k) are the bus voltage and bus current of the oil pump controller at time k, respectively. The second formula is: Among them, U T (k) and I T (k) are the bus voltage and bus current of the travel controller at time k.

[0053] Specifically, the first power consumption and the second power consumption are respectively k-1 To time t k The product of the voltage and current at the bus terminal of the oil pump controller and the travel controller is integrated over time. Through integral calculation, the power consumption can be measured more accurately, which is crucial for energy management and optimization.

[0054] Furthermore, the third power consumption Q(k) is calculated based on the third formula, which is: Q(k)=Q P (k)+Q T (k) Calculate the time from the start of power-on t0 to the time t1 of the electric forklift based on the fourth formula. k The fourth power consumption Q sum , the fourth formula is:

[0055] Specifically, Q p (k) is the oil pump controller at time t k-1 To time t k The power consumption inside, and Q T (k) is the power consumption of the travel controller in the same time period. Adding the two together, we can get the total power consumption Q(k) of the electric forklift in the same time period. Q sum From power-on t0 to time t k Up to this point, the sum of the electric energy consumption of the electric forklift in all time periods can be calculated through integral calculation to obtain the cumulative electric energy consumption in the entire time period. By calculating the third electric energy consumption, the energy usage of the electric forklift under different operations can be fully monitored, which helps to identify operations or time periods with high energy consumption, so as to optimize and improve energy efficiency. By calculating the fourth electric energy consumption, it helps to predict the remaining power and life of the battery, so as to reasonably arrange the charging plan and extend the battery life.

[0056] Furthermore, before the oil pump controller encapsulates the first electric energy consumption into a first data frame, the oil pump controller includes the following steps:

[0057] Obtain the original data layout of the data field in the data frame, update the original data layout based on the value of the first electric energy consumption to obtain a new data layout, construct a second data frame, the second data frame includes definition information of the new data layout, and is used to notify the travel controller that the data layout information has changed, assign a unique identifier to the second data frame, the oil pump controller sends the second data frame to the travel controller via the CAN bus, the travel controller identifies the second data frame based on the unique identifier, receives and parses the second data frame to obtain new data layout information, updates its own internal data layout based on the new data layout information, and generates a confirmation frame and returns it to the oil pump controller. After receiving the confirmation frame, the oil pump controller sends the first data frame containing the first electric energy consumption to the travel controller via the CAN bus.

[0058] Specifically, assuming that the data field in the data frame includes 8 bytes, the original data layout is: Byte 1: frame type; Bytes 2-3: reserved bytes, which may be used for future expansion or as padding bytes; Bytes 4-5: store the value of the first power consumption; Byte 6: indicate the status of the data frame; Bytes 7-8: additional reserved bytes, providing space for possible future expansion. In order to ensure the consistency and security of data during the transmission process, this embodiment will set two keywords. The position information of the two keywords in the data field is set based on the value of the first power consumption, and a new data layout is formed according to the different position information of the keywords in the data field. The specific implementation process will be explained later.

[0059] The oil pump controller creates a new data frame, the second data frame, which contains definition information for the new data layout, such as which byte the numerical information of the first electric energy consumption is in and which byte the two keywords are in. The change in data layout is notified by sending the second data frame to the travel controller. During this process, a unique ID is assigned to the second data frame. The travel controller continuously monitors the data frames on the CAN bus, identifies the second data frame based on the unique identifier, and updates the internal data layout based on the second data frame, ensuring the consistency of data parsing. The travel controller then generates a confirmation frame to provide feedback to the oil pump controller to confirm the success of the data layout update. After receiving the confirmation frame, the oil pump controller uses the new data layout to send the actual first electric energy consumption. By updating the data layout information, this embodiment enables the two controllers to dynamically update and confirm changes in the data format, thereby improving the flexibility and reliability of the system.

[0060] Furthermore, obtaining a new data layout includes the following steps:

[0061] Add a first keyword and a second keyword to the data field of the first data frame. If the value of the first electric energy consumption is greater than the first threshold, place the first keyword and the second keyword in the front bytes of the data field. If it is less than or equal to the first threshold, place the first keyword and the second keyword in the back bytes of the data field. Generate a new data layout based on the position information of the first keyword, the second keyword and the first electric energy consumption.

[0062] Specifically, a random number generator is used to create keywords to increase security and unpredictability. It is assumed that the two keywords are checksums of all bytes in the data frame, respectively 8-bit unsigned integers, and each keyword occupies one byte. A first threshold is set. If the value of the first power consumption is greater than the first threshold, the keywords are placed at the 1st and 2nd byte positions of the data field. This means that no matter what the specific value of the data value is, as long as it is greater than the threshold, the keyword is fixed at this position. If the value of the first power consumption is less than the first threshold, the keyword is placed at the 7th and 8th byte positions of the data field. In this way, the position of the keyword is associated with the data value, which increases the security of the data frame and makes unauthorized monitoring and tampering more difficult. This dynamically changing keyword position strategy can effectively improve the system's anti-attack capabilities.

[0063] Furthermore, the walking controller verifies the first data frame including the following steps:

[0064] The walking controller extracts the first keyword and the second keyword from the first data frame based on the new data layout information, and matches the first keyword and the second keyword with the preset first value and the second value. If the match is successful, it means that the first data frame is correct.

[0065] Specifically, based on the new layout information, the walking controller obtains the position information of the keyword in the data frame and extracts the keyword, compares the extracted keyword with the expected value to verify its correctness. If the keyword matches the expected value, the walking controller believes that the data frame is complete and has not been tampered with during transmission, and other data in the data frame can be trusted. If the keyword verification fails, that is, the keyword does not match the expected value, the walking controller will believe that the data frame may have been tampered with or damaged during transmission.

[0066] Furthermore, establishing an encrypted communication channel between the walking controller and the remote client includes the following steps:

[0067] The remote client generates a pair of keys, including a first public key and a first private key, and shares the key pair to the walking controller. The walking controller encrypts the third electric energy consumption and the fourth electric energy consumption based on the first public key, which is defined as the first encrypted data, constructs a first verification value of the third electric energy consumption and the fourth electric energy consumption, sets the third key to encrypt the first verification value, which is defined as the second encrypted data, and sends the first encrypted data and the second encrypted data to the remote server. After receiving the encrypted data, the remote server uses the first private key to decrypt the data to obtain the original third electric energy consumption and the fourth electric energy consumption, and verifies the first verification value. If the verification is successful, the remote server displays the third electric energy consumption and the fourth electric energy consumption.

[0068] Specifically, the remote client may be located in an untrusted network environment, so higher security measures are required to protect data transmission from potential network attacks. Therefore, an encrypted communication channel is established between the walking controller and the remote client. The remote client generates a pair of asymmetric keys, including a public key (first public key) and a private key (first private key). The remote client sends the generated first public key to the walking controller, and the walking controller has the key for encrypting data.

[0069] In order to verify the integrity and authenticity of the data, the walking controller generates a first verification value based on the third power consumption and the fourth power consumption data. The first verification value is used to verify whether the data has been tampered with during the transmission process. The walking controller uses the third key to encrypt the first verification value to generate second encrypted data, further increasing the security of the verification value. The remote server uses the first private key to decrypt the received first encrypted data to obtain the original third power consumption and fourth power consumption data, and matches the first verification value. If the verification is successful, it means that the data has not been tampered with during the transmission process. The remote server will display the third power consumption and the fourth power consumption data for users to view and analyze.

[0070] Furthermore, constructing the verification values of the third electric energy consumption and the fourth electric energy consumption includes the following steps:

[0071] The first private key is derived based on a key derivation function to obtain a fourth key, the fourth key, the third power consumption and the fourth power consumption are input into an HMAC algorithm to obtain a hash value, and the hash value is defined as a first verification value of the third power consumption and the fourth power consumption.

[0072] Specifically, a key derivation function (KDF), such as PBKDF2 or HKDF, is used to derive a new key from an existing key (such as the first private key). The first private key and some additional parameters (such as salt value and number of iterations) are input to generate a fourth key. This fourth key will be used in the HMAC algorithm. The HMAC algorithm is a hash algorithm that uses a key to verify the integrity and authenticity of data. The HMAC algorithm requires three inputs: the fourth key (a key derived from the KDF), the third power consumption data, and the fourth power consumption data. The first verification value is a hash value obtained based on the HMAC algorithm, which represents the "fingerprint" of the third power consumption data and the fourth power consumption data. The HMAC algorithm ensures the integrity of the data. Any tampering with the data will cause the HMAC value to change, thereby being detected.

[0073] Furthermore, matching the first verification value includes the following steps:

[0074] The remote client decrypts the first verification value based on the third key, and calculates the second verification value based on the received third power consumption and fourth power consumption based on the HMAC algorithm and the fourth key. If the second verification value is the same as the decrypted first verification value, the verification value verification is successful.

[0075] Specifically, the remote client uses the third key to decrypt the first verification value received from the walking controller to obtain the original hash value. This hash value is generated using the HMAC algorithm and the fourth key on the walking controller side. The remote client uses the same HMAC algorithm and the fourth key to process the received third power consumption and fourth power consumption data to generate a new hash value, namely the second verification value. This new hash value (second verification value) will be compared with the decrypted first verification value (original hash value). If they are the same, this means that the hash value recalculated by the remote client using the same data and key is consistent with the hash value sent by the walking controller side. Therefore, it can be considered that the data has not been tampered with during transmission.

[0076] Example 2:

[0077] like Figure 3 As shown, this embodiment discloses an electric forklift power consumption monitoring system, which is used to implement the method of the above embodiment 1. The system mainly includes:

[0078] The acquisition module is used to respectively obtain the voltage and current of the bus terminals of the oil pump controller and the travel controller of the electric forklift, and calculate the power consumption of the oil pump controller and the travel controller per unit time, which are defined as the first power consumption and the second power consumption respectively.

[0079] The first transmission module is used for the oil pump controller to encapsulate the first electric energy consumption into a first data frame, and transmit the first data frame to the travel controller based on the CAN protocol.

[0080] The display module is used for the travel controller to verify the first data frame. After the verification is passed, the first power consumption of the oil pump controller is obtained from the first data frame. Based on the first power consumption and the second power consumption, the travel controller calculates the third power consumption of the entire vehicle operation per unit time and the fourth power consumption accumulated after a single power-on, and displays the third power consumption and the fourth power consumption on the instrument panel.

[0081] The second transmission module is used to establish an encrypted communication channel between the walking controller and the remote client, and transmit the third power consumption and the fourth power consumption to the remote client based on the encrypted communication channel.

[0082] It should be understood that, although the various steps in the flow chart of each embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0083] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program. The above-mentioned program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0084] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

[0086] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for monitoring power consumption of an electric forklift, characterized in that: The method comprises the following steps: S1: Obtain the voltage and current at the bus terminals of the oil pump controller and the travel controller of the electric forklift respectively, and calculate the power consumption of the oil pump controller and the travel controller per unit time, which are defined as the first power consumption and the second power consumption respectively; S2: The oil pump controller encapsulates the first electric energy consumption into a first data frame, and transmits the first data frame to the travel controller based on the CAN protocol, wherein the oil pump controller includes the following steps before encapsulating the first electric energy consumption into the first data frame: obtaining the original data layout of the data field in the data frame, updating the original data layout based on the value of the first electric energy consumption to obtain a new data layout, constructing a second data frame, the second data frame including definition information of the new data layout, and being used to notify the travel controller that the data layout information has changed, assigning a unique identifier to the second data frame, the oil pump controller sending the second data frame to the travel controller via the CAN bus, the travel controller identifying the second data frame based on the unique identifier, receiving and parsing the second data frame to obtain new data layout information, updating its own internal data layout based on the new data layout information, and generating a confirmation frame and returning it to the oil pump controller, after receiving the confirmation frame, the oil pump controller sends the first data frame containing the first electric energy consumption to the travel controller via the CAN bus; S3: The travel controller verifies the first data frame. After verification, it obtains the first power consumption of the oil pump controller from the first data frame. Based on the first power consumption and the second power consumption, the travel controller calculates a third power consumption of the entire vehicle operation per unit time and a fourth power consumption accumulated after a single power-on, and displays the third power consumption and the fourth power consumption on the instrument panel. S4: Establish an encrypted communication channel between the walking controller and the remote client, and transmit the third power consumption and the fourth power consumption to the remote client based on the encrypted communication channel.

2. The method according to claim 1, characterized in that Calculate time based on the first and second formulas To time The first power consumption and the second power consumption , the first formula is: ,in, and are the bus voltage and bus current of the oil pump controller at time k respectively. The second formula is: , and are the bus voltage and bus current of the travel controller at time k respectively.

3. The method according to claim 2, characterized in that The third electric energy consumption is calculated based on the third formula , the third formula is: , based on the fourth formula, the electric forklift is calculated from the start of power on Time The fourth power consumption , the fourth formula is: .

4. The method according to claim 1, wherein Obtaining a new data layout involves the following steps: Add a first keyword and a second keyword to the data field of the first data frame. If the value of the first electric energy consumption is greater than a first threshold, place the first keyword and the second keyword in the front bytes of the data field. If it is less than or equal to the first threshold, place the first keyword and the second keyword in the back bytes of the data field. Generate a new data layout based on the position information of the first keyword, the second keyword and the first electric energy consumption.

5. The method according to claim 4, characterized in that The walking controller verifies the first data frame including the following steps: The walking controller extracts the first keyword and the second keyword from the first data frame based on the new data layout information, and matches the first keyword and the second keyword with the preset first and second values. If the match is successful, it indicates that the first data frame is correct.

6. The method according to claim 1, characterized in that Establishing an encrypted communication channel between the walking controller and the remote client includes the following steps: The remote client generates a pair of keys, including a first public key and a first private key, and shares the key pair with the walking controller. The walking controller encrypts the third electric energy consumption and the fourth electric energy consumption based on the first public key, which is defined as the first encrypted data, constructs a first verification value of the third electric energy consumption and the fourth electric energy consumption, sets a third key to encrypt the first verification value, which is defined as the second encrypted data, and sends the first encrypted data and the second encrypted data to the remote server. After receiving the encrypted data, the remote server uses the first private key to decrypt the data to obtain the original third electric energy consumption and the fourth electric energy consumption, and verifies the first verification value. If the verification is successful, the remote server displays the third electric energy consumption and the fourth electric energy consumption.

7. The method according to claim 6, characterized in that Constructing the verification values of the third electric energy consumption and the fourth electric energy consumption includes the following steps: The first private key is derived based on a key derivation function to obtain a fourth key, the fourth key, the third power consumption and the fourth power consumption are input into an HMAC algorithm to obtain a hash value, and the hash value is defined as a first verification value of the third power consumption and the fourth power consumption.

8. The method according to claim 7, characterized in that Matching the first verification value includes the following steps: The remote client decrypts the first verification value based on the third key, and calculates a second verification value based on the third power consumption and the fourth power consumption received based on the HMAC algorithm and the fourth key. If the second verification value is the same as the decrypted first verification value, the verification value verification is successful.

9. A power consumption monitoring system for an electric forklift, used to implement the method according to any one of claims 1 to 8, characterized in that: The system includes the following modules: an acquisition module, configured to respectively acquire the voltage and current at the bus terminals of the oil pump controller and the travel controller of the electric forklift, and calculate the power consumption of the oil pump controller and the travel controller per unit time, which are defined as a first power consumption and a second power consumption, respectively; A first transmission module is used for the oil pump controller to encapsulate the first electric energy consumption into a first data frame, and transmit the first data frame to the travel controller based on the CAN protocol, wherein the oil pump controller includes the following steps before encapsulating the first electric energy consumption into the first data frame: obtaining the original data layout of the data field in the data frame, updating the original data layout based on the value of the first electric energy consumption to obtain a new data layout, constructing a second data frame, the second data frame including definition information of the new data layout, and being used to notify the travel controller that the data layout information has changed, assigning a unique identifier to the second data frame, the oil pump controller sending the second data frame to the travel controller via the CAN bus, the travel controller identifying the second data frame based on the unique identifier, receiving and parsing the second data frame to obtain new data layout information, updating its own internal data layout based on the new data layout information, and generating a confirmation frame and returning it to the oil pump controller, and after receiving the confirmation frame, the oil pump controller sends the first data frame containing the first electric energy consumption to the travel controller via the CAN bus; a display module, configured for the travel controller to verify the first data frame, obtain a first power consumption of the oil pump controller from the data frame after the verification is passed, calculate a third power consumption of the entire vehicle operation per unit time and a fourth power consumption accumulated after a single power-on based on the first power consumption and the second power consumption, and display the third power consumption and the fourth power consumption on an instrument panel; The second transmission module is used to establish an encrypted communication channel between the walking controller and the remote client, and transmit the third power consumption and the fourth power consumption to the remote client based on the encrypted communication channel.

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